CN109940513B - Servo compensation type constant force actuating mechanism - Google Patents
Servo compensation type constant force actuating mechanism Download PDFInfo
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Abstract
The invention belongs to the technical field of automatic processing, and particularly relates to a servo compensation type constant force actuating mechanism. The servo force adjusting mechanism is arranged on the base, the main constant force output mechanism, the auxiliary force adjusting mechanism, the fixed stroke guide mechanism, the closed-loop distance measuring feedback structure and the two sets of auxiliary force output mechanisms are arranged on the base, wherein the servo force adjusting mechanism is connected with the main constant force output mechanism, the main constant force output mechanism is connected with the fixed stroke guide mechanism, the two sets of auxiliary force output mechanisms are symmetrically arranged on two sides of the fixed stroke guide mechanism and are connected with the fixed stroke guide mechanism, the auxiliary force adjusting mechanism is arranged on the outer side of each set of auxiliary force output mechanisms, the closed-loop distance measuring feedback structure is used for detecting the displacement of the main constant force output mechanism in the main thrust output direction and controlling the position interpolation of the servo force adjusting mechanism in real time, and full closed-loop position control is achieved. The invention provides constant force output through mechanical interpolation in a certain stroke, the output constant force is servo-controlled, and meanwhile, the servo-servo-control device can output stable linear force.
Description
Technical Field
The invention belongs to the technical field of automatic processing, and particularly relates to a servo compensation type constant force actuating mechanism.
Background
With the wide application of the robot in the field of automatic processing, the application of the robot in the field of grinding and polishing is rapidly developed. The robot is used for replacing the traditional manual work to carry out the polishing work of the workpiece in the polishing field, is mainly applied to the work of polishing the surface of the workpiece, deburring edges and corners, polishing welding lines, deburring inner bores of inner cavities, processing threaded openings of orifices and the like, and can be applied to the industries of bathroom hardware industry, IT industry, automobile parts, industrial parts, medical instruments, wood building material furniture manufacturing, civil products and the like. The application of the robot for polishing has the characteristics of long-term polishing operation, high production rate, high quality and high stability of products. After the original robot grinding and polishing equipment works through more complicated robot processing trial teaching, constant-force grinding and polishing are often difficult to guarantee due to the influence of factors such as robot precision, workpiece difference and the like, so that grinding and polishing quality is influenced, and for complex parts processed by some procedures, most of the complex parts need to be processed by rough grinding, rough polishing, fine grinding, fine polishing and the like, the constant-force value of grinding and polishing in different processing procedures needs to be changed or linear force is applied to grinding and polishing, so that the grinding and polishing quality requirement is higher. Therefore, a constant force actuator is urgently needed to meet the requirements of the application type grinding and polishing equipment. At the same time, the requirements for the application-like polishing equipment are becoming higher and higher.
At present, the constant force execution device in the grinding and polishing field generally comprises a low-resistance cylinder, a servo proportional valve, a displacement sensor, an acceleration sensor and a guide device, although the constant force execution device has a compensation function and can realize constant force output, a control algorithm is complex, power supply and compressed air are needed, the price is very high, and the functions of constant force value setting adjustment and linear force output are difficult to realize in performance. Therefore, it is an urgent technical problem to be solved by those skilled in the art to design a servo compensation type constant force actuator with low cost, high precision and simple use.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a servo compensation type constant force actuator.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a servo compensation type constant force actuating mechanism, includes the base and set up in servo force adjusting mechanism, main constant force output mechanism, assistance power adjustment mechanism, decide stroke guiding mechanism, closed loop range finding feedback structure and two sets of assistance power output mechanism on the base, wherein servo force adjusting mechanism is connected with main constant force output mechanism, and main constant force output mechanism is connected with deciding stroke guiding mechanism, and two sets of assistance power output mechanism symmetric arrangement are in the both sides of deciding stroke guiding mechanism, and all are connected with deciding stroke guiding mechanism, and every group assistance power output mechanism's the outside all is equipped with assistance power adjustment mechanism, closed loop range finding feedback structure is used for detecting the displacement volume of main constant force output mechanism in main thrust output direction and controls the position interpolation of servo force adjusting mechanism in real time, realizes full closed loop position control.
The servo force adjusting mechanism comprises a servo motor, a transmission assembly and a motor base, wherein the motor base is arranged on the base, an output shaft of the motor base is connected with the transmission assembly, and the transmission assembly is connected with the main constant force output mechanism.
