CN110985576B - Rigidity force control device based on non-rigid connection - Google Patents
Rigidity force control device based on non-rigid connection Download PDFInfo
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- CN110985576B CN110985576B CN201911348037.2A CN201911348037A CN110985576B CN 110985576 B CN110985576 B CN 110985576B CN 201911348037 A CN201911348037 A CN 201911348037A CN 110985576 B CN110985576 B CN 110985576B
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- connecting spring
- rigid
- output rod
- control device
- force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
- F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
- F16F3/04—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/005—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion using electro- or magnetostrictive actuation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K17/00—Safety valves; Equalising valves, e.g. pressure relief valves
- F16K17/20—Excess-flow valves
- F16K17/22—Excess-flow valves actuated by the difference of pressure between two places in the flow line
- F16K17/24—Excess-flow valves actuated by the difference of pressure between two places in the flow line acting directly on the cutting-off member
- F16K17/28—Excess-flow valves actuated by the difference of pressure between two places in the flow line acting directly on the cutting-off member operating in one direction only
- F16K17/30—Excess-flow valves actuated by the difference of pressure between two places in the flow line acting directly on the cutting-off member operating in one direction only spring-loaded
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/0011—Balancing, e.g. counterbalancing to produce static balance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/14—Ball joints; Spherical support elements
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Springs (AREA)
Abstract
The invention provides a rigid force control device based on non-rigid connection. Wherein: the control part consists of a ball, a connecting spring, an output rod and a driving part. The connecting spring is in non-rigid connection with the ball, and the ball is in gapless rigid contact with the conical surface of the controlled component. The controlled component is subjected to an external force and a force applied by the control component. After the controlled part is stressed to reach balance, when the external force is reduced, the driving part drives the output rod to displace and increase, so that the force applied to the controlled part through the ball is increased, and the stress of the controlled part is controlled to be kept unchanged. The non-rigid connection is innovatively used, so that the controlled part can keep contact with the control part, the force application mode in the force control process is rigid, the control precision is high, the structure is simple, the cost is low, and the method is suitable for popularization and application.
Description
Technical Field
The invention relates to the technical field of force control devices, in particular to a rigid force control device based on non-rigid connection.
Background
For products such as valves, robots, brakes and the like, force control has obvious influence on the working precision and the working performance of the products, and the research on high-precision force control devices becomes a potential field. Prior patents, for example, patent document CN108426092A, disclose a secondary adjustment method for a valve assembly, a solenoid valve and a compression spring of the solenoid valve, in which a power unit is added to the valve assembly, and after the relevant valve assembly is assembled, the adjustment of the compression amount of an elastic element can be realized according to the use condition, so as to reduce the problem of inaccurate control of the solenoid valve caused by assembly errors. However, this device adjusts the force based on a spring, and is not a rigid force control and is not high in accuracy.
For another example, patent document CN109966678A discloses a fire-fighting robot and a reaction force control method, specifically, four hydraulic columns carried by the fire-fighting robot are controlled to extend out of a housing and support the ground, and a movable rough disc at the bottom of the hydraulic columns is tightly attached to the ground, so as to increase friction force and further control the reaction force generated when the fire-fighting robot sprays water. However, the device is large in size, leakage may occur when hydraulic parts are used, and control accuracy is low.
Disclosure of Invention
In view of the drawbacks of the prior art, it is an object of the present invention to provide a rigid force control device based on a non-rigid connection.
The invention provides a non-rigid connection-based rigidity force control device, which comprises a control component, a control component and a control component, wherein the control component comprises a controlled component 1, a ball 4, a connecting spring 5 and a driving component 7;
one end of the connecting spring 5 is arranged on the driving part 7, and the other end of the connecting spring 5 is arranged on the ball 4;
the sphere 4 is contacted with the controlled component 1;
when the driving member 7 moves in a direction to approach the link spring 5, the link spring 5 is shortened since the ball 4 is restricted by the controlled member 1.
Preferably, the controlled component 1 is provided with an output rod 6;
one end of the connecting spring 5 is mounted on the output rod 6.
Preferably, the output rod 6 is provided with an extension 61 in the circumferential direction;
one end of the connecting spring 5 is mounted on the extension 61.
Preferably, the number of the connecting springs 5 is one or more;
the number of the balls 4 is matched with the number of the connecting springs 5.
