372 results about "Constant force" patented technology

The invention discloses a self-adaptive constant-force vibration reduction mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffer units and vibration reduction units are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the vibration reduction unit; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the vibration reduction unit comprises a rotating support and a constant force component. According to the self-adaptive constant-force vibration reduction mechanism base and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention discloses a multi-degree-of-freedom supporting mechanism which comprises a base and a motion platform and further comprises a constant force compensation module connected between the base and the motion platform and used for balancing the motion platform and most of gravity loaded by the motion platform; the six-degree-of-freedom parallel fine adjustment module is connected between the base and the motion platform and used for providing six-degree-of-freedom accurate pose adjustment; the air floatation vibration isolation module is arranged between the base and the motion platform; the sensing system comprises a plurality of pressure sensors, and the pressure sensors are arranged on the constant force compensation module and / or the six-degree-of-freedom parallel fine adjustment module and used for monitoring stress information in real time; and the control system is in communication connection with the sensing system and the six-degree-of-freedom parallel fine adjustment module, and is used for controlling the six-degree-of-freedom parallel fine adjustment module to perform active vibration isolation and pose adjustment based on a feedback signal of the pressure sensor.

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention discloses a constant-force vibration reduction mechanism and a robot, and belongs to the technical field of specialized robots, the constant-force vibration reduction mechanism comprises at least two vibration reduction units arranged on a base and a plurality of driving wheels consistent with the vibration reduction units; the vibration reduction unit comprises a rotating support and a constant force component. The rotating bracket is rotatably connected with the base; the rotating bracket is respectively connected with the driving wheel and the constant force component; the constant force component is used for applying counter-acting force to the base, and it is guaranteed that the base and an upper structure of the base are kept stable in the vertical direction in the moving process. According to the constant-force vibration reduction mechanism and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention belongs to the technical field of robot control, discloses a robot end effector force control method and system for conformal vibration polishing of an optical element, and solves the problems of periodic disturbance, friction nonlinearity, multi-axis mutual interference and the like caused by conformal tangential vibration in the polishing process of a complex curved surface of the optical element. And the normal constant force precision, the polishing consistency and the machining surface shape quality are guaranteed. According to the algorithm, a multi-module collaborative architecture is adopted, and means of an observer, adaptive filtering, mutual interference modeling, feedforward friction compensation and the like are combined, so that a set of composite control scheme with high real-time performance, high robustness and good adaptability is formed. High-precision force control under conformal vibration polishing complex disturbance of the robot is achieved; multi-module coordination mechanisms such as a fourth-order extended state observer (4th-ESO), frequency selection filtering and inverse trapped wave compensation, friction feedforward and mutual interference decoupling are introduced;

The invention discloses a variable impedance constant force control method for a complex environment based on reinforcement learning, which integrates reinforcement learning adaptive compensation, double-loop force position control and a parameter smooth transition mechanism, and does not need to depend on a large amount of manual annotation data to carry out offline calibration. The damping coefficient in the impedance parameters can be dynamically adjusted in the full life cycle of the robot, and continuous optimization and self-adaptive updating are achieved. Compared with a fixed impedance method, the environmental adaptability is remarkably improved; compared with a traditional self-adaptive impedance method, the self-adaptive impedance method has the advantages that higher convergence speed and higher steady-state precision are achieved in a nonlinear and strong disturbance environment by utilizing the autonomous exploration capability of reinforcement learning, so that the robot can quickly converge to expected contact force in a curved surface, an inclined surface, an uneven terrain and a complex environment; the method has the advantages of being high in response speed, small in overshoot, high in steady-state precision and high in environmental adaptability.

