CN101337645B - Controllable micro operation force lifting apparatus and control method - Google Patents

Abstract

The invention provides a controllable micro-operation force hoisting device comprising a hoisting device which consists of a DC motor (2), a speed reducer (3), a photoelectric encoder (3), a roller (4) and a steel wire rope (5). The DC motor (2) is fixedly connected with the speed reducer (3); the roller (4) is connected with the output shaft of the speed reducer (3); and the steel wire rope (5) is wound on the roller (4). The controllable micro-operation force hoisting device further comprises an end operator (6) installed between the steel wire rope and a load (7). The end operator (6) comprises a connecting flange (11), an operating handle mechanism and a support mechanism. The connecting flange (11), the operating handle mechanism and the support mechanism are connected in sequence to form the end operator (6). The controllable micro-operation force hoisting device utilized the end operator based on a slider potentiometer to measure operation force and sense operation intension. Compared with the end operator based on a pressure sensor and a linear coder, the controllable micro-operation force hoisting device has the advantages of simple mechanical structure, simple and stable signal processing circuit and low cost. In addition, the hoisting device has the advantages of reliable control method, good stability and quickness.

Description

Controllable micro operation force lifting apparatus and control method

(1) technical field

What the present invention relates to is a kind of intelligent power-assisted mechanical system.Be that system can sense operation person be intended to, the operation response intention realizes the device that weight rises and descends and carry timely and accurately.

(2) background technology

Traditional material handling equipment (as joint arm, balancing device, lifter and hoisting crane etc.) is though there is active influence on ergonomics, but they are very limited in the effect of aspects such as validity, particularity and safety, and can not with the people in same physics working space cooperation operation.Carrying assembling for large-sized object, not only working strength of workers is big, efficient is low, poor accuracy, and might damage the workman, in fact they can only finish very little a part of job task, can't independently finish all material transport operations, a large amount of material handling operations still needs the people to finish.

Existing power assistive device generally has enhanced feature, but does not have control computer, operating difficulties and operating effort that need be bigger.Pass through to improve material handling equipment in ten years in the past, carried out significant improvement in this respect, researched and developed human engineering equipment of new generation: intelligent accessory equipment IAD (IntelligentAssist Device), the control that uses a computer improves the state of kinematic motion and operation response person's the intention exactly of weight.Electronic soft cable-styled micro operation force elevator system is an a kind of chief component can realizing the job that requires special skills robot of man-computer cooperation operation with the operator in same physical space.

The existing relatively intelligent power-assisted accessory equipment of success mainly contains the cobotic of U.S. Stanley Works.

Documents " Human power amplifier for lifting load including apparatusfor preventing slack in lifting cable " (US6386513) discloses two kinds of end-effectors.

First kind: based on the end-effector of force gauge.Force gauge is fixed on end-effector inside by cylindrical sleeves and adjustable bolt.The operator detects by force gauge at the operating effort of vertical direction, feeds back to controller, by the control algorithm driving motor, thus the dipping and heaving of realization load.

Second kind: based on the end-effector of linear encoder.Linear encoder is measured the displacement on the vertical direction, the i.e. operating effort that applies on the vertical direction.Spring mainly is to make end-effector can get back to balance position when the operator unclamps, and its predetermincd tension size can be regulated by a nut.Ball and groove sleeve are to reduce the friction force that the end-effector in the vertical direction moves, and play the guiding role simultaneously, also can use slide block and chute structure to substitute.In addition, be provided with a Dead-man switch on the mechanical arm endways.The Dead-man switch provides system's enable signal for the taking into account system security set.When the Dead-man switch was depressed, system's enable signal was effective, the control of access state; When the Dead-man switch unclamped, system's enable signal was invalid, motor braking, and load keeps current location constant.

First kind of end-effector utilizes pressure sensor to measure the size and Orientation of operating effort, and the force gauge output signal is subject to noise jamming, the signal processing circuit complexity.

Second kind of end-effector adopts linear encoder to measure the size and Orientation of operating effort, but cost is higher, the end-effector complicated in mechanical structure.