Preferably, when the number of the connecting springs 5 is plural, the connecting springs 5 are arranged uniformly or non-uniformly in the circumferential direction of the output rod 6.
Preferably, the extension 61 includes any one of the following structures:
-a circular ring shape;
a plurality of sector rings arranged uniformly and equidistantly along the circumference of the output rod 6;
a plurality of cylindrical rods arranged uniformly and equidistantly along the circumference of the output rod 6.
Preferably, the controlled component 1 is provided with a mounting groove 11;
the ball 4 is mounted in the mounting groove 11.
Preferably, the mounting groove 11 includes any one of a truncated cone shape, a conical shape, and a hemispherical shape.
Preferably, the controlled component 1 is detachably connected with the output rod 6;
the connecting spring 5 is detachably connected with the output rod 6;
the ball body 4 and the connecting spring 5 are detachably connected.
Preferably, the driving part 7 is driven by a magnetostrictive material, the magnetostrictive material outputs unidirectional displacement and force in a non-magnetic field bias state, and the control of the high-frequency fluctuating external force can be realized based on the frequency doubling effect of the magnetostrictive material.
Compared with the prior art, the invention has the following beneficial effects:
1. the force control device of the invention adopts a rigid contact mode as a force application mode in the force control process, so that the control device can keep contact with the controlled component 1 in the moving process, and the control precision is improved.
2. The force control device is compact in structure and low in processing cost.
3. The force control device uses non-rigid connection, so that the controlled component can keep contact with the control component, and positive and negative force control can be realized.
4. If the driving part in the force control device adopts the drive based on the magnetostrictive material, the magnetostrictive material outputs unidirectional displacement and force in a non-magnetic field bias state, and the characteristic of realizing unidirectional force adjustment of the force control device is the same as that of realizing unidirectional force adjustment of the force control device, so that a bias magnetic field does not need to be applied to the magnetostrictive driving material. Due to the frequency doubling effect of the magnetostrictive material, the control of the external force with high-frequency fluctuation can be realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the present invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
According to the rigid force control device based on non-rigid connection provided by the invention, as shown in fig. 1, the rigid force control device comprises a controlled component 1, a ball 4, a connecting spring 5 and a driving component 7; one end of the connecting spring 5 is arranged on the driving part 7, and the other end of the connecting spring 5 is arranged on the ball 4; the sphere 4 is contacted with the controlled component 1; when the driving member 7 moves in a direction to approach the link spring 5, the link spring 5 is shortened since the ball 4 is restricted by the controlled member 1. The invention realizes non-rigid connection of force control by arranging the connecting spring 5 and the ball 4 between the controlled component 1 and the driving component 7, so that the controlled component 1 can keep contact with the control component, and positive and negative force control can be realized.
Specifically, as shown in fig. 1, an output rod 6 is arranged on the controlled component 1; one end of the connecting spring 5 is arranged on the output rod 6; output rod 6 is provided with extension 61 along circumferential direction, and in a preferred example, connecting spring 5's one end is installed on extension 61, connecting spring 5's quantity is one or more, the quantity of spheroid 4 and connecting spring 5's quantity phase-match, and when connecting spring 5's quantity was a plurality of, connecting spring 5 evenly or unevenly arranged along output rod 6's circumference, when connecting spring 5 along output rod 6's circumference inhomogeneous arrangement, connecting spring 5's quantity was the even number, and connecting spring 5 is axisymmetric between two liang, simple structure, easily processing, low cost.
Specifically, as shown in fig. 1, the extension 61 includes various structural forms, and in a preferred example, the extension 61 is a circular ring shape arranged along the circumferential direction of the output rod 6; in one variation, the extension 61 is a plurality of fan-shaped rings that are uniformly arranged at equal intervals in the circumferential direction of the output rod 6; in another variation, the extensions 61 are a plurality of cylindrical rods that are equally spaced along the circumference of the output rod 6.
Specifically, as shown in fig. 1, the controlled component 1 is provided with a mounting groove 11, the ball 4 is mounted in the mounting groove 11, and the mounting groove 11 includes various structural forms, such as a truncated cone, a conical shape, and a hemispherical shape.