The invention discloses an automobile part grinding constant-force grinding device, and relates to the technical field of constant-force grinding, the automobile part grinding constant-force grinding device comprises a longitudinal adjusting assembly, a transverse adjusting assembly, a clamping assembly, a grinding assembly and a grinding wheel wear monitoring assembly, the three-direction force sensing module is used for measuring the stress variation of the clamping assembly in the X-axis direction, the Y-axis direction and the Z-axis direction, the total grinding force direction and amplitude are obtained, the control terminal receives data and controls the Y-axis motor, the X-axis motor and the Z-axis motor to conduct position compensation on the clamping assembly, the grinding force is adjusted in real time through closed-loop feedback control, quick response is achieved, and the grinding efficiency is improved. A longitudinal damping vibration attenuation module and a transverse damping vibration attenuation module are arranged in the grinding assembly, damping force is changed through current, the influence of vibration on grinding force adjustment is reduced, the grinding wheel abrasion monitoring assembly can obtain abrasion data of abrasive particles on the surface of a grinding wheel through a laser detection module, and the abrasive particles can be replaced in time after abrasion exceeds a threshold value.

A two-degree-of-freedom piezoelectric stick-slip micro-clamping system with constant force output belongs to the technical field of precision operation and comprises a rotary stick-slip motion platform, a connecting piece and a stick-slip micro-clamping device. The rotary stick-slip motion platform comprises a base, a multidirectional flexible piezoelectric driving mechanism and a rotating part; the rotating part and the multidirectional flexible piezoelectric driving mechanism are mounted on the base, and the rotating part can rotate relative to the base; the output end of the multidirectional flexible piezoelectric driving mechanism is in contact with the peripheral side surface of the rotating part; the multi-directional compliant piezoelectric driving mechanism realizes multi-step superposed large-stroke motion of the rotating part under the action of periodic driving voltage, and the multi-directional compliant piezoelectric driving mechanism realizes precise positioning motion of a smooth track of the rotating part under the action of smooth driving voltage; the connecting piece is installed on the rotating piece, the stick-slip micro gripper is installed on the connecting piece, and constant-force output clamping operation can be achieved. The method has the advantages of high precision, large single-step displacement and stick-slip rollback motion inhibition, and has good motion stability.

The invention discloses a mechanical arm self-adaptive variable impedance constant force control system which comprises an inverse kinematics unit, a fractional order active disturbance rejection controller unit, a mechanical arm and a self-adaptive variable impedance controller unit, and the input of the system is a tail end expected position and expected contact force. According to the method, the force overshoot is remarkably reduced, the steady-state error approaches zero, and the force tracking precision and robustness are improved.

The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.

The present invention belongs to the field of robotics technology, specifically a constant force grinding method for complex surfaces of a robot based on force feedback. The method comprises the following steps: Step 1, collecting information of a six-dimensional force sensor through a robot controller; Step 2, introducing a fastest differential tracker in the self-disturbance rejection control; Step 3, forming an admittance control model by the robot and the environment to realize the outer loop control of the robot manipulator; Step 4, constructing a non-singular terminal sliding film control law to realize the inner loop control of the robot manipulator, thereby realizing the grinding of the curved workpiece surface. The present invention can improve the force tracking effect of the manipulator in a complex and unknown environment, thereby greatly improving the robot grinding accuracy.

The invention is suitable for the technical field of grinding, and provides an electric drive intelligent constant force radial compensation system which comprises an intelligent electric radial floating grinding device, the intelligent electric radial floating grinding device comprises a dust cover and a linear motor in the dust cover, and the linear motor is composed of a motor stator and a motor rotor. A grinding tool is arranged at the output end of the linear motor, a fixing base is installed on one side of the linear motor, a cone swinging device and an adjusting ring are installed on the fixing base, and the grinding tool and the cone swinging device are sealed in a labyrinth mode and provided with a labyrinth sealing outer ring and a labyrinth sealing inner ring. According to the scheme, the stability of driving force is improved, the mechanism design is optimized, the response speed for responding to external force changes and sealing are achieved, meanwhile, the influence on output torque is reduced to the minimum, the yield of high-precision polishing can be greatly improved, the polishing technological process is simplified, and the polishing efficiency is improved.

