CN101387319B - Toughness changing gravity compensating mechanism for magnetic rheological liquid - Google Patents
Toughness changing gravity compensating mechanism for magnetic rheological liquid Download PDFInfo
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- CN101387319B CN101387319B CN2008102015966A CN200810201596A CN101387319B CN 101387319 B CN101387319 B CN 101387319B CN 2008102015966 A CN2008102015966 A CN 2008102015966A CN 200810201596 A CN200810201596 A CN 200810201596A CN 101387319 B CN101387319 B CN 101387319B
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Abstract
The invention relates to a variable stiffness gravity compensation mechanism of a magnetic rheological fluid and belongs to the field of a mechanical technology. The mechanism comprises a piston rod, a ballscrew, a nut paired with the ballscrew, a movable plate of a magnetic rheological hydraulic transmission mechanism, a static plate of the magnetic rheological hydraulic transmission mechanism, the magnetic rheological fluid, a cylinder body and a shell body; the piston rod and the static plate of the magnetic rheological hydraulic transmission mechanism are fixed on the shell body; the movable plate of the magnetic rheological hydraulic transmission mechanism is connected with the nut; the magnetic rheological liquid is formed between the movable plate and the static plate of the magnetic rheological hydraulic transmission mechanism; and the ballscrew is connected with the cylinder body through a rolling bearing. The variable stiffness gravity compensation mechanism can realize continuous variable rigidity, thereby carrying out stiffness adjustment according to a specific application environment; simultaneously, the variable rigidity gravity compensation mechanism can conveniently utilize on-off power to control the mechanism through the magnetic rheological fluid in order that the mechanism rapidly responds, lightens the whole weight in the structure and has concise and tidy appearance.
Description
Technical field
What the present invention relates to is a kind of device of mechanical engineering technical field, specifically, is a kind of magnetic flow liquid (MR) toughness changing gravity compensating mechanism.
Background technique
Gravity compensation mechanism is widely used in fields such as Aero-Space, mechanical engineering, medical science, oil and gas development.Usually during movable object, offset its part gravity by using gravity compensation mechanism in gravity field, reduce gravitational moment, the just feasible active force that object is operated is less relatively, thereby can save the energy.Simultaneously, can also improve the Security of operation by gravity compensation.Gravity compensation mechanism generally utilizes counterbalance, permanent magnet or mechanical springs to compensate gravity at present.Using counterbalance to compensate the outstanding shortcoming of gravity is to have increased the entity quality in mechanism, not only will compensate basic object quality during compensation gravity, also needs to consider this associated mass, does not reach the effect of saving the energy.Also there is such defective in permanent magnet compensation gravity: weight is big, and for the load variations sensitivity, mechanism can't realize becoming rigidity.Mechanical springs compensation gravity problem is it to the load variations sensitivity, and spring can only carry out classification to be regulated, and mechanism can't realize continuous variable-stiffness.Simultaneously traditional gravity compensation mechanism ubiquity low-response, have and impact and control defectives such as constant.Magnetic flow liquid is the peculiar intelligent rheo-material of a kind of performance, is by high magnetic permeability, the small soft magnetic particles of low magnetic hysteresis and the suspension that non-magnetic liquid mixes.Because characteristics such as its response time are fast, controllability is strong, power consumption is minimum, operating range is wide, successful Application is in various fields, especially aspect vibration damping control.Extremely excellent based on the product performance of magnetic flow liquid technology, outstanding behaviours is low power consuming, good power performance and high precision, will become the main force of future products undoubtedly.
Through the literature search of prior art is found, mention a kind of pneumatic gravitational compensation mechanism in the Chinese patent " three-dimensional air floating platform and pneumatic gravitational compensation method " (patent publication No. CN1986337).This mechanism uses air compressor that pressurized air is imported Proportional valve after treatment, adjust gas pressure by controller and send into the air cylinder driven piston, thereby the quality that piston is supported realizes gravity compensation.This mechanism utilizes the cylinder realization gravity compensation that combines with the air supporting pad, and proportion of utilization valve regulation pressurized air makes that the entire mechanism response is fast, the precision height; Also need not the problem of considering that associated mass is excessive simultaneously, improve the working efficiency of mechanism.The deficiency of this mechanism is: lack an Equilibrator and cylinder portion balance, making needs the quality of compensation to fix, can only be in a kind of state of suspension, can't realize high rigidity, this just causes mechanism can't realize becoming rigidity can't working in some specific ambient conditions.Also more complicated of the structure of mechanism simultaneously.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of toughness changing gravity compensating mechanism for magnetic rheological liquid is provided.That the present invention has is simple in structure, can carry out to mechanism by MR liquid easily that control response is very rapid, thereby mechanism's rigidity continuous variable can carry out characteristics such as rigidity adjusting according to concrete applied environment, and it is immutable and be difficult to problems such as control to have solved the rigidity of traditional gravity compensation mechanism.
