CN113759993A - Adjustable magnetic induction electromagnetic force constant force mechanism - Google Patents
Adjustable magnetic induction electromagnetic force constant force mechanism Download PDFInfo
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- CN113759993A CN113759993A CN202111120169.7A CN202111120169A CN113759993A CN 113759993 A CN113759993 A CN 113759993A CN 202111120169 A CN202111120169 A CN 202111120169A CN 113759993 A CN113759993 A CN 113759993A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 230000006698 induction Effects 0.000 title claims abstract description 40
- 238000013461 design Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
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Abstract
The invention provides an adjustable magnetic induction electromagnetic force constant force mechanism, which consists of a base component, a positive rigid component, a spring force measuring component, a magnetic induction electromagnetic force component, an electromagnetic force measuring component and an output force component, wherein the base component is a hollow cylinder; the base component is fixedly connected with the guide block by a base; the positive rigid component is sequentially installed by an inner sliding block, a spring, a stop block, a bolt and an adjusting bolt; the spring force measuring assembly consists of a pressure sensor, a sensor mounting plate and a bolt, and is connected with the output force assembly and the positive rigid assembly; the magnetic induction electromagnetic force component consists of a coil, a coil fixed mounting block, a south pole magnet and a north pole magnet, and is sequentially mounted; the electromagnetic force measuring component is sequentially installed in a contact manner by a pressure sensor, a shaft, a rectangular spring and a nut; the output force assembly consists of an output end head; the invention has the advantages of compact structure, more flexible large-stroke constant-force adjustment range, high reliability and the like.
Description
Technical Field
The invention belongs to a constant force loading mechanism, and particularly provides an adjustable magnetic induction electromagnetic force constant force mechanism.
Background
The constant force mechanism is a pure machine, and can output constant force without using electric automation; in industrial applications and in a wide range of applications, such as compliant clamping mechanisms, constant force grinding, and the like; at present, a constant force mechanism is still a difficult point of design, most of the constant force mechanisms can achieve constant force output through the coupling design of a positive rigid mechanism and a negative rigid mechanism or a bistable mechanism, but the design is relatively complex and is difficult to apply to the environment with severe load; the realization of constant force control has important significance for industrial development, but unfortunately, the current constant force mechanism is still more designed based on electrical and mechanical automation, and an economical and reliable constant force mechanism is not designed; based on the design idea of mechatronics, some disadvantages may exist, but the application value is still larger at present.
For example, CN201610003886 discloses an adjustable constant force mechanism, which adopts a purely mechanical mechanism including a cam, a spring, etc., and substantially adopts a design idea of a balance force system to obtain a constant force; but the designed mechanism has a large friction contact force, and a lot of noises can be filled in practical engineering application.
For example, chinese patent CN201610162022.7 discloses a cam constant force mechanism, which uses mechanical components such as cam, spring, push rod and screw, and uses the mechanical characteristics of cam to output constant torque. The mechanism has compact structure, small volume and flexible installation position, but can only be suitable for occasions with small torque, and if the bearing range of output force is exceeded, the constant force cannot be ensured.
Disclosure of Invention
The invention aims to overcome the defects of the conventional constant force mechanism and provides a novel constant force mechanism which is compact in structure, can output constant force and is wider in adjustable range.
The purpose of the invention is realized by the following technical scheme:
the constant force mechanism consists of a base component, a positive rigid component, a spring force measuring component, a magnetic induction electromagnetic force component, an electromagnetic force measuring component and an output force component.
The base component consists of a base, a guide block 1, a lead block 2 and a screw; the base, the guide block 1, the lead block 2 and the screw are fixedly connected in sequence.
The positive rigid assembly consists of an outer sliding block, an inner sliding block, a spring, a stop block, a bolt and an adjusting bolt; the outer sliding block and the inner sliding block slide in a matched mode, the spring is installed on a stop block in the inner sliding block, the inner sliding block seat is connected with the base through a bolt, and the adjusting bolt directly abuts against the stop block through a threaded hole in the base; the positive rigid component is interconnected with the base component.
The spring force measuring assembly consists of a pressure sensor 1, a sensor mounting plate and a bolt; the pressure sensor 1 is fixedly arranged on the outer sliding block, and the sensor mounting plate fixes the upper end of the pressure sensor by using bolts; the spring force measuring assembly is fixed above the positive rigid assembly.