The invention discloses a self-adaptive constant-force buffering mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffering units and constant-force buffering assemblies are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the constant-force buffer assembly; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the constant-force buffering assembly comprises a main support and a constant-force spring. The self-adaptive constant-force buffer mechanism base and the robot can effectively solve the problems that a damping mechanism in the prior art cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, so that bolt looseness, wire harness interface looseness, material fatigue strain and the like occur; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention discloses a main shaft grinding device for generator set maintenance, and belongs to the technical field of main shaft grinding, the main shaft grinding device for generator set maintenance comprises a supporting frame, a plurality of sliding grooves which are symmetrically arranged in a rectangular shape are formed in the top of the supporting frame, and meanwhile the sides, away from the interior of the supporting frame, of the sliding grooves are arranged in an opening state; the supporting frame located in the sliding groove is slidably connected with a rack, the rack is limited by the supporting frame, meanwhile, one side of the rack is in transmission connection with a lifting gear, the lifting gear is rotationally connected with the supporting frame, and the two lifting gears located on one side of the supporting frame are fixedly connected with a connecting rod. And the connecting rod is rotationally connected with the supporting frame in a penetrating manner. By adopting the constant-force grinding assembly and the rotary supporting assembly, the grinding plate with the constant clamping force makes contact with the surface of the rotating main shaft, uniform grinding is achieved, excessive heat concentration can be effectively avoided, and hardening or cracking of the surface of the main shaft due to local high temperature is prevented.

The invention relates to a self-adaptive conveying belt longitudinal tearing three-dimensional scanning recognition system, and relates to the technical field of conveying belt damage detection.The self-adaptive conveying belt longitudinal tearing three-dimensional scanning recognition system comprises a supporting plate, a detection assembly, an adjusting assembly, a longitudinal tearing recognition body and a compensation assembly; the adjusting assembly comprises an adjusting box, a connecting column, a permanent magnet plate, an electromagnet and a current adjusting part, the compensation assembly comprises a first compensation block, a second compensation block and a compensation power part, and the electromagnet can quickly adjust the position of the connecting column under the constant force abutting detection of the detection rod on the conveying belt; and under the compensation action of the first compensation block, the second compensation block and the compensation power part, the longitudinal tearing identification main body can keep the optimal shooting distance on the basis of not enlarging the shooting gap. According to the invention, the shooting distance of the high-speed three-dimensional camera can be met without enlarging the shooting gap of the protective shell.

The adjustable constant-force clamping jaw comprises a torsion input shaft, a torsion output shaft, a constant-force output mechanism and a force adjusting mechanism, the torsion input shaft is in transmission connection with the output end of a first motor, and the torsion output shaft is rotationally connected to the end, away from the torsion output shaft, of an outer frame; the torsion input shaft and the torsion output shaft rotate coaxially, the two ends of the constant force output mechanism are connected with the torsion input shaft and the torsion output shaft correspondingly, the constant force output mechanism is used for flexibly connecting the torsion input shaft and the torsion output shaft and outputting constant torsion to the torsion output shaft, and the force adjusting mechanism is connected with the torsion input shaft. And the force adjusting mechanism is rotationally connected with the torsion output shaft, and the force adjusting mechanism is used for adjusting the torsion output to the torsion input shaft by the constant force output mechanism, and through the technical scheme, the problem that in the prior art, a constant force clamping jaw is difficult to clamp through set clamping force is solved.

The invention belongs to the technical field of vibration control and isolation, and discloses a stepless self-adaptive large-range load quasi-zero stiffness vibration isolation platform and a use method.The use method comprises the steps that the load and motion state is monitored in real time through a stepless variable load vibration isolation supporting leg binding force sensor and an acceleration sensor, and after being processed by a signal conditioning module, the load and motion state is output; the passive grading quasi-zero stiffness system and the electromagnetic constant force module are regulated and controlled by the semi-active controller, so that stepless self-adaptive adjustment of a large-range load is realized; the passive grading system provides stepped load bearing, the electromagnetic constant-force module realizes stepless adjustment in a hierarchy, and the passive grading system and the electromagnetic constant-force module are combined to cover a wide-area load demand; the linear bearing reduces friction, viscous damping consumes vibration energy, the quasi-zero stiffness vibration isolation characteristic can be effectively exerted, the vibration isolation effect is improved, the application range is widened, and the vibration isolation device is suitable for vibration isolation in various load scenes.