Specifically, as shown in fig. 1, in a preferred example, the controlled component 1 is detachably connected to the output rod 6; the connecting spring 5 is detachably connected with the output rod 6; the ball body 4 and the connecting spring 5 are detachably connected.
As shown in fig. 1, the connecting spring 5 in the control part forms a non-rigid connection with the ball 4, and the ball 4 forms a gapless rigid contact with the conical surface of the controlled part 1. The controlled member 1 receives an external force and a force applied by the control member. After the controlled component 1 is stressed to reach balance, when the external force fluctuates, the driving component 7 drives the output rod 6 to generate positive or negative displacement, so that the force exerted on the controlled component 1 by the sphere 4 can be changed, and the stress of the controlled component 1 is controlled to be kept unchanged.
If the driving part in the force control device adopts the drive based on the magnetostrictive material, the magnetostrictive material outputs unidirectional displacement and force in a non-magnetic field bias state, and the characteristic of realizing unidirectional force adjustment of the force control device is the same as that of realizing unidirectional force adjustment of the force control device, so that a bias magnetic field does not need to be applied to the magnetostrictive driving material. Due to the frequency doubling effect of the magnetostrictive material, the control of the external force with high-frequency fluctuation can be realized.
The working principle of the invention is as follows:
the connecting spring 5 in the control part is in non-rigid connection with the ball body 4, so that the ball body 4 is always in gapless rigid contact with the conical surface of the mounting groove 11, and the force application mode in the force control process is rigid. In the initial state, the controlled component 1 receives the external force action combined by the forward force and the reverse force (such as hydraulic force, air pressure, spring force, etc.) and the force applied by the control device, and is kept in the equilibrium state. When the controlled component 1 generates displacement, the connection structure of the connecting spring 5 and the sphere 4 enables the control device to keep rigid contact with the controlled component 1 during movement. After the equilibrium state is reached, if the positive force is reduced or the reverse force is increased, the driving part 7 drives the output rod 6 to generate positive displacement, and the force of the sphere 4 acting on the conical surface is increased through the structure that the connecting spring 5 is connected with the sphere 4, so that the controlled part 1 is in the equilibrium state of restoring force.
Example (b):
as shown in fig. 2, in a valve structure, the controlled component 1 is a valve core, and the connecting spring 5 connects the output rod 6 and the ball 4 to form a non-rigid connection, and simultaneously, the ball 4 and the conical surface of the controlled component 1 are always kept in rigid contact without gap. The controlled part 1 receives the pressure (positive force) F generated by the liquid flow1And a spring force (counter force) F exerted by the external compression spring 22Resultant force F exerted by the external force and control device3. When the hydraulic pressure is increased, the controlled component 1 generates positive displacement, the connecting spring 5 is extended, and the connecting structure of the connecting spring 5 and the ball 4 enables the control device to keep rigid contact with the controlled component 1 during the movement. After controlled part 1 atress reaches the equilibrium, when hydraulic pressure reduces, drive part drive output rod 6 produces the displacement of positive direction, through the structure that connecting spring 5 and spheroid 4 are connected for the power increase of spheroid 4 to the conical surface effect, and then the controlled part 1 atress of control keeps unchangeable.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A non-rigid connection-based rigid force control device is characterized by comprising a control component, wherein the control component comprises a controlled component (1), a ball body (4), a connecting spring (5) and a driving component (7);
one end of the connecting spring (5) is arranged on the driving part (7), and the other end of the connecting spring (5) is arranged on the ball body (4);
the sphere (4) is in contact with the controlled component (1);
when the driving part (7) moves in the direction close to the connecting spring (5), the connecting spring (5) shortens as the ball body (4) is limited by the controlled part (1);
an output rod (6) is arranged on the controlled component (1);
one end of the connecting spring (5) is arranged on the output rod (6);
the driving part (7) is driven by a magnetostrictive material, the magnetostrictive material outputs unidirectional displacement and force in a non-magnetic field bias state, and the control of high-frequency fluctuating external force can be realized on the basis of the frequency doubling effect of the magnetostrictive material.
2. A non-rigid connection based rigid force control device according to claim 1, characterized in that the output rod (6) is provided with an extension (61) in the circumferential direction;
one end of the connecting spring (5) is arranged on the extension part (61).