The transmission assembly comprises a ball screw shaft and a nut seat in threaded connection with the ball screw shaft, and the nut seat is connected with the main constant force output mechanism.
The fixed stroke guide mechanism comprises a load base, a linear guide rail and an output flange shaft, wherein the linear guide rail is arranged on the base along the power output direction of the servo force adjusting mechanism, and the load base is slidably arranged on the linear guide rail and connected with the output flange shaft.
The main constant force output mechanism comprises a main pressure spring body, a main thrust seat and a main pressure seat, wherein the main thrust seat is connected with the linear guide rail in a sliding manner and connected with the servo force adjusting mechanism, the main pressure seat is connected onto the load base, the main pressure spring body is placed between the main thrust seat and the main pressure seat, and the main thrust seat and the main pressure seat are respectively connected with a positioning shoulder shaft for guiding and assisting in positioning of the main pressure spring body.
Two sets of auxiliary force output mechanism structure is the same, all includes auxiliary pressure spring, side auxiliary thrust pressure spring seat, auxiliary thrust output pressure spring seat and direction optical axis, wherein the side auxiliary thrust pressure spring seat set up in on the base, and can follow the perpendicular to servo power output direction of adjusting the power mechanism slides, auxiliary thrust output pressure spring seat set up in on the load base, direction optical axis one end and side auxiliary thrust pressure spring seat interference fit, the other end and auxiliary thrust output pressure spring seat clearance fit, auxiliary pressure spring cover locate on the direction optical axis, and be subject to between side auxiliary thrust pressure spring seat and the auxiliary thrust output pressure spring seat.
The side auxiliary thrust pressure spring seat comprises a side auxiliary thrust pressure spring seat main body, a first pin shaft and a side auxiliary thrust pressure spring base, wherein the side auxiliary thrust pressure spring base is in sliding fit with the base and can move in the direction vertical to the main thrust direction; the auxiliary thrust output pressure spring seat comprises an auxiliary thrust output pressure spring seat main body and a second pin shaft, wherein the second pin shaft is arranged on the load base, the auxiliary thrust output pressure spring seat main body is rotatably connected with the second pin shaft, and two ends of the auxiliary pressure spring are respectively abutted against the side auxiliary thrust pressure spring seat main body and the auxiliary thrust output pressure spring seat main body.
U-shaped grooves are formed in two sides of the load base, and the base is provided with a stroke limiting rod accommodated in the U-shaped grooves.
The auxiliary force adjusting mechanism comprises a lock nut, a positioning seat and an adjusting jackscrew, wherein the positioning seat is connected with the base, the adjusting jackscrew is in threaded connection with the positioning seat, the end part of the adjusting jackscrew is abutted to the side auxiliary thrust pressure spring base, and the lock nut is used for locking the adjusting jackscrew.
The closed-loop distance measurement feedback structure comprises a mounting support, a laser distance measurement sensor and a detection sensing piece, wherein the laser distance measurement sensor is arranged on the mounting support and used for detecting the displacement of the main constant force output mechanism in the main thrust output direction.
The invention has the advantages and beneficial effects that: the invention provides a servo compensation type constant force actuating mechanism which provides constant force output through mechanical interpolation within a certain stroke, is servo-controllable in output constant force and has the function of servo follow-up control to output stable linear force. The grinding and polishing machine is suitable for being used as an industrial robot end effector to be applied to the field of grinding and polishing processing, is suitable for workpiece grinding and polishing occasions with complex procedures, and has the characteristics of strong practicability, high precision, simplicity in use and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic overall appearance of the present invention;
FIG. 3 is a schematic structural view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a schematic structural view of a two-sided auxiliary force output mechanism of the present invention;
fig. 6 is a front view of the present invention.