The magnetic induction electromagnetic force assembly consists of a forward coil 1, a forward coil 2, a coil fixed mounting block, a south-pole magnet 1, a south-pole magnet 2, a north-pole magnet 1 and a north-pole magnet 2; the forward coil 1 and the forward coil 2 are fixed on the coil fixing and mounting block, and the south-pole magnet 1, the south-pole magnet 2, the north-pole magnet 1 and the north-level magnet 2 are respectively and fixedly mounted on the base;
the electromagnetic force measuring component consists of a pressure sensor 2, a shaft, a rectangular spring and a nut; the pressure sensor 2 is arranged on the coil fixing and mounting block, the rectangular spring is arranged on the shaft, and the shaft is connected with the coil fixing and mounting block through a nut; the electromagnetic force measuring component is arranged above the magnetic induction electromagnetic force component;
the output force assembly consists of an output end head; the output head slides on the base assembly guide block 1 and the guide block 2 and is matched and passed through the south-pole magnet 1, the south-pole magnet 2, the north-pole magnet 1 and the north-pole magnet 2; the output force assembly is connected with the base assembly; the output force assembly is connected with the spring force measuring assembly and the electromagnetic force measuring assembly.
In the scheme, the sensor selected by the spring force measuring component is a diaphragm type pressure sensor.
In the scheme, the positive rigid assembly and the spring force measuring assembly can adopt two or more assemblies and are uniformly distributed along the circumferential direction.
In the scheme, the magnetic induction electromagnetic force component adopts a coil to output force through current, and force is generated in a magnetic field; the winding mode of the coil adopts a special design, the coil is divided into two halves and embedded in the coil fixing and mounting block, namely, the passing current is forward current, and linear forward force or linear reverse force is always obtained.
In the above scheme, the electromagnetic force measuring component is arranged on the central shaft; the shaft and spring are designed so that the pressure sensor 2 can be jogged on the shaft to facilitate force measurement.
In the above scheme, the adopted pressure sensors 1 and 2 are all anti-magnetic interference pressure sensors.
In the above-mentioned scheme, the electromagnetic force measuring component is arranged on the central shaft.
In the scheme, the tail end of the output force in the output force assembly directly slides in the guide block 1, the guide block 2 and the magnet.
In the scheme, the material of the adjustable magnetic induction electromagnetic force constant force mechanism is non-magnetized;
in the scheme, the coil of the adjustable magnetic induction electromagnetic force constant force mechanism is wound in the same type;
the working principle of the invention is as follows: the adjustable magnetic induction electromagnetic force constant force is designed according to the characteristics of a positive rigid mechanism and the principle that the current in a magnetic field can generate electromagnetic force through a coil; the working principle of the positive rigid component is that force acts on the positive rigid component, and the corresponding force is linearly increased along with the increase of input displacement; the electromagnetic force actually generated is the ponderomotive force acted on the iron armature by the magnetic field, and the function of a negative rigid mechanism is realized through the driving of current, namely, the force is gradually increased along with the input of displacement, and the output force becomes smaller; by the coupling between the positive rigid component and the magnetic induction electromagnetic component, the output force is always equal to the sum of the force generated by the positive rigid component and the force generated by the magnetic induction electromagnetic component, and is a constant value; the specific working process is that external input force is under the action of the adjustable magnetic induction electromagnetic force constant force mechanism, and the contact force between the constant force mechanism and the outside is adjusted in a self-adaptive mode, so that constant force output is achieved.
The invention has the beneficial effects that:
the device can adjust great constant force; the device has compact structure, is suitable for the environment with complex working conditions, and has higher controllability and realizability of the constant force mechanism.
Drawings
FIG. 1 is a cross-sectional view A of an adjustable magnetic induction electromagnetic force;
FIG. 2 is a cross-sectional view B of an adjustable magnetic induction electromagnetic force;
FIG. 3 is an overall outline view of an adjustable magnetic induction electromagnetic force constant force;
FIG. 4 is a diagram of a coil structure for adjusting the constant force of the magnetic induction electromagnetic force;
fig. 5 is a structural diagram of an output force component of the curved surface adjustable constant force mechanism.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The present invention will be described in further detail with reference to the accompanying drawings.