Documents " Human power amplifier for lifting load including apparatusfor preventing slack in lifting cable " (US6386513) discloses micro operation force elevator system control method.

End-effector detecting operation power size and Orientation as the input control order of system, by actuating device, drives the bont motion and realization weight lifting control.Whether lax in operating process in order to detect steel rope, also increase a pulling force sensor and detected pull of steel wire, also can utilize the current sensor senses pull of steel wire.

System control method is very complicated, and the data computation amount is bigger, and upper control computer is had relatively high expectations.

(3) summary of the invention

The object of the present invention is to provide a kind of can sense operation the intention, simple in structure, cost is low, and signal processing circuit is simple, has good stationarity, and rapidity can reach controllable micro operation force lifting apparatus and control method that the elevator system compliance requires.

The object of the present invention is achieved like this:

The composition of controllable micro operation force lifting apparatus comprises the bont of being made up of DC motor 2, retarder 3, photoelectric encoder 1, cylinder 4 and steel rope 58, DC motor 2 connects firmly with retarder 3, cylinder 4 connects with retarder 3 output shafts, and steel rope 5 is wrapped on the cylinder 4; It also comprises the end-effector 6 that is installed between steel rope and the load 7, and end-effector 6 comprises connecting flange, operating handle mechanism, support mechanism three parts, and connecting flange 11, operating handle mechanism, support mechanism connect formation end-effector 6 in turn; Connect steel rope 15, following attended operation handle mechanism on the connecting flange 11, control capsule 14 is fixed on connecting flange 11 1 sides; Control capsule 14 comprises the next control computer, one group of switch 13 and indicator lamp 12, handles the various control signals of end-effector and communicates by letter with upper control computer; Operating handle mechanism comprises load-bearing main shaft 21, sleeve 24, sliding type potentiometer 23, mobile plate 30, circular nut 29, stop washer 28, bottom end cover 27, first compression spring 25, second compression spring 26 and fixed stop 22, sliding type potentiometer 23 is installed in the central channel of load-bearing main shaft 21, and be fixed on by fixed stop 22 in the central channel of load-bearing main shaft 21, load-bearing main shaft 21, sleeve 24, first compression spring 25 and second compression spring, 26 4 same axis are placed, and first compression spring 25 and second compression spring 26 be placed on sleeve 24 inner two ends respectively, first compression spring, 25 upper surfaces are near the lower surface on load-bearing main shaft 21 tops, the lower surface is near the upper surface of sleeve 24 bosom boss, second compression spring, 26 upper surfaces are near the lower surface of sleeve 24 bosom boss, and the lower surface is near the upper surface of bottom end cover 27 bottoms; Sleeve 24 supports by two initials tension of spring and is in balance position; Sliding type potentiometer 23 sliding ends are connected by mobile plate 30 with sleeve 24 upper surfaces, the free skating moved end of sliding type potentiometer 23 and the interlock of sleeve 24 in the vertical directions; Bottom end cover 27 is fixed on the end of load-bearing main shaft 21 by circular nut 29 and stop washer 28; The signal of sliding type potentiometer 23 is imported the next control computer, and the next control computer is communicated by letter with upper control computer with RS232 serial communication mode, upper control computer control DC motor 2.

Controllable micro operation force lifting apparatus of the present invention can also comprise some architectural features like this

1, described support mechanism comprises flange 31, pin 33, suspention axle 34, load-bearing transverse axis 32, and it is fixing by pin 33 that load-bearing transverse axis 32 passes the centre hole on suspention axle 34 tops, forms a crux mechanism; Thereby the centre hole of suspention axle 34 ends connects weight clamping device 36 and connects load 37; Described crux mechanism is positioned in flange 31 grooves along the open slot of flange 31 sides, forms the weight clamping device that can freely dismantle.

2, be provided with four guider screws 35 at sleeve 24 two ends, each two up and down, guider screw 35 screws in the sleeve 24 two ends grooves, and guider screw 35 ends place respectively in the guide chute of load-bearing main shaft 21 and bottom end cover 27 simultaneously, and sleeve 24 can only vertically move with respect to load-bearing main shaft 21.