The invention discloses a self-adaptive constant-force buffering mechanism and a robot, and belongs to the technical field of specialized robots, the self-adaptive constant-force buffering mechanism comprises at least two buffering units arranged on a base and a plurality of driving wheels consistent with the buffering units; the plurality of driving wheels are respectively connected with the base through the buffer units; the buffer unit is used for applying counter-acting force to the base to counteract the gravity of the base and the upper structure of the base, and it is guaranteed that the base and the upper structure of the base are kept stable in the vertical direction in the moving process; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support. According to the self-adaptive constant-force buffering mechanism and the robot, the problems that in the prior art, a damping mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention discloses a grinding robot rigidity self-adaption constant force impedance control method and system and a storage medium, and relates to the technical field of robot control, and the method comprises the following steps: firstly, obtaining original point cloud data of a to-be-ground workpiece through a camera, carrying out filtering noise reduction and down-sampling processing on the original point cloud data, and fitting a workpiece curved surface; secondly, establishing an impedance control model between the tail end of the robot and the workpiece, and constructing a complete control law; secondly, a three-dimensional vision system is introduced to obtain workpiece surface information, and a rigidity and position self-adaptive estimation mechanism integrating vision and a force sensor is constructed; and finally, designing an adaptive law based on a Lyapunov function to guarantee global asymptotic stability of the system. The robot can stably apply constant grinding force under the conditions of a complex curved surface and rigidity change, and the grinding precision, the force control stability and the system self-adaptive capacity are effectively improved; the method is suitable for free-form surface high-precision grinding scenes in the fields of aviation, military industry and the like.

The invention belongs to the technical field of cable detection, and particularly discloses a cable insulation performance detection device which comprises two annular frames which are symmetrically and fixedly arranged at intervals. The rotating rings are arranged on the two ring frames respectively; the translation sliding table is connected between the two rotating rings; the clamping mechanisms are arranged on the ring frames and are symmetrical up and down along the axis; the dynamic bending applying mechanism is arranged on the translation sliding table; wherein one clamping mechanism is provided with a constant force straightening mechanism used for applying constant pulling force to the cable. A controllable and dynamic bending stress is applied to a to-be-detected cable under constant axial tension through a radial force application assembly capable of moving in the axial direction and the circumferential direction of the cable, and potential defects such as microcracks or interface stripping in an insulating layer which is physically compacted and covered can be actively exposed and excited through the scheme; therefore, 360-degree multi-plane and axial omnibearing stress loading detection of the cable in the circumferential direction is realized.

The invention discloses a flexible manipulator with variable clamping force and constant-force rubbing and a using method thereof, and belongs to the technical field of micromanipulators, the flexible manipulator comprises a first driving mechanism, a second driving mechanism, a variable-rigidity clamping mechanism and a constant-force rubbing mechanism, the variable-rigidity clamping mechanism is formed by connecting a guide beam assembly, a variable-rigidity beam assembly and a decoupling beam assembly in series, and the constant-force rubbing mechanism is connected with the first driving mechanism. A first clamping end is arranged at the tail end, the rigidity of the constant force rubbing mechanism can be adjusted through embedded shape memory alloy, the constant force rubbing mechanism is composed of a positive rigidity structure and a negative rigidity structure, a second clamping end opposite to the first clamping end is arranged at the tail end, and the two mechanisms are connected through the decoupling beam assembly to achieve structural decoupling. The problems that an existing flexible manipulator is non-adjustable in clamping rigidity, slow in constant force response and mutual in function interference are solved, and self-adaptive grabbing and stable rubbing of micro-scale objects are achieved.