Wherein: the device comprises a servo force adjusting mechanism 1, a main constant force output mechanism 2, an auxiliary force output mechanism 3, an auxiliary force adjusting mechanism 4, a fixed stroke guide mechanism 5, a closed-loop distance measurement feedback structure 6, a servo motor 7, a transmission assembly 8, a motor base 9, a main pressure spring body 10, a main thrust base 11 and a main pressure base 12, wherein the servo stroke guide mechanism is arranged on the servo motor; 13 is an auxiliary pressure spring, 14 is a side auxiliary thrust pressure spring seat, 15 is an auxiliary thrust output pressure spring seat, 16 is a front baffle, 17 is a support rod, 18 is a laser distance measuring sensor 1,19 is a mounting bracket 19, 20 is a detection sensing piece, 21 is a ball screw shaft, 22 is a nut seat, 23 is a connecting key, 24 is a positioning shoulder shaft, 25 is a side auxiliary thrust pressure spring seat main body, 26 is a positioning end shaft, 27 is a guide optical shaft, 28 is an auxiliary thrust output pressure spring seat main body, 29 is a stroke limiting rod, 30 is a ball bearing, 31 is a hole retainer ring, 32 is a first pin shaft, 33 is a side auxiliary thrust pressure spring base, 34 is a lock nut, 35 is a positioning seat and 36 is an adjusting jackscrew, 37 is a shaft retainer ring, 38 is a second pin shaft, 40 is a load base, 41 is a linear guide rail, 42 is an output micro flange shaft, 43, 44 and 45 are sliders, 46 is a base, and 47 is a protective cover.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the servo compensation type constant force actuator provided by the present invention comprises a base 46, and a servo force adjusting mechanism 1, a main constant force output mechanism 2, an auxiliary force adjusting mechanism 4, a fixed stroke guiding mechanism 5, a closed loop distance measuring feedback mechanism 6 and two sets of auxiliary force output mechanisms 3 arranged on the base 46, wherein the servo force adjusting mechanism 1 is connected with the main constant force output mechanism 2, the main constant force output mechanism 2 is connected with the fixed stroke guide mechanism 5, the two groups of auxiliary force output mechanisms 3 are symmetrically arranged at the two sides of the fixed stroke guide mechanism 5, and all are connected with the fixed stroke guide mechanism 5, the outer side of each group of auxiliary force output mechanisms 3 is provided with an auxiliary force adjusting mechanism 4, and the closed loop distance measurement feedback structure 6 is used for detecting the displacement of the main constant force output mechanism 2 in the main thrust output direction and controlling the position interpolation of the servo force adjusting mechanism 1 in real time so as to realize the full closed loop position control.
The base 46 is provided with a protective cover 47, and the protective cover 47 plays a role in protecting and protecting internal related devices and sealing.
As shown in fig. 3, the servo force adjusting mechanism 1 includes a servo motor 7, a transmission assembly 8 and a motor base 9, wherein the motor base 9 is disposed on the base 46, an output shaft of the motor base is connected to the transmission assembly 8, and the transmission assembly 8 is connected to the main constant force output mechanism 2.
As shown in fig. 4, the transmission assembly 8 includes a ball screw shaft 21 and a nut seat 22 in threaded connection with the ball screw shaft 21, the ball screw shaft 21 is connected to an output shaft end of the servo motor 7 through a connecting key 23, the axial direction is fixed through two top screws, and the nut seat 22 is connected to the main constant force output mechanism 2, so that the output position of the servo motor 7 can be effectively and accurately controlled and transmitted to the main constant force output mechanism 2.
The transmission assembly 8 adopts ball screw transmission, has high-precision transmission displacement capacity and can better ensure the force output precision. The servo motor 7 is an absolute value type servo motor, the position loop is controlled stably and readable, and reliable and accurate position precision can be provided.
As shown in fig. 6, the fixed-stroke guide mechanism 5 includes a load base 40, a linear guide 41 and an output flange shaft 42, wherein the linear guide 41 is disposed on a base 46 along the power output direction of the servo force adjusting mechanism 1, and the load base 40 is slidably disposed on the linear guide 41 and connected to the output flange shaft 42. An output flange shaft 42 is positioned and secured with the load base 40 for output of thrust.
As shown in fig. 3-4, the main constant force output mechanism 2 includes a main pressure spring 10, a main thrust seat 11, and a main pressure seat 12, wherein the main thrust seat 11 is slidably connected to the linear guide rail 41 through a slider and is connected to the nut seat 22 of the servo force adjusting mechanism 1, and the main pressure seat 12 is connected to the load base 40 and fixed by screws. The main pressure spring body 10 is arranged between the main thrust seat 11 and the main pressure seat 12, and the main thrust seat 11 and the main pressure seat 12 are both connected with a positioning shoulder shaft 24 for guiding and assisting in positioning the main pressure spring body 10.