The present invention utilizes based on the potentiometric end-effector of sliding type and measures operating effort, the sense operation intention.Compare the end-effector based on pressure sensor, linear encoder, physical construction of the present invention is simple, the signal processing circuit simple and stable, and cost is low.And the elevator system control method is reliable, has good stationarity, rapidity.The operator applies operating effort, after detecting through end-effector, as the input control order of system, can realize the operating effort signal is separately converted to the rate control instruction and the displacement increment control command control micro operation force elevator system of elevator system.

1 end-effector force analysis

Apply operating effort F, operating handle mechanism as shown in Figure 3 stressed, F _MBe pull of steel wire, the gravity G of load is born by the load-bearing main shaft, and end-effector only bears operating effort F, ignores the force of inertia and the friction force of operating handle mechanism, and its equilibrium equation is:

$\left\{\begin{array}{c}F+F_1=F_2+G_T\\ F_1=K(l_1-\mathrm{\&Delta;x})\\ F_2=K({\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="H200810136915XE00011.png"\; state="\{\{state\}\}">l</figure-callout>}}_2+\mathrm{\&Delta;x})\end{array}\right.---\left(1\right)$

In the formula, F is an operating effort, F ₂Be the predetermincd tension of upper spring, l ₂Be the length of upper spring pretension compression, F ₁Be the predetermincd tension of lower spring, l ₁Be the length of lower spring pretension compression, G _TBe the gravity of sleeve, Δ x applies the displacement that sleeve moves behind the operating effort, and K is two spring rates.

During F=0, equilibrium equation is:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="H200810136915XE00041.png"\; state="\{\{state\}\}">F</figure-callout>}}_1=F_2+{\mathrm{<figure-callout\; id="1"\; label="G\; T\; F"\; filenames="H200810136915XE00041.png"\; state="\{\{state\}\}">G</figure-callout>}}_T& \\ F_{}{}_1={\mathrm{Kl}}_1\\ {\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="H200810136915XE00011.png"\; state="\{\{state\}\}">F</figure-callout>}}_2={\mathrm{Kl}}_2\end{array}\right.---\left(2\right)$

Get by formula (1) and formula (2)

F＝2KΔx (3)

If the effective length that the sliding type potentiometer slides is L, the potentiometric power supply voltage of sliding type is U, applies operating effort F, the potentiometer output signal

$\mathrm{\&Delta;}{U}_P=\frac{F}{2\mathrm{KL}}U---\left(4\right)$

By (4) formula as can be known, the size of the operating effort F that the operator applies by end-effector with voltage variety Δ U _pForm feed back to elevator system, system is according to Δ U _pSize, by control algorithm, the motion of controlling and driving electrical motor, thereby realize dipping and heaving control to load.

2 system control methods

2.1 the overall controlling schemes of elevator system

The control system of micro operation force elevator system adopts the secondary decentralized control, and upper computer is the control core with ATmega128L, and its task is to accept to handle lower computer signal and controlling and driving elevator system; Lower computer is the control core with ATmega16L, and its task is to accept to handle the end-effector signal and pass to upper computer.Adopt RS232 serial communication mode between upper computer and the lower computer.The overall controlling schemes of elevator system as shown in Figure 4.

2.2 potentiometer signal processing circuit

In order to eliminate the interference of noise, must handle the voltage signal of end-effector feedback to the end-effector output signal.Utilize low-pass first order filter that voltage signal has been carried out Filtering Processing.

2.3 control method

The operator applies operating effort, after the end-effector detection, as the input control order of system, rate control instruction and two kinds of control methods that adapt to the micro operation force elevator system of displacement increment control command of elevator system have been proposed the operating effort signal is separately converted to.

2.3.1 method for control speed

The operating effort that the operator applies is F, and then V is the hoisting speed of expectation, get straight up to be positive dirction, and be negative direction straight down, symbol is the direction (rising or decline) of representation speed and displacement only.