3. A non-rigid connection based stiffness force control device according to claim 2, characterized in that the number of the connection springs (5) is one or more;
the number of the spheres (4) is matched with the number of the connecting springs (5).
4. A non-rigid connection based stiffness force control device according to claim 3, wherein when the number of the connection springs (5) is plural, the connection springs (5) are arranged uniformly or non-uniformly in a circumferential direction of the output rod (6).
5. A non-rigid connection based rigid force control apparatus according to claim 2, characterized in that the extension (61) comprises any of the following structures:
-a circular ring shape;
-a plurality of sector rings arranged equally spaced along the circumference of the output rod (6);
-a plurality of cylinders arranged equally spaced along the circumference of the output rod (6).
6. A non-rigid connection based stiffness force control device according to claim 1, characterized in that the controlled part (1) is provided with a mounting groove (11);
the ball body (4) is arranged in the mounting groove (11).
7. A non-rigid connection based rigid force control device according to claim 6, characterized in that the mounting groove (11) comprises any one of a truncated cone, a hemisphere.
8. A non-rigid connection based rigid force control device according to claim 1, characterized in that the controlled part (1) is detachably connected with the output rod (6);
the connecting spring (5) is detachably connected with the output rod (6);
the ball body (4) and the connecting spring (5) are detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911348037.2A CN110985576B (en) | 2019-12-24 | 2019-12-24 | Rigidity force control device based on non-rigid connection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911348037.2A CN110985576B (en) | 2019-12-24 | 2019-12-24 | Rigidity force control device based on non-rigid connection |
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| Publication Number | Publication Date |
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| CN110985576A CN110985576A (en) | 2020-04-10 |
| CN110985576B true CN110985576B (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911348037.2A Active CN110985576B (en) | 2019-12-24 | 2019-12-24 | Rigidity force control device based on non-rigid connection |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU932058A2 (en) * | 1979-02-01 | 1982-05-30 | Предприятие П/Я Р-6194 | Safety valve |
| JPH02134478A (en) * | 1988-11-10 | 1990-05-23 | Akira Sasaki | Automatic pressure adjusting valve with temperature correction device |
| CN201672113U (en) * | 2010-04-26 | 2010-12-15 | 长春航空液压控制有限公司 | High-precision safety valve |
| CN103375615A (en) * | 2012-04-19 | 2013-10-30 | 哈米尔顿森德斯特兰德公司 | Overpressure relief valve assembly |
| CN203809797U (en) * | 2014-03-05 | 2014-09-03 | 安徽理工大学 | Mining spring-type safety valve |
| CN105020445A (en) * | 2015-06-11 | 2015-11-04 | 北京精密机电控制设备研究所 | High-pressure gas safety valve |
| CN105135018A (en) * | 2015-08-17 | 2015-12-09 | 成都国光电子仪表有限责任公司 | Pressure reducing valve for natural gas |
| CN207661178U (en) * | 2017-12-29 | 2018-07-27 | 厦门安达兴自动化设备有限公司 | A kind of low-temperature safety valve |
-
2019
- 2019-12-24 CN CN201911348037.2A patent/CN110985576B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU932058A2 (en) * | 1979-02-01 | 1982-05-30 | Предприятие П/Я Р-6194 | Safety valve |
| JPH02134478A (en) * | 1988-11-10 | 1990-05-23 | Akira Sasaki | Automatic pressure adjusting valve with temperature correction device |
| CN201672113U (en) * | 2010-04-26 | 2010-12-15 | 长春航空液压控制有限公司 | High-precision safety valve |
| CN103375615A (en) * | 2012-04-19 | 2013-10-30 | 哈米尔顿森德斯特兰德公司 | Overpressure relief valve assembly |
| CN203809797U (en) * | 2014-03-05 | 2014-09-03 | 安徽理工大学 | Mining spring-type safety valve |
| CN105020445A (en) * | 2015-06-11 | 2015-11-04 | 北京精密机电控制设备研究所 | High-pressure gas safety valve |
| CN105135018A (en) * | 2015-08-17 | 2015-12-09 | 成都国光电子仪表有限责任公司 | Pressure reducing valve for natural gas |
| CN207661178U (en) * | 2017-12-29 | 2018-07-27 | 厦门安达兴自动化设备有限公司 | A kind of low-temperature safety valve |
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| CN110985576A (en) | 2020-04-10 |
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