The servo motor 7 drives the nut seat 22 in the transmission assembly 8 to controllably adjust the position of the main thrust seat 11 on the linear guide rail 41, so that the compression amount of the main pressure spring body 10 is changed, and the function of adjusting the magnitude of the constant force value is realized. The main pressure receiving base 12 slides in a certain range along with the load base 40 along the constant force output direction, and transmits the thrust of the main pressure spring body 10 to the output end.
The main pressure spring body 10 is a compression spring, the stiffness coefficient value of the compression spring is known, on the premise that the compression amount of the compression spring is known, the main thrust output by the main pressure spring body 10 can be predicted, and along with the change of the compression amount of the compression spring, the variation of the main thrust output by the main pressure spring body 10 can also be predicted.
The two sets of auxiliary force output mechanisms 3 are identical in structure and respectively comprise an auxiliary pressure spring 13, a side auxiliary thrust pressure spring seat 14, an auxiliary thrust output pressure spring seat 15 and a guide optical axis 27, wherein the side auxiliary thrust pressure spring seat 14 is arranged on the base 46 and can slide along the direction perpendicular to the power output direction of the servo force adjusting mechanism 1, the auxiliary thrust output pressure spring seat 15 is arranged on the load base 40, and auxiliary thrust is transmitted to the load base 40 along a pin shaft to form constant resultant force with main thrust. One end of the guide optical axis 27 is in interference fit with the side auxiliary thrust pressure spring seat 14, and the other end of the guide optical axis is in clearance fit with the auxiliary thrust output pressure spring seat 15 and is used for assisting the positioning and output force guiding of the pressure spring 13. The auxiliary compression spring 13 is sleeved on the guide optical axis 27 and limited between the side auxiliary thrust compression spring seat 14 and the auxiliary thrust output compression spring seat 15, the auxiliary compression spring 13 is used for auxiliary thrust output, and the guide optical axis 27 is used for positioning and output force guiding of the auxiliary compression spring 13.
The side auxiliary thrust pressure spring seat 14 is placed on the base 46, and can move perpendicular to the constant force output direction under the regulation of the auxiliary force regulating mechanism 4, so as to regulate the compression amount of the auxiliary pressure spring 13 and further regulate the output magnitude of the side auxiliary thrust. The load base 40 is provided with two symmetrical U-shaped grooves which cooperate with the travel limiting rods 29 to limit the travel leading to the force actuator.
As shown in fig. 4-5, the side auxiliary thrust pressure spring seat 14 includes a side auxiliary thrust pressure spring seat main body 25, a first pin shaft 32 and a side auxiliary thrust pressure spring base 33, wherein the side auxiliary thrust pressure spring base 33 is slidably connected with the base 46, the pin shaft 32 is disposed on the side auxiliary thrust pressure spring base 33, and the side auxiliary thrust pressure spring seat main body 25 is rotatably connected with the pin shaft 32 through the ball bearing 30; the hole retainer 31 and the shaft retainer 37 are used for positioning the ball bearing 30, and the side auxiliary thrust pressure spring seat main body 25 can rotate around the corresponding pin shaft.
The auxiliary thrust output pressure spring seat 15 comprises an auxiliary thrust output pressure spring seat main body 28 and a second pin shaft 38, wherein the second pin shaft 38 is arranged on a load base 40, the auxiliary thrust output pressure spring seat main body 28 is rotatably connected with the second pin shaft 38 through a bearing, and two ends of an auxiliary pressure spring 13 are respectively abutted against the side auxiliary thrust pressure spring seat main body 25 and the auxiliary thrust output pressure spring seat main body 28. The hole retainer 31 and the shaft retainer 37 are used for positioning the bearing and the auxiliary thrust output pressure spring seat main body 28, and the auxiliary thrust output pressure spring seat main body 28 can rotate around the load base 40.
Further, the side auxiliary thrust pressure spring base 33 is in clearance fit with a guide spigot on the base 46 through a boss, and can move in the direction perpendicular to the main thrust direction. The side auxiliary thrust pressure spring seat 14 can move perpendicular to the constant force output direction under the adjustment of the auxiliary force adjusting mechanism 4, and the compression amount of the auxiliary pressure spring 13 is adjusted, so that the output magnitude of the side auxiliary thrust is adjusted.