The potentiometer output signal is converted into the hoisting speed instruction, the definition speed command

V＝K _vΔU _P (5)

K wherein _vBe the proportionality coefficient between potentiometer output signal and the hoisting speed

Get by formula (4) and formula (5)

$V=\frac{K_v\mathrm{<figure-callout\; id="2"\; label="U"\; filenames="H200810136915XE00011.png"\; state="\{\{state\}\}">U</figure-callout>}}{2\mathrm{KL}}F---\left(6\right)$

The hoisting speed of operating effort F and expectation is linear.Method for control speed as shown in Figure 5

G _CKBe end-effector, G _CBe speed controller, V is a hoisting speed, V _FBe feedback speed, V _eBe velocity deviation, G _SBe elevator system model, K _EBe photoelectric encoder.

Hoisting speed is

V＝FG _CKK _v (7)

System's control law is

U＝V _eG _C＝(FG _CKK _v-V _F)G _C (8)

Load in rising and the decline operational process, the gravity of load is for the difference that influences of elevator system.Conventional PID controller can not satisfy system requirements, and therefore, speed controller adopts PID CONTROLLER WITH VARIABLE ARGUMENTS, has adopted different pid parameters in rising respectively with decline operational process medium velocity controller.

Secondly,, in the load rising operational process, in controller, increased compensation rate, in order to remedy in the rising operational process load gravity to the influence of system to load gravity in order to reduce of the influence of load gravity to system.

When slowly promoting, operating effort changes slowly, and the input speed control signal of system changes also relatively slowly, and system operates steadily.But, during fast lifting, operating effort changes very fast, speed signal V also changes comparatively fast, system's operation is not steady, and chatter phenomena appears in load, in order to improve the stationarity of system, adopted the low-pass first order filter link of a gain K=1 speed signal to be carried out pretreatment, the rate of change of restriction given speed in the controller.

Based on the micro operation force elevator system control flow chart of method for control speed as shown in Figure 7.Describe in detail below in conjunction with Fig. 7.When the control system of micro operation force elevator system is selected method for control speed for use, at first, system initialization, each variable is got initialization value, the initialization respectively of I/O interface, open the enable switch of system, after system enabled, indicator lamp was bright, be in the static serviceability for the treatment of, read the output signal through the end-effector of Filtering Processing, if end-effector does not have signal output, the load transfixion is in current location; If end-effector has the signal input, system's judgement earlier is upwards or moves downward, and promptly is to rise or the descending motion instruction.If upward movement, the output signal of end-effector is converted to the hoisting speed signal, velocity setting signal as system, speed controller select to be used to the to rise controller parameter of operation, the given gravity compensation amount of while speed controller, speed controller controlling and driving bont, thus realize the dipping and heaving control of load, and each sampling period is detected the signal of an end-effector output and its processing is converted into the hoisting speed signal given as the hoisting speed of system; If when moving downward, its control process is identical with the rising control process, and just speed controller selects to be used to the controller parameter that descends and move, and controller does not have given gravity compensation amount.

2.3.2 displacement increment control method

When the operator was applied to operating effort on the end-effector and is F, then Δ S expected to promote the displacement increment of load for the operator.Getting is positive dirction straight up, is negative direction straight down, and symbol is the direction of representation speed, displacement increment and displacement (rise or descend) only.

The potentiometer signal is converted into the displacement increment signal, the instruction of definition displacement increment

ΔS＝K _sΔU _P (9)

K wherein _sBe the proportionality coefficient between potentiometer output signal and the displacement increment

Get by formula (4) and formula (9)

$\mathrm{\&Delta;S}=\frac{{\mathrm{<figure-callout\; id="2"\; label="K\; s\; U"\; filenames="H200810136915XE00011.png"\; state="\{\{state\}\}">K</figure-callout>}}_{s}U}{2\mathrm{KL}}F---\left(10\right)$

The displacement of load

$S=\&Integral;\mathrm{\&Delta;S}=\&Integral;\frac{K_s\mathrm{<figure-callout\; id="2"\; label="U"\; filenames="H200810136915XE00011.png"\; state="\{\{state\}\}">U</figure-callout>}}{2\mathrm{KL}}F---\left(11\right)$

The displacement increment of operating effort F and expectation relation in direct ratio.The displacement of load equals to import adding up of displacement increment.Displacement increment control method schematic diagram as shown in Figure 6.