An adjustable magnetic induction electromagnetic force constant force mechanism is shown in figures 1 and 2 and comprises a base assembly, a positive rigid assembly, a spring force measuring assembly, a magnetic induction electromagnetic force assembly, an electromagnetic force measuring assembly and an output force assembly;
the base component consists of a base (1), a guide block 1 (2), a lead block 2 (3) and a screw (4); the base (1), the guide block 1 (2), the lead block 2 (3) and the screw (4) are fixedly connected in sequence;
the positive rigid assembly consists of an outer sliding block (5), an inner sliding block (6), a spring (7), a stop block (8), a bolt (9) and an adjusting bolt (10); the outer sliding block (5) and the inner sliding block (6) slide in a matched mode, the spring (7) is installed on a stop block (8) in the inner sliding block (6) and is used for connecting the inner sliding block (6) with the base (1) through a bolt (9), and the adjusting bolt (10) directly abuts against the stop block (8) through a threaded hole in the base (1); the positive rigid component is connected with the base component;
the spring force measuring assembly consists of a pressure sensor 1 (11), a sensor mounting plate (12) and a bolt (13); the pressure sensor 1 (11) is fixedly arranged on the outer sliding block (5), and the sensor mounting plate (12) fixes the upper end of the pressure sensor 1 (11) by using a bolt (13); the spring force measuring component is fixed above the positive rigid component;
the magnetic induction electromagnetic force assembly consists of a forward coil 1 (14), a forward coil 2 (15), a coil fixing and mounting block (16), a south pole magnet 1 (17), a south pole magnet 2 (18), a north pole magnet 1 (19) and a north-level magnet 2 (20); the forward coil 1 (14), the forward coil 2 (15) are fixed on the coil fixing and mounting block (16), the south pole magnet 1 (17), the south pole magnet 2 (18), the north pole magnet 1 (19) and the north pole magnet 2 (20) are respectively fixed and mounted on the base (1);
the electromagnetic force measuring assembly consists of a pressure sensor 2 (21), a shaft (22), a rectangular spring (23) and a nut (22); the pressure sensor 2 (21) is arranged on the coil fixing and mounting block (16), the rectangular spring (23) is arranged on the shaft (22), and the shaft (22) is connected with the coil fixing and mounting block (16) through the nut (22); the electromagnetic force measuring component is arranged above the magnetic induction electromagnetic force component;
as shown in fig. 5, the output force assembly consists of an output tip (25); the output head slides on the base assembly guide block 1 (2) and the guide block 2 (3) and is matched and passed through the south pole magnet 1 (17), the south pole magnet 2 (18), the north pole magnet 1 (19) and the north pole magnet 2 (20); the output force assembly is connected with the base assembly; the output force assembly is connected with the spring force measuring assembly and the electromagnetic force measuring assembly;
the above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides an adjustable magnetic induction electromagnetic force constant force mechanism which characterized in that: the device comprises a base assembly, a positive rigid assembly, a spring force measuring assembly, a magnetic induction electromagnetic force assembly, an electromagnetic force measuring assembly and an output force assembly;
the base component consists of a base (1), a guide block 1 (2), a lead block 2 (3) and a screw (4); the base (1), the guide block 1 (2), the lead block 2 (3) and the screw (4) are fixedly connected in sequence;
the positive rigid assembly consists of an outer sliding block (5), an inner sliding block (6), a spring (7), a stop block (8), a bolt (9) and an adjusting bolt (10); the outer sliding block (5) and the inner sliding block (6) slide in a matched mode, the spring (7) is installed on a stop block (8) in the inner sliding block (6) and is used for connecting the inner sliding block (6) with the base (1) through a bolt (9), and the adjusting bolt (10) directly abuts against the stop block (8) through a threaded hole in the base (1); the positive rigid component is connected with the base component;
the spring force measuring assembly consists of a pressure sensor 1 (11), a sensor mounting plate (12) and a bolt (13); the pressure sensor 1 (11) is fixedly arranged on the outer sliding block (5), and the sensor mounting plate (12) fixes the upper end of the pressure sensor 1 (11) by using a bolt (13); the spring force measuring component is fixed above the positive rigid component;
the magnetic induction electromagnetic force assembly consists of a forward coil 1 (14), a forward coil 2 (15), a coil fixing and mounting block (16), a south pole magnet 1 (17), a south pole magnet 2 (18), a north pole magnet 1 (19) and a north-level magnet 2 (20); the forward coil 1 (14), the forward coil 2 (15) are fixed on the coil fixing and mounting block (16), the south pole magnet 1 (17), the south pole magnet 2 (18), the north pole magnet 1 (19) and the north pole magnet 2 (20) are respectively fixed and mounted on the base (1);
the electromagnetic force measuring assembly consists of a pressure sensor 2 (21), a shaft (22), a rectangular spring (23) and a nut (22); the pressure sensor 2 (21) is arranged on the coil fixing and mounting block (16), the rectangular spring (23) is arranged on the shaft (22), and the shaft (22) is connected with the coil fixing and mounting block (16) through the nut (22); the electromagnetic force measuring component is arranged above the magnetic induction electromagnetic force component;
the output force assembly consists of an output end head (25); the output head slides on the base assembly guide block 1 (2) and the guide block 2 (3) and is matched and passed through the south pole magnet 1 (17), the south pole magnet 2 (18), the north pole magnet 1 (19) and the north pole magnet 2 (20); the output force assembly is connected with the base assembly; the output force assembly is connected with the spring force measuring assembly and the electromagnetic force measuring assembly.
2. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the sensor selected by the spring force measuring assembly is a diaphragm pressure sensor.
3. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the positive stiffness assembly and the spring force measurement assembly may be two or more assemblies and are evenly distributed along the circumferential direction.
4. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the magnetic induction electromagnetic force component outputs force by adopting current in the coil to generate force in a magnetic field; the winding mode of the coil adopts a special design, the coil is divided into two halves and embedded in the coil fixing and mounting block (16), namely, the passing current is forward current, and linear forward force or linear reverse force is always obtained.
5. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the electromagnetic force measuring component is arranged on the central shaft; the shaft (22) and the spring (23) are designed in such a way that the pressure sensor (2), (21) can be moved slightly on the shaft (22) in order to facilitate the force measurement.
6. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the adopted pressure sensors 1 (11) and 2 (21) are all anti-magnetic interference pressure sensors.
7. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the electromagnetic force measuring assembly is disposed on the central shaft.
8. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the output force end of the output force assembly slides directly in the guide block 1 (2), the guide block 2 (3), the south pole or the north pole magnet.
9. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the material of the adjustable magnetic induction electromagnetic force constant force mechanism is non-magnetized.
10. An adjustable magnetic induction electromagnetic force constant force mechanism according to claim 1, characterized in that: the coil of the adjustable magnetic induction electromagnetic force constant force mechanism adopts a semi-cylindrical unidirectional winding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111120169.7A CN113759993B (en) | 2021-09-24 | 2021-09-24 | Adjustable magnetic induction electromagnetic force constant force mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111120169.7A CN113759993B (en) | 2021-09-24 | 2021-09-24 | Adjustable magnetic induction electromagnetic force constant force mechanism |
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| CN113759993A true CN113759993A (en) | 2021-12-07 |
| CN113759993B CN113759993B (en) | 2023-11-10 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1393505A (en) * | 1972-04-27 | 1975-05-07 | Daimler Benz Ag | Vehicle safety-belt systems |
| US20070040454A1 (en) * | 2005-08-22 | 2007-02-22 | Prominent Dosiertechnik Gmbh | Magnetic drive metering pump |
| CN202650760U (en) * | 2012-05-02 | 2013-01-02 | 浙江大学 | High-speed two-way permanent magnet restoration proportion electromagnet |
| WO2016007159A1 (en) * | 2014-07-10 | 2016-01-14 | Borgwarner Inc. | Curved shunt for solenoid curve shaping |
| CN105487563A (en) * | 2016-01-07 | 2016-04-13 | 四川大学 | Adjustable constant force mechanism |
| CN109630582A (en) * | 2018-12-27 | 2019-04-16 | 上海大学 | A kind of electromagnetic spring of adjustable rigidity |
| CN113059464A (en) * | 2021-04-02 | 2021-07-02 | 澳门大学 | Constant-force polishing mechanism and polishing equipment |
| CN113091587A (en) * | 2021-04-06 | 2021-07-09 | 重庆大学 | Quasi-zero rigidity absolute displacement sensor based on electromagnetic positive rigidity |
| CN113172511A (en) * | 2020-10-22 | 2021-07-27 | 吉首大学 | Robot polishing actuator based on constant force mechanism |
-
2021
- 2021-09-24 CN CN202111120169.7A patent/CN113759993B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1393505A (en) * | 1972-04-27 | 1975-05-07 | Daimler Benz Ag | Vehicle safety-belt systems |
| US20070040454A1 (en) * | 2005-08-22 | 2007-02-22 | Prominent Dosiertechnik Gmbh | Magnetic drive metering pump |
| CN202650760U (en) * | 2012-05-02 | 2013-01-02 | 浙江大学 | High-speed two-way permanent magnet restoration proportion electromagnet |
| WO2016007159A1 (en) * | 2014-07-10 | 2016-01-14 | Borgwarner Inc. | Curved shunt for solenoid curve shaping |
| CN105487563A (en) * | 2016-01-07 | 2016-04-13 | 四川大学 | Adjustable constant force mechanism |
| CN109630582A (en) * | 2018-12-27 | 2019-04-16 | 上海大学 | A kind of electromagnetic spring of adjustable rigidity |
| CN113172511A (en) * | 2020-10-22 | 2021-07-27 | 吉首大学 | Robot polishing actuator based on constant force mechanism |
| CN113059464A (en) * | 2021-04-02 | 2021-07-02 | 澳门大学 | Constant-force polishing mechanism and polishing equipment |
| CN113091587A (en) * | 2021-04-06 | 2021-07-09 | 重庆大学 | Quasi-zero rigidity absolute displacement sensor based on electromagnetic positive rigidity |
Non-Patent Citations (2)
| Title |
|---|
| 张星星: "恒力夹持器的设计、建模与性能分析" * |
| 曹琪;王皓;余觉;: "基于电磁变刚度的力控制装置研究", 机械设计与研究, no. 03 * |
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