The auxiliary thrust output pressure spring seat 15 is hinged with the load base 40 of the fixed stroke guide mechanism 5 by using a pin shaft and a bearing, and the auxiliary thrust is transmitted to the load base 40 along the pin shaft to form constant resultant force with the main thrust. The mechanism performs mechanical interpolation on the main thrust output by the main pressure spring body 10 in the constant force direction through the thrust output by the auxiliary pressure springs 13 on the two sides, and can ensure the stability and the accuracy of the constant force output by the actuating mechanism. On the basis, the servo force adjusting mechanism 1 is used for linearly controlling the compression amount of the main compression spring 11 in the main constant force output mechanism 2, and the function of stabilizing the linear force output is achieved.
The auxiliary pressure spring 13 is a compression spring, the stiffness coefficient value of the compression spring is known, the output main thrust of the auxiliary pressure spring 13 can be predicted on the premise that the compression amount of the auxiliary pressure spring 13 is known, and the variation of the output main thrust of the auxiliary pressure spring 13 can be predicted along with the variation of the compression amount of the auxiliary pressure spring 13.
As shown in fig. 5, the auxiliary force adjusting mechanism 4 includes a lock nut 34, a positioning seat 35 and an adjusting jackscrew 36, wherein the positioning seat 35 is connected with a base 46, the adjusting jackscrew 36 is in threaded connection with the positioning seat 35, and the end of the adjusting jackscrew abuts against the side auxiliary thrust pressure spring base 33, and the lock nut 34 is used for locking the adjusting jackscrew 36. The adjusting jackscrew 36 is used for controlling the side auxiliary thrust pressure spring seat 14 to move in the direction vertical to the main thrust direction, so as to adjust the compression amount of the auxiliary pressure spring 13 and achieve the purpose of setting the auxiliary thrust; the locking nut 34 is used for adjusting the looseness prevention of the jackscrew 36.
The closed-loop distance measuring feedback structure 6 comprises a mounting support 19, a laser distance measuring sensor 18 and a detection sensing piece 20, wherein the laser distance measuring sensor 18 is arranged on the mounting support 19, and is used for detecting the displacement of the main constant force output mechanism 2 in the main thrust output direction, namely reflecting the compression amount of the main pressure spring body 10. During installation and debugging, the initial compression amount of a main pressure spring body 10 of the main constant force output mechanism 2 is set and defined as a position mechanical zero point, the closed-loop distance measurement feedback mechanism 6 records the position as a feedback position zero point, and in the operation control process, the closed-loop distance measurement feedback mechanism 6 controls the position interpolation of the servo motor 7 at any time, so that the full-closed-loop position control is realized, and the extremely high force output precision is ensured in the application occasions of constant force output controlled at a servo fixed point or in the application occasions of linear force output.
The laser distance measuring sensor 18 is a high-precision distance detecting electric element, and is fixedly connected with the mounting bracket 19, and the mounting bracket 19 is fixedly connected with the base 46 through a screw. The base 46 is a whole force actuator fixing carrier, and four support rods 17 are fixed on the base through threaded connection and used for installing and fixing the protective cover 47. The protective cover 47 is a protective carrier of the whole force actuating mechanism, is fixedly connected with the front baffle 16 and the base 46 through the four support rods 17, and mechanically protects and seals the whole force actuating mechanism.
When the constant force output end of the fixed stroke guide mechanism 5 changes along the position of the constant force output direction, the main thrust output by the main constant force output mechanism 2 also changes along with the change, the variable quantity of the main thrust is compensated by the auxiliary thrust output by the auxiliary force output mechanisms 3 at two sides, so that the resultant force of the main thrust and the auxiliary forces at two sides is a constant value, the constant force output function is realized, the compression quantity of the main compression spring 11 in the main constant force output mechanism 2 is controlled by the servo force adjusting mechanism 1 at a servo fixed point, the output constant force adjustable function can be realized, the compression quantity of the main compression spring 11 in the main constant force output mechanism 2 is further controlled by the servo force adjusting mechanism 1 at a servo follow-up mode, and the linear force output function can be realized.
According to the invention, the main thrust output by the main pressure spring body 10 in the constant force direction is mechanically interpolated through the thrust output by the auxiliary pressure springs 13 at the two sides, so that the stability and the accuracy of the constant force output by the actuating mechanism can be ensured. On the basis, the servo force adjusting mechanism 1 is used for linearly controlling the compression amount of the main compression spring 11 in the main constant force output mechanism 2, and the function of stabilizing the linear force output is achieved.