G _CKBe end-effector, G _PCBe positioner, G _VCBe speed controller, V _FBe feedback speed, V _eBe velocity deviation, G _SBe elevator system model, K _EBe photoelectric encoder.

Displacement increment is

ΔS＝FG _CKK _s (12)

The elevator system control law is

U＝V _eG _VC＝(FG _CKK _sG _PC-V _F)G _VC (13)

Speed controller G _VCStill adopt the variable parameter PID speed controller G in the method for control speed _C, positioner G _PCAdopt the PID controller of variable element according to the jacking condition of load, rise and the decline operational process in positioner G _PCAdopt different pid parameters respectively.

For stationarity and the rapidity that guarantees system, select suitable displacement increment Δ S very crucial, if displacement increment Δ S is less than normal, the system works stationarity is good, but the speed that promotes is slow; If displacement increment Δ S is bigger than normal, then hoisting speed increases, but the hoisting speed fluctuation is bigger, and system's stationarity is poor.Consider of the influence of load gravity, be in to rise according to load and adopt different displacement increment Δ S respectively, promptly choose different proportionality coefficient K with the decline process to system _s

Based on the control flow chart of the control system of the micro operation force elevator system of displacement increment control method as shown in Figure 8.Describe in detail below in conjunction with Fig. 8.When the control system of micro operation force elevator system is selected the displacement increment control method for use: at first, system initialization, each variable is got initialization value, and the I/O interface is distinguished initialization, opens the enable switch of system, after system enables, indicator lamp is bright, is in the static serviceability for the treatment of, reads the output signal of the end-effector of palpus Filtering Processing, if end-effector does not have signal output, then load transfixion is in current location; If end-effector has signal output, judgement earlier is upwards or moves downward, and promptly is to rise or the descending motion instruction.If load upward movement, the signal of end-effector is converted to the lifting displacement increment signal delta S of load, the current location S of load and Δ S and (S+ Δ S) as the given signal in the position of system, positioner and speed controller select respectively to be used to the to rise controller parameter of operation, the given gravity compensation amount of speed controller, the drive controlling bont, realize the upward movement control of load, each sampling period, Count adds 1 automatically, when Count greater than 5 the time, system detects the output signal of end-effector once more, this signal is converted to the new lifting displacement increment signal delta S of load again ₁, with the new current location S of load ₁With Δ S ₁And (S ₁+ Δ S ₁) as the given signal in new position of system; If work as Count less than 5, then system does not handle the end-effector signal, does not promptly give the position signal of fixed system again, and the given signal in the position of system is constant, like this every 5 sampling periods, and the given again position signal of system; If load moves downward, its control process is identical with the rising control process, and just positioner and speed controller select to be used to the controller parameter that descends and move respectively, and speed controller does not have given gravity compensation amount.

(4) description of drawings

Fig. 1 micro operation force elevator system sketch;

Fig. 2 end-effector constructional drawing;

Fig. 3 end-effector force analysis figure;

The overall controlling schemes of Fig. 4 elevator system;

Fig. 5 method for control speed;

Fig. 6 displacement increment control method;

Fig. 7 is based on system's control flow chart of method for control speed;

Fig. 8 is based on system's control flow chart of displacement increment control method.

(5) specific embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

In conjunction with Fig. 1.The micro operation force elevator system mainly comprises bont 8 and end-effector 6.Bont 8 mainly comprises DC motor 2, retarder 3, photoelectric encoder 1, cylinder 4, steel rope 5.DC motor 2 connects firmly with retarder 3, cylinder 4 connects with retarder 3 output shafts, steel rope 5 is wrapped on the cylinder 4, DC motor 2 is by retarder 3, head roll 4 rotations, realization is connected in end-effector 6 dipping and heaving vertically of steel rope 5, realizes dipping and heaving thereby drive load 7.