The application discloses a sample transmission device for transmitting a sample in a cavity of a semiconductor device, comprising: a conveying table for placing the sample; a conveying rod for pushing and pulling the conveying table to transmit the sample in the cavity; and a constant force assembly, one end of the constant force assembly being connected to the conveying rod, the constant force assembly applying a constant pulling force to the conveying rod. The application also discloses a semiconductor device, comprising: a cavity and the sample transmission device. In the sample transmission device and the semiconductor device provided by the application, the constant force assembly is used to provide a constant pulling force to the conveying rod, thereby effectively preventing the stationary conveying rod and the conveying table from sliding, and effectively eliminating the hidden danger that the conveying table collides due to the sliding of the conveying rod.

The utility model discloses an axial constant force floating device which comprises a support, an air cylinder, a floating plate, a linear guide rail and a supporting module, the air cylinder is installed on the support, the floating plate is connected with the output end of the air cylinder, the linear guide rail is parallel to the air cylinder and arranged on the support, and the supporting module is connected with the floating plate. The supporting module is installed on the linear guide rail in a sliding mode, connected with the floating plate and used for bearing a grinding main shaft. The linear guide rail is in sliding fit with the supporting module, so that the bearing capacity of the constant-force floating device is improved, the grinding constant force of the electric spindle can be kept, and the machining stability is improved.

The present invention discloses a grinding device and a grinding method for repairing damage to curved surface components, which belongs to the technical field of mechanical processing equipment. The grinding method for repairing damage to curved surface components includes the following steps: S1, hand-eye calibration and tool calibration: obtaining the conversion matrix of the 3D vision system coordinate system relative to the center coordinate system of the end of the robot arm, and obtaining the conversion matrix of the tool coordinate system relative to the center coordinate system of the end of the robot arm; S2, setting the initial state of grinding: using the drag teaching function to set the initial state of the robot arm grinding; S3, grinding path planning: obtaining the point cloud model of the workpiece surface, and obtaining the grinding path point information; S4, robot arm grinding program generation: generating a robot arm grinding motion control program; S5, grinding process. The grinding device and grinding method for repairing damage to curved surface components of the present invention can perform constant force grinding on the irregular surface of the curved surface component to ensure that the surface of the curved surface component is polished more evenly.

The invention discloses steel plate surface defect detection equipment, and belongs to the technical field of steel plate detection, the steel plate surface defect detection equipment comprises a main body mechanism for guiding a steel plate, and the main body mechanism is provided with a conveying mechanism for conveying the steel plate and a detection mechanism for carrying out surface defect detection on the steel plate; according to a linkage structure of the lifting walking frame driven by the bottom electric cylinder and the detection mechanism, after a steel plate is in place, the bottom electric cylinder shrinks to enable the lifting walking frame to descend, and the descending action is converted into upward thrust of the lower rotating wheel to the lifting cross rod through a connecting rod mechanism composed of the upper rotating wheel, the short transmission frame and the long rotating frame; in the process, the descending action of the steel plate and the ascending action of the rotating probe at the bottom are precisely coupled, so that the steel plate is clamped between the eddy current detector at the top and the rotating probe at the bottom, and flexible and constant-force pressing on the upper surface and the lower surface of the steel plate is achieved through the pressing support and the pressing spring. And tight attachment of the steel plate and the detection probe is ensured.

The invention discloses a force-position coupling control method and system for a magnetic-pneumatic suspension servo device, and relates to the technical field of ground microgravity experiments of space mechanisms. After the sling inclination angle detection device is used for detecting the angle of the sling deviating from the numerical direction, the position following controller drives the omni-directional wheel to conduct position correction based on deflection angle feedback, meanwhile, the constant force compensation controller drives the constant force compensation motor to conduct tension adjustment through the deflection angle feedback and tension feedback, and therefore higher-precision gravity unloading is achieved.