The position shown in fig. 1 is the initial position of the force actuator, in which several parameters affect the constant force output of the mechanism: the compression amount of the main compression spring body 10, the rigidity coefficient error of the main compression spring body 10 at the initial position, the compression amount of the auxiliary compression spring 13, the rigidity coefficient error of the auxiliary compression spring 13 at the initial position, and the stroke range of the fixed stroke guide mechanism 5. When in design, the compression amount of a main compression spring body 10 at an initial position is regulated and controlled by a servo force regulating mechanism 1, the compression amount of an auxiliary compression spring 13 at the initial position is regulated and controlled by an auxiliary force regulating mechanism 4, a proper rigidity coefficient of the main compression spring body 10 and a proper rigidity coefficient of the auxiliary compression spring 13 are selected by calculating and meeting the requirement of the constant force, the influence of the rigidity coefficient error of the main compression spring body 10 and the rigidity coefficient error of the auxiliary compression spring 13 on the constant force value error is reduced by regulating the compression amount of the auxiliary compression spring 13 at the initial position, the constant force value error can be met within 0.3% in the whole compensating stroke by calculating a force executing mechanism according to the stroke range of a fixed stroke guide mechanism 5, and the constant force value error can be guaranteed by mechanical regulation. The range of the compression amount of the main pressure spring body 10 can be known through specific design and calculation, the controllable displacement amount of the servo force adjusting mechanism 1 can be known through combining the stroke range of the fixed stroke guide mechanism 5, in the displacement interval, in the output action process of the servo compensation type constant force executing mechanism, the compression amount of the main pressure spring body 10 is measured and fed back at any time through the closed-loop distance measuring feedback mechanism 6, the compression deviation amount of the compression amount of the main pressure spring body 10 at the current position relative to the initial position can be known, the deviation amount is controlled at a servo fixed point, namely the size of an output constant force value is set, the deviation amount is controlled in a servo follow-up linear mode, namely the function of outputting stable linear force is achieved, and the precision of the output force of the servo compensation type constant force executing mechanism can be.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A servo compensation type constant force executing mechanism is characterized by comprising a base (46), a servo force adjusting mechanism (1), a main constant force output mechanism (2), an auxiliary force adjusting mechanism (4), a fixed stroke guide mechanism (5), a closed-loop distance measuring feedback structure (6) and two groups of auxiliary force output mechanisms (3), wherein the servo force adjusting mechanism (1) is arranged on the base (46), the main constant force output mechanism (2) is connected with the main constant force output mechanism (2), the main constant force output mechanism (2) is connected with the fixed stroke guide mechanism (5), the two groups of auxiliary force output mechanisms (3) are symmetrically arranged on two sides of the fixed stroke guide mechanism (5) and are connected with the fixed stroke guide mechanism (5), the auxiliary force adjusting mechanism (4) is arranged on the outer side of each group of auxiliary force output mechanisms (3), the closed-loop distance measuring feedback structure (6) is used for detecting the displacement of the main constant force output mechanism (2) in the main thrust output direction and controlling the position interpolation of the servo force adjusting mechanism (1) in real time, and realizing full closed-loop position control.
2. The servo-compensated constant force actuator according to claim 1, wherein the servo force adjusting mechanism (1) comprises a servo motor (7), a transmission assembly (8) and a motor base (9), wherein the motor base (9) is disposed on the base (46), an output shaft of the motor base is connected with the transmission assembly (8), and the transmission assembly (8) is connected with the main constant force output mechanism (2).
3. The servo-compensated constant force actuator according to claim 2, wherein the transmission assembly (8) comprises a ball screw shaft (21) and a nut seat (22) in threaded connection with the ball screw shaft (21), the nut seat (22) being connected with the main constant force output mechanism (2).
4. The servo-compensated constant force actuator according to claim 1, wherein the fixed-stroke guide mechanism (5) comprises a load base (40), a linear guide rail (41) and an output flange shaft (42), wherein the linear guide rail (41) is disposed on the base (46) along a power output direction of the servo force adjusting mechanism (1), and the load base (40) is slidably disposed on the linear guide rail (41) and connected with the output flange shaft (42).
