CN104634492A - High-precision bidirectional force feedback and bidirectional bearing retractor device - Google Patents
High-precision bidirectional force feedback and bidirectional bearing retractor device Download PDFInfo
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- CN104634492A CN104634492A CN201410774450.6A CN201410774450A CN104634492A CN 104634492 A CN104634492 A CN 104634492A CN 201410774450 A CN201410774450 A CN 201410774450A CN 104634492 A CN104634492 A CN 104634492A
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- retractor device
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Abstract
The invention discloses a high-precision bidirectional force feedback and bidirectional bearing retractor device which comprises a double-spring displacement mechanism, a force sensing mechanism and an external connecting mechanism. The double-spring displacement mechanism completes the expansion and retraction of the whole device. The double-spring displacement mechanism and the force sensing mechanism are connected with an external mechanism through the external connecting mechanism. The force sensing mechanism adopts a high-precision non-hollow mounting type pressure sensor, is mounted on the double-spring displacement mechanism through the external connecting mechanism and is used for completing high-precision pressure feedback detection. By the arrangement, the high-precision bidirectional force feedback and bidirectional bearing retractor device has the advantages that the device has bidirectional bearing capability to adapt to different machining process requirements, the device is applicable to occasions which require real-time pressure display and need further real-time control, and automation level and intelligence level are increased.
Description
Technical field
What the present invention relates to is the retractor device that a kind of industrial processes field is applied, the specifically two-way carrying retractor device of a kind of high precision bilateral force feedback.
Background technology
Various retractor device has a wide range of applications in industrial processes field, such as in the rolling manufacturing procedure in top of car skylight, rolling head will be arranged on to be had in the mechanism of Telescopic, and retractor device is wanted to bear bidirectional load, traditional retractor device adopts single spring structure, can only bear unidirectional load, technological requirement can not be met, there is no force feedback function simultaneously, reduce crudy, also limit the further raising of automatization level yet.
Find by prior art documents, patent No. CN201020669988 discloses a kind of adjustable dual-spring compression mechanism, this device is made up of rear support, guide pole, operating grip, spring of upspringing, front bearing, set nut, holddown spring, compact heap, sliding pin and wire, there is locking function, there is the two guide slide mechanism of dual spring, owing to employing adjustable dual-spring compression mechanism, utilize the telescopic moving of its guide pole, the cell panel of different-thickness can be compressed.The dual spring mechanism of this patent disclosure is completely different from the dual spring mechanism comprising sliding nut and inner and outer sleeves of present patent application, does not also have force feedback measuring ability.
Summary of the invention
The technical matters that the present invention mainly solves is to provide the two-way carrying retractor device of a kind of high precision bilateral force feedback, by the design of dual spring, system is made to have the load-bearing capacity of both direction, to adapt to different processing technology requirements, adopt pressure transducer simultaneously, device is made to have bilateral force feedback measuring ability, the application scenario requiring to show in real time pressure and needs control further in real time can be applied to, improve robotization, intelligent level, especially, pressure transducer adopts high precision non-hollow installation approach, be arranged on dual spring displacement mechanism by the special entity of design, more high-precision pressure detection can be carried out.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide the two-way carrying retractor device of a kind of high precision bilateral force feedback, comprise dual spring displacement mechanism, power sensing mechanism and external connection mechanism,
Described dual spring displacement mechanism, completes the stretching motion of whole device;
Described external connection mechanism, is connected dual spring displacement mechanism with external agency with power sensing mechanism;
Described power sensing mechanism, is adopted high precision non-hollow installation approach pressure transducer, is arranged on dual spring displacement mechanism by external connection mechanism, complete high-precision pressure feedback and detect.
In a preferred embodiment of the present invention, described dual spring displacement mechanism comprises spring shaft, upper spring, lower spring, inner sleeve, lining, sliding nut, pad and locking screw mother set, described upper spring, lower spring are arranged in the both sides up and down of sliding nut, pad is arranged between lower spring and locking screw mother set, spring shaft is fixed by locking screw mother set and external connection mechanism, inner sleeve is connected by screw thread with sliding nut, the cylindrical side of inner sleeve has 4 rectangle elongated slots, can telescopic moving in outer sleeve.
In a preferred embodiment of the present invention, described power sensing mechanism comprises upper sensor, lower sensor, coupling shaft and upper sensor fixed head, described upper sensor is connected with upper sensor fixed head by screw, coupling shaft is connected with spring shaft inner hole, and lower sensor is connected with external connection mechanism by screw.
In a preferred embodiment of the present invention, the xsect of described upper sensor fixed head is spoke shape hollow-core construction.
In a preferred embodiment of the present invention, described external connection mechanism comprises upper bush, outer sleeve, base, middle connecting plate and lower connecting plate, described upper bush is connected with roller-head seat with inner sleeve respectively by screw, outer sleeve is connected with base with dual spring displacement mechanism respectively by screw, middle connecting plate is connected with lower connecting plate with base by screw, and lower connecting plate is connected with mechanical arm by screw.
In a preferred embodiment of the present invention, the cylindrical side of described upper bush has 4 rectangle elongated slots.
The invention has the beneficial effects as follows: the two-way carrying retractor device of high precision bilateral force feedback of the present invention, by the design of dual spring, system is made to have the load-bearing capacity of both direction, adopt the high-precision pressure sensor with non-hollow installation approach simultaneously, be arranged on dual spring displacement mechanism by external connection mechanism, apparatus of the present invention are made to have bilateral force feedback measuring ability, the application scenario requiring to show in real time pressure and needs control further in real time can be applied to, improve robotization, intelligent level, more high-precision pressure detection can be carried out.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the integral mechanical structure scheme of installation of a preferred embodiment of the present invention;
Fig. 2 is upper sensor fixed head cut-open view in Fig. 1;
Fig. 3 is A-A cut-open view in Fig. 1;
Being labeled as in annex: 1, roller-head, 2, roller-head seat, 3, upper bush, 4, upper sensor fixed head, 5, upper sensor, 6, coupling shaft, 7, spring shaft, 8, upper spring, 9, lower spring, 10, base, 11, middle connecting plate, 12, inner sleeve, 13, lining, 14, outer sleeve, 15, sliding nut, 16, pad, 17, locking screw mother set, 18, lower sensor, 19, lower connecting plate, 20, mechanical arm.
Embodiment
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the embodiment of the present invention comprises:
The two-way carrying retractor device of a kind of high precision bilateral force feedback, comprises dual spring displacement mechanism, power sensing mechanism and external connection mechanism,
Described dual spring displacement mechanism, completes the stretching motion of whole device;
Described external connection mechanism, is connected dual spring displacement mechanism with external agency with power sensing mechanism;
Described power sensing mechanism, is adopted high precision non-hollow installation approach pressure transducer, is arranged on dual spring displacement mechanism by external connection mechanism, complete high-precision pressure feedback and detect.
In above-mentioned, described external agency comprises roller-head mechanism and mechanical arm 20, and described roller-head mechanism is arranged on the top of mechanical arm 20 by external connection mechanism.Be connected with mechanical arm 20 with roller-head mechanism by external connection mechanism in the present embodiment, mechanical arm 20 drives whole system to carry out orbiting motion, and roller-head mechanism produces displacement action, for completing the rolling processing technology of car sunroof with the retractor device of invention.Wherein, described roller-head mechanism comprises roller-head 1 and roller-head seat 2, and described roller-head 1 is arranged on the front end of roller-head seat 2.
Described dual spring displacement mechanism, its effect produces two-way carrying displacement movement function, comprise spring shaft 7, upper spring 8, lower spring 9, inner sleeve 12, lining 13, sliding nut 15, pad 16 and locking screw mother set 17, described upper spring 8, lower spring 9 is arranged in the both sides up and down of sliding nut 15, sliding nut 15 and inner sleeve 12 are threaded connection, inner sleeve 12 is made to bear two-way load by sliding nut 15 during upper and lower stretching motion in outer sleeve 14, pad 16 is arranged between lower spring 9 and locking screw mother set 17, spring shaft 7 is fixed by locking screw mother set 17 and external connection mechanism.
Described power sensing mechanism, its effect detects two-way load force, comprise upper sensor 5, lower sensor 18, coupling shaft 6 and upper sensor fixed head 4, described upper sensor 5 is connected with upper sensor fixed head 4 by screw, coupling shaft 16 is connected with the end inner hole of spring shaft 7, and lower sensor 18 is connected with external connection mechanism by screw.
Described external connection mechanism, its effect is connected with mechanical arm 20 with roller-head seat 2 by retractor device, comprise upper bush 3, outer sleeve 14, base 10, middle connecting plate 11 and lower connecting plate 19, described upper bush 3 is connected with roller-head seat 2 with inner sleeve 12 respectively by screw, outer sleeve 14 is connected with base 10 with upper sensor fixed head 4 respectively by screw, middle connecting plate 11 is connected with lower connecting plate 19 with base 10 by screw, and lower connecting plate 19 is connected with mechanical arm 20 by screw.
Especially, as shown in Figure 2, the lateral cross section of upper sensor fixed head 4 is spoke shape hollow-core construction, adapts with the stretching motion of upper bush 3 and inner sleeve 12.
Especially, as shown in Figure 3, have 4 rectangle elongated slots by the cylindrical side of inner sleeve 12 visible in cut-open view and upper bush 3, adapt with the spoke shape hollow cross-section of upper sensor fixed head 4.
In sum, the two-way carrying retractor device of high precision bilateral force feedback of the present invention, adopt the high-precision pressure sensor with non-hollow installation approach, device is made to have the two-way load feedback measuring ability of high precision, rolling can be carried out add show in real time roll extrusion power man-hour in top of car skylight, and lay a good foundation for implementing Stress control further in the future, improve robotization, intelligent level, simultaneously, apparatus of the present invention have the two-way load-bearing capacity of both direction, stretching motion can be carried out by driving rolls, and the bidirection press that pair roller bears provides two-way load support, improve the crudy of car sunroof rolling processing technology.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. the two-way carrying retractor device of high precision bilateral force feedback, is characterized in that, comprises dual spring displacement mechanism, power sensing mechanism and external connection mechanism,
Described dual spring displacement mechanism, completes the stretching motion of whole device;
Described external connection mechanism, is connected dual spring displacement mechanism with external agency with power sensing mechanism;
Described power sensing mechanism, is adopted high precision non-hollow installation approach pressure transducer, is arranged on dual spring displacement mechanism by external connection mechanism, complete high-precision pressure feedback and detect.
2. according to the two-way carrying retractor device of high precision bilateral force feedback described in claim 1, it is characterized in that, described dual spring displacement mechanism comprises spring shaft, upper spring, lower spring, inner sleeve, lining, sliding nut, pad and locking screw mother set, described upper spring, lower spring is arranged in the both sides up and down of sliding nut, pad is arranged between lower spring and locking screw mother set, spring shaft is fixed by locking screw mother set and external connection mechanism, inner sleeve is connected by screw thread with sliding nut, the cylindrical side of inner sleeve has 4 rectangle elongated slots, can telescopic moving in outer sleeve.
3. the two-way carrying retractor device of high precision bilateral force feedback according to claim 2, it is characterized in that, described power sensing mechanism comprises upper sensor, lower sensor, coupling shaft and upper sensor fixed head, described upper sensor is connected with upper sensor fixed head by screw, coupling shaft is connected with spring shaft inner hole, and lower sensor is connected with external connection mechanism by screw.
4. the two-way carrying retractor device of high precision bilateral force feedback according to claim 3, it is characterized in that, the xsect of described upper sensor fixed head is spoke shape hollow-core construction.
5. the two-way carrying retractor device of high precision bilateral force feedback according to Claims 2 or 3, it is characterized in that, described external connection mechanism comprises upper bush, outer sleeve, base, middle connecting plate and lower connecting plate, described upper bush is connected with outside roller-head mechanism seat with inner sleeve respectively by screw, outer sleeve is connected with base with dual spring displacement mechanism respectively by screw, middle connecting plate is connected with lower connecting plate with base by screw, and lower connecting plate is connected with the mechanical arm of outside by screw.
6. the two-way carrying retractor device of high precision bilateral force feedback according to claim 5, it is characterized in that, the cylindrical side of described upper bush has 4 rectangle elongated slots.
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| CN201410774450.6A CN104634492B (en) | 2014-12-16 | 2014-12-16 | High-precision bidirectional force feedback and bidirectional bearing retractor device |
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| CN201410774450.6A CN104634492B (en) | 2014-12-16 | 2014-12-16 | High-precision bidirectional force feedback and bidirectional bearing retractor device |
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| CN104634492A true CN104634492A (en) | 2015-05-20 |
| CN104634492B CN104634492B (en) | 2017-05-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109926973A (en) * | 2019-04-04 | 2019-06-25 | 湖南电气职业技术学院 | A kind of assembly of large-tonnage dumper is with any to automatic telescopic support tooling |
| CN111551289A (en) * | 2020-05-09 | 2020-08-18 | 安徽春辉仪表线缆集团有限公司 | Double-range high-precision pressure sensor |
| CN112157604A (en) * | 2020-08-24 | 2021-01-01 | 上海大学 | Large-bearing bidirectional controllable locking mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111229898B (en) * | 2020-01-20 | 2021-09-28 | 重庆众思创智能科技有限公司 | Binding head assembly with pressure detection |
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| EP0443534A1 (en) * | 1990-02-20 | 1991-08-28 | Howa Machinery, Ltd. | Overload detection system for a machine tool |
| JPH09264803A (en) * | 1996-03-29 | 1997-10-07 | High Frequency Heattreat Co Ltd | Tension measuring device for linear tension material |
| CN202045448U (en) * | 2010-12-17 | 2011-11-23 | 上海航天设备制造总厂 | Adjustable dual-spring compression mechanism |
| CN102607755A (en) * | 2012-04-01 | 2012-07-25 | 哈尔滨工业大学 | Detection device for preload of elastic preloaded bearing assembly |
| CN203310706U (en) * | 2013-06-06 | 2013-11-27 | 北京大学 | Superhigh temperature stretching type deformation measuring device |
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2014
- 2014-12-16 CN CN201410774450.6A patent/CN104634492B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0443534A1 (en) * | 1990-02-20 | 1991-08-28 | Howa Machinery, Ltd. | Overload detection system for a machine tool |
| JPH09264803A (en) * | 1996-03-29 | 1997-10-07 | High Frequency Heattreat Co Ltd | Tension measuring device for linear tension material |
| CN202045448U (en) * | 2010-12-17 | 2011-11-23 | 上海航天设备制造总厂 | Adjustable dual-spring compression mechanism |
| CN102607755A (en) * | 2012-04-01 | 2012-07-25 | 哈尔滨工业大学 | Detection device for preload of elastic preloaded bearing assembly |
| CN203310706U (en) * | 2013-06-06 | 2013-11-27 | 北京大学 | Superhigh temperature stretching type deformation measuring device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109926973A (en) * | 2019-04-04 | 2019-06-25 | 湖南电气职业技术学院 | A kind of assembly of large-tonnage dumper is with any to automatic telescopic support tooling |
| CN111551289A (en) * | 2020-05-09 | 2020-08-18 | 安徽春辉仪表线缆集团有限公司 | Double-range high-precision pressure sensor |
| CN112157604A (en) * | 2020-08-24 | 2021-01-01 | 上海大学 | Large-bearing bidirectional controllable locking mechanism |
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