The invention relates to a constant-force linear elastic device which comprises a base provided with a guide groove; one end of the elastic component is connected with the base; the sliding mechanism is connected with the other end of the elastic component and can move in the guide groove; restraining force exists between the guide groove and the sliding mechanism and is set to offset part of first elastic force, so that the output elastic force of the sliding mechanism is kept at a preset constant value and is unchanged in direction, and the first elastic force is the elastic force output by the elastic component to the sliding mechanism. The guide groove is matched with the sliding mechanism, the side wall of the guide groove limits the moving direction of the sliding mechanism, so that the restraining force is generated, and the direction and the magnitude of the restraining force can dynamically change according to the position of the sliding mechanism in the guide groove and the magnitude of the elastic force of the spring. The constraining force can offset part of the first elastic force, and the final output elastic force is kept at a preset constant value and is unchanged in direction, so that the effect of constant force output is achieved, and the requirements of force balance and other scenes for constant elastic force are met.

A constant force mechanism comprises a rack, a moving part, an output part, a positive stiffness structure and a negative stiffness structure, and the moving part is movably arranged on the rack; the output part is movably arranged on the rack, and the output part is movably connected with the moving part and drives the moving part to move, so that the output part and the moving part get close to each other or get away from each other; the positive stiffness structure comprises a first curved beam and a second curved beam which are connected between the rack and the moving part, and the first curved beam and the second curved beam are arranged in a crossed mode. The negative stiffness structure comprises a first permanent magnet and a second permanent magnet, the first permanent magnet is arranged on the rack, the second permanent magnet is arranged on the side, away from the positive stiffness structure, of the moving part, and the S pole of the second permanent magnet is opposite to the N pole of the first permanent magnet, or the N pole of the second permanent magnet is opposite to the S pole of the first permanent magnet. According to the constant force output device, the elastic deformation force of the positive stiffness structure and the magnetic force of the negative stiffness structure are overlapped, so that the resultant force is kept constant within a certain displacement range, and constant force output is achieved.

The present invention proposes a device capable of balancing the gravity of a cantilever, comprising a fixed plate for fixing at a preset position on the cantilever, the fixed plate being fixedly connected to one end of a constant force supply mechanism, the other end of which being provided with a connecting hole, through which a steel wire rope passes, and which also passes around a pulley, the axis of the connecting hole being perpendicular to the axis of the pulley, and the steel wire rope forming a closed loop; the pulley is rotatably connected to a support shaft, which is fixed to a locking seat, the locking seat being provided with an assembly hole for fixing and assembling a fixed shaft, the axis of the fixed shaft being recorded as the rotation center axis, and the cantilever being able to rotate relative to the fixed shaft; when the above device is assembled on the cantilever and the fixed shaft, the center point of the pulley is recorded as point a, and the end of the constant force supply mechanism fixed relative to the cantilever is recorded as point A, the axis of the constant force supply mechanism is on the line connecting A and a, and the line Aa is parallel to the perpendicular line from the center of gravity of the cantilever to the rotation center axis. The above device can balance the gravity of the cantilever.

The utility model discloses a self-adaptive force stabilizing device for characterizing a mechanoluminescence cycle process, and belongs to the technical field of material testing. According to the device, collaborative operation is achieved through a reciprocating testing mechanism and a force loading mechanism which are in linkage design; the reciprocating testing mechanism drives a lead screw transmission assembly through a servo motor to drive a single-axis moving platform, a pressure digital display and a material to achieve reciprocating friction in the y-axis direction; the force loading mechanism pulls a sliding platform to slide on a sliding rail through a spring, a round-bottom quartz tube is arranged at the end of the force loading mechanism and is in point contact with a sample of a pressure digital display accessory, and when the sample is slightly abraded to cause position change, the spring dynamically compensates pressure loss to ensure that force loading in the x-axis direction is constant. An optical fiber is integrated in the round-bottom quartz tube to synchronously collect mechanoluminescence signals. The device solves the problem of force attenuation in the existing cycle test, and is beneficial to systematic research on the cycle characteristics of the mechanoluminescent material.