5. The servo compensation type constant force actuator according to claim 4, wherein the main constant force output mechanism (2) comprises a main pressure spring body (10), a main thrust seat (11) and a main pressure seat (12), wherein the main thrust seat (11) is slidably connected with the linear guide rail (41) and is connected with the servo force adjusting mechanism (1), the main pressure seat (12) is connected with a load base (40), the main pressure spring body (10) is placed between the main thrust seat (11) and the main pressure seat (12), and the main thrust seat (11) and the main pressure seat (12) are both connected with a positioning shoulder shaft (24) for guiding auxiliary positioning of the main pressure spring body (10).
6. The servo compensation type constant force actuator according to claim 4, wherein the two sets of auxiliary force output mechanisms (3) have the same structure and comprise auxiliary pressure springs (13), side auxiliary thrust pressure spring seats (14), auxiliary thrust output pressure spring seats (15) and guide optical axes (27), wherein the side auxiliary thrust pressure spring seat (14) is arranged on the base (46) and can slide along the direction vertical to the power output direction of the servo force adjusting mechanism (1), the auxiliary thrust output pressure spring seat (15) is arranged on the load base (40), one end of the guide optical axis (27) is in interference fit with the side auxiliary thrust pressure spring seat (14), the other end of the guide optical axis is in clearance fit with the auxiliary thrust output pressure spring seat (15), and the auxiliary pressure spring (13) is sleeved on the guide optical axis (27) and limited between the side auxiliary thrust pressure spring seat (14) and the auxiliary thrust output pressure spring seat (15).
7. The servo compensation type constant force actuator according to claim 6, wherein the side auxiliary thrust compression spring seat (14) comprises a side auxiliary thrust compression spring seat main body (25), a first pin shaft (32) and a side auxiliary thrust compression spring base (33), wherein the side auxiliary thrust compression spring base (33) is in sliding fit with the base (46) and can move in a direction perpendicular to the main thrust direction, the pin shaft (32) is arranged on the side auxiliary thrust compression spring base (33), and the side auxiliary thrust compression spring seat main body (25) is rotatably connected with the pin shaft (32); the auxiliary thrust output pressure spring seat (15) comprises an auxiliary thrust output pressure spring seat main body (28) and a second pin shaft (38), wherein the second pin shaft (38) is arranged on the load base (40), the auxiliary thrust output pressure spring seat main body (28) is rotatably connected with the second pin shaft (38), and two ends of the auxiliary pressure spring (13) are respectively abutted to the side auxiliary thrust pressure spring seat main body (25) and the auxiliary thrust output pressure spring seat main body (28).
8. The servo compensation type constant force actuator according to claim 6, wherein the load base (40) is provided with U-shaped grooves at two sides, and the base (46) is provided with a travel limiting rod (29) accommodated in the U-shaped grooves.
9. The servo compensation type constant force actuator mechanism is characterized in that the auxiliary force adjusting mechanism (4) comprises a lock nut (34), a positioning seat (35) and an adjusting jackscrew (36), wherein the positioning seat (35) is connected with the base (46), the adjusting jackscrew (36) is in threaded connection with the positioning seat (35) and the end part of the adjusting jackscrew abuts against the side auxiliary thrust pressure spring base (33), and the lock nut (34) is used for locking the adjusting jackscrew (36).
10. The servo-compensated constant force actuator according to claim 1, wherein the closed-loop distance measuring feedback structure (6) comprises a mounting bracket (19), and a laser distance measuring sensor (18) and a detection sensing piece (20) which are arranged on the mounting bracket (19), wherein the laser distance measuring sensor (18) is used for detecting the displacement of the main constant force output mechanism (2) in the main thrust output direction.
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| CN2867028Y (en) * | 2006-01-19 | 2007-02-07 | 中国石化工程建设公司 | High precision constant force spring supporting hanger frame |
| CN103527551B (en) * | 2013-10-18 | 2015-12-23 | 浙江工业大学 | A kind of constant force with electromagnetic compensation exports air-floating apparatus |
| CN204828958U (en) * | 2015-01-30 | 2015-12-02 | 佛山高富中石油燃料沥青有限责任公司 | A a constant force gallows for support pipeline |
| CN105487563B (en) * | 2016-01-07 | 2018-04-20 | 四川大学 | A kind of adjustable constant force mechanisms |
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