The present invention is achieved through the following technical solutions.The present invention includes: piston rod, ball screw, with nut, magnetic flow liquid force transfer mechanism moving plate, magnetic flow liquid force transfer mechanism still, magnetic flow liquid, cylinder block, the housing of ball screw pairing.Piston rod and magnetic flow liquid force transfer mechanism still are fixed on the housing, magnetic flow liquid force transfer mechanism moving plate be connected with the nut of ball screw pairing, between magnetic flow liquid force transfer mechanism moving plate and the magnetic flow liquid force transfer mechanism still is magnetic flow liquid, and ball screw is connected with cylinder block by rolling bearing.
Cylinder block and piston rod have constituted gravity compensation mechanism force generating apparatus, and it is servo that piston rod and cylinder block are externally finished dynamic balancing under the cooperation of power source and control means; Ball screw and nut have constituted the magnetic flow liquid effect and have strengthened switching mechanism, i.e. gravity compensation mechanism force actuators; The moving plate of magnetic flow liquid force transfer mechanism, still and magnetic flow liquid have constituted clutch with magnetic rheologic liquid, i.e. gravity compensation mechanism thrust balancing device.Because be to adopt the fixed piston rod mode, the cylinder block epicoele is a pressure chamber, is subjected to the pressurized air of outside proportional valve control to enter rod chamber, cylinder body floats, thereby realizes the effect of counterweight equilibrium of forces.Cylinder body floats and drives moving up and down of ball screw by rolling bearing, and by the rotation to magnetic flow liquid power on/off control ball nut, thereby control needs moving of compensation quality, realizes becoming the rigidity compensation.
The present invention utilizes cylinder to carry out gravity compensation, along with the continuous compressing mechanism of gas can change rigidity gradually, this change is a kind of continuous progressive formation, it is not the change procedure of the sort of classification of mechanical springs, this also can't realize with quality, permanent magnet compensation gravity, the quality problems of too when also having overcome simultaneously quality, permanent magnet compensation gravity.Another one characteristics of the present invention are the actuators that adopted magnetic flow liquid, and magnetic flow liquid has the characteristic and the liquid fluidity of magnetic material.Adding under the action of a magnetic field, rapid change can take place in the rheological properties of magnetic flow liquid, and its advantage is that the viscosity variation is continuous, reversible, rapid and be easy to control, has stepless adjustable characteristic.This has just solved low-response that traditional gravity compensation mechanism exists, have and impact and control defectives such as constant.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Among the figure: 1 is that piston rod, 2 is that ball screw, 3 is that the nut, 4 that matches with ball screw is that magnetic flow liquid force transfer mechanism moving plate, 5 is that magnetic flow liquid force transfer mechanism still, 6 is that magnetic flow liquid, 7 is that cylinder block, 8 is a housing.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed mode of execution and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: piston rod 1, ball screw 2, with nut 3, magnetic flow liquid force transfer mechanism moving plate 4, magnetic flow liquid force transfer mechanism still 5, magnetic flow liquid 6, cylinder block 7, the housing 8 of ball screw pairing, piston rod 1 and magnetic flow liquid force transfer mechanism still 4 are fixed on the housing 8, magnetic flow liquid force transfer mechanism moving plate 4 be connected with the nut 3 of ball screw pairing, between magnetic flow liquid force transfer mechanism moving plate 4 and the magnetic flow liquid force transfer mechanism still 5 is magnetic flow liquid 6, and ball screw 2 is connected with cylinder block 7 by rolling bearing.
Described piston rod 1 is in cylinder block 7 cavity insides, and the length direction of axis and piston rod 1 is consistent.
Described ball screw 2 and cylinder block 7 keeps coaxial, and cylinder block 7 and ball screw 2 move up and down along axial direction.
Described nut 3 with the ball screw pairing guarantees that the magnetic flow liquid force transfer mechanism moving plate 4 and the position of ball screw 2 concern.
