CN212553901U - Constant force actuating device - Google Patents
Constant force actuating device Download PDFInfo
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- CN212553901U CN212553901U CN202022275422.3U CN202022275422U CN212553901U CN 212553901 U CN212553901 U CN 212553901U CN 202022275422 U CN202022275422 U CN 202022275422U CN 212553901 U CN212553901 U CN 212553901U
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Abstract
The utility model aims at providing a constant force final