In conjunction with Fig. 2.End-effector 6 mainly comprises three parts: connecting flange, operating handle mechanism, support mechanism.Operating handle mechanism mainly comprises load-bearing main shaft 21, sleeve 24, sliding type potentiometer 23, guide bolt 35, mobile plate 30, circular nut 29, stop washer 28, bottom end cover 27, spring 25,26, fixed stop 22.At first, sliding type potentiometer 23 is placed in the central channel of load-bearing main shaft 21, be fixed with fixed stop 22.Again with spring 25 around being positioned on the load-bearing main shaft 21, insert sleeve 24 from an end, and then the other end of past sleeve 24 is placed spring 26, load-bearing main shaft 21, spring 25, spring 26, sleeve 24 4 same axis are installed, and spring 25,26 pretension compression respectively is installed in the sleeve 24, and then the end at load-bearing main shaft 21 connects bottom end cover 27, is fixed with circular nut 29, and the position of adjusting sleeve 24, make the sleeve displacement that two end faces move up and down about in the of 24 greater than 15mm.Mobile plate 30 1 ends are connected in the free sliding end of sliding type potentiometer 23, and the other end is fixed in the sleeve 24 upper surface grooves.Again guider screw 35 is screwed in the groove at sleeve two ends about in the of 24, and guider screw 35 ends are in the guide groove of load-bearing main shaft 21 and bottom end cover 27 sides.

Support mechanism mainly comprises flange 31, pin 33, suspention axle 34, load-bearing transverse axis 32.Load-bearing transverse axis 32 is inserted in suspention axle 34 centre holes, and being fixed with pin 33 is linked to be a crux mechanism, and the centre hole of suspention axle 34 ends is used to connect weight clamping device 36 (as hook, sucker etc.).Again crux mechanism is positioned over flange 31 internal recess from flange 31 lateral opening grooves, forms the weight clamping device that freely to dismantle.

With connecting flange, operating handle mechanism, support mechanism connects in turn and is assembled into end-effector 6.

During use, as shown in Figure 1, at first connecting the weight clamping device on the suspention axle 34 of support mechanism, can be hook, anchor clamps, and any one clamping device such as sucker is selected different carrying clamping devices to different weights.

End-effector 6 is connected with steel rope 15, and end-effector 6 and bont 8 have been formed a micro operation force elevator system.Open the elevator system power switch, open control capsule [14] switch of end-effector [6] again, remain static behind the system initialization.During carrying load 37, the operator only need hand end-effector 6 and vertically apply small operating effort, when the operator holds end-effector 6 and moves up, control capsule 14 is accepted the operating effort signal of end-effector 6 feedbacks, pass to upper control computer, upper control computer controlling and driving DC motor 2 is just being changeed, thereby head roll 4 is just changeing, beginning lay winding wire ropes 3, load is also risen thereupon; When the operator holds end-effector 6 and moves down, control capsule 14 is accepted the operating effort signal of end-effector 6 feedbacks, pass to upper control computer, 2 counter-rotatings of upper control computer controlling and driving DC motor, thereby head roll 4 counter-rotatings, begin to unclasp steel rope 3, load also descends thereupon, and when the operator holds end-effector 6 when motionless, DC motor 2 is in static stop state, load also stops to rise or descending thereupon, and it is motionless to be in current location.In a word, the operator only need hand end-effector 6 and apply small operating effort and just can carry the load weight, elevator system is operation response person's operation intention in time, and the load weight can be followed the operator and is intended to motion, realizes that operator and robot are in same working space operation.The present invention is used for the power-assisted mechanical system, can realize intelligence, the workpiece assembling of man-computer cooperation operation, material handling etc.

Claims (5)

1. controllable micro operation force lifting apparatus, comprise the bont of forming by DC motor (2), retarder (3), photoelectric encoder (1), cylinder (4) and steel rope (5) (8), DC motor (2) connects firmly with retarder (3), cylinder (4) connects with retarder (3) output shaft, and steel rope (5) is wrapped on the cylinder (4); It is characterized in that: further comprising the end-effector (6) that is installed between steel rope and the load (7), end-effector (6) comprises connecting flange, operating handle mechanism, support mechanism three parts, and connecting flange (11), operating handle mechanism, support mechanism connect formation end-effector (6) in turn; Connecting flange (11) is gone up and is connected steel rope, following attended operation handle mechanism, and control capsule (14) is fixed on connecting flange (11) one sides; Control capsule (14) comprises the next control computer, one group of switch (13) and indicator lamp (12), handles the various control signals of end-effector and communicates by letter with upper control computer; Operating handle mechanism comprises load-bearing main shaft (21), sleeve (24), sliding type potentiometer (23), mobile plate (30), circular nut (29), stop washer (28), bottom end cover (27), first compression spring (25), second compression spring (26) and fixed stop (22), sliding type potentiometer (23) is installed in the central channel of load-bearing main shaft (21), and be fixed in the central channel of load-bearing main shaft (21) by fixed stop (22), load-bearing main shaft (21), sleeve (24), first compression spring (25) and second compression spring (26) four same axis are placed, and first compression spring (25) and second compression spring (26) be placed on the inner two ends of sleeve (24) respectively, first compression spring (25) upper surface is near the lower surface on load-bearing main shaft (21) top, the lower surface is near the upper surface of sleeve (24) bosom boss, second compression spring (26) upper surface is near the lower surface of sleeve (24) bosom boss, and the lower surface is near the upper surface of bottom end cover (27) bottom; Sleeve (24) supports by two initials tension of spring and is in balance position; Sliding type potentiometer (23) sliding end is connected by mobile plate (30) with sleeve (24) upper surface, the free skating moved end of sliding type potentiometer (23) and the interlock of sleeve (24) in the vertical direction; Bottom end cover (27) is fixed on the end of load-bearing main shaft (21) by circular nut (29) and stop washer (28); The signal of sliding type potentiometer (23) is imported the next control computer, and the next control computer is communicated by letter with upper control computer with RS232 serial communication mode, upper control computer control DC motor (2).

2. controllable micro operation force lifting apparatus according to claim 1, it is characterized in that: described support mechanism comprises flange (31), pin (33), suspention axle (34), load-bearing transverse axis (32), it is fixing by pin (33) that load-bearing transverse axis (32) passes the centre hole on suspention axle (34) top, forms a crux mechanism; The terminal centre hole of suspention axle (34) connects weight clamping device (36) thereby connects load (37); Described crux mechanism is positioned in flange (31) groove along the open slot of flange (31) side, forms the weight clamping device that can freely dismantle.

3. controllable micro operation force lifting apparatus according to claim 1 and 2, it is characterized in that: be provided with four guider screws (35) at sleeve (24) two ends, each two up and down, guider screw (35) screws in the groove of sleeve (24) two ends, guider screw (35) end places respectively in the guide chute of load-bearing main shaft (21) and bottom end cover (27) simultaneously, and sleeve (24) can only vertically move with respect to load-bearing main shaft (21).

4. control method as claim 1 or 2 or 3 described controllable micro operation force lifting apparatus, it is characterized in that: controllable micro operation force lifting apparatus is selected method for control speed, promptly the operating effort signal is converted to the hoisting speed instruction, control system adopts single speed closed loop structure, speed controller adopts the variable parameter PID parameter controller, and increased load gravity compensation amount in the speed controller, also used a firstorder filter that speed signal has been carried out pretreatment in addition.

5. control method as claim 1 or 2 or 3 described controllable micro operation force lifting apparatus, it is characterized in that: controllable micro operation force lifting apparatus is selected the displacement increment control method, promptly the operating effort signal is converted to load displacement increment instruction, it is that position closed loop, interior ring are the double circle structure of speed closed loop that control system adopts outer shroud, and positioner and speed controller adopt PID CONTROLLER WITH VARIABLE ARGUMENTS respectively.

Images