Rotatablely moving of the nut 3 of described magnetic flow liquid force transfer mechanism moving plate 4 controls and ball screw pairing.
Described magnetic flow liquid force transfer mechanism still 5 plays the fixed mechanism effect.
Described magnetic flow liquid 6 is adjusted by power on/off control and is needed moving of compensation quality, realizes becoming the rigidity compensation.
Adopt fixed piston rod 1 mode, cylinder block 7 floats, and cylinder block 7 epicoeles are pressure chamber, are subjected to the pressurized air of outside proportional valve control to enter rod chamber, realizes the effect of counterweight equilibrium of forces.Cylinder block 7 floats and moves up and down by bearing drive ball screw 2.Under off-position, promptly under zero magnetic field condition, magnetic flow liquid presents low viscous Newtonian fluid characteristic, recovers fluid state, the forfeiture shear ability.Can't drive ball nut 3 by magnetic flow liquid force transfer mechanism moving plate 4 rotates.This moment, ball screw 2 rotated as driving link drive ball nut 3, needed compensation quality to move by easy on and off.Externally under the cooperation of power source and control means, pressurized air poured can carry out regulating and controlling, the rigidity of mechanism is continuous variable, realizes the rigidity continuous variable, and this moment, rigidity was lower.Magnetic flow liquid 6 energisings produce high magnetic fields, under strong magnetic field action, magnetic flow liquid 6 presents high viscosity, lazy flow, cause magnetic rheology effect, produce shearing stress, driving ball nut 3 by magnetic flow liquid force transfer mechanism moving plate 4 rotates, ball nut 3 rotate with ball screw 2 move up and down the realization balance, ball screw 2 forms self-locking, the cylinder block 7 that is attached thereto by bearing can't float, need this moment the quality of compensation to move freely, be fixed on a certain desired location, mechanism is under the high rigidity state.Realize the magnetic flow liquid toughness changing gravity compensating thus.
Claims (3)
1. toughness changing gravity compensating mechanism for magnetic rheological liquid, it is characterized in that, comprise: piston rod, ball screw, nut with the ball screw pairing, magnetic flow liquid force transfer mechanism moving plate, magnetic flow liquid force transfer mechanism still, magnetic flow liquid, cylinder block, housing, piston rod and magnetic flow liquid force transfer mechanism still are fixed on the housing, magnetic flow liquid force transfer mechanism moving plate be connected with the nut of ball screw pairing, between magnetic flow liquid force transfer mechanism moving plate and the magnetic flow liquid force transfer mechanism still is magnetic flow liquid, ball screw is connected with cylinder block by rolling bearing, magnetic flow liquid is adjusted by power on/off control and is needed moving of compensation quality, realizes becoming the rigidity compensation.
2. toughness changing gravity compensating mechanism for magnetic rheological liquid according to claim 1 is characterized in that described piston rod is in the cylinder block cavity inside, and the length direction of cylinder block axis and piston rod is consistent.
3. toughness changing gravity compensating mechanism for magnetic rheological liquid according to claim 1 is characterized in that, described ball screw keeps coaxial with cylinder block, and cylinder block and ball screw move up and down along axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102015966A CN101387319B (en) | 2008-10-23 | 2008-10-23 | Toughness changing gravity compensating mechanism for magnetic rheological liquid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102015966A CN101387319B (en) | 2008-10-23 | 2008-10-23 | Toughness changing gravity compensating mechanism for magnetic rheological liquid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101387319A CN101387319A (en) | 2009-03-18 |
| CN101387319B true CN101387319B (en) | 2010-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008102015966A Expired - Fee Related CN101387319B (en) | 2008-10-23 | 2008-10-23 | Toughness changing gravity compensating mechanism for magnetic rheological liquid |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289001B (en) * | 2011-05-16 | 2013-01-30 | 合肥同康机电技术有限公司 | Leveling device for gravimeter |
| CN103512690B (en) * | 2012-06-29 | 2015-08-19 | 东南大学常州研究院 | Shear Yield Stress of Magnetorheological Fluids proving installation |
| CN108180186B (en) * | 2017-12-05 | 2019-08-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Deep-sea deformation gap compensates binding clasp automatically |
| CN112297051B (en) * | 2020-05-19 | 2022-04-01 | 北京邮电大学 | Variable-rigidity joint system based on air cylinder |
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| CN101387319A (en) | 2009-03-18 |
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Granted publication date: 20100929 Termination date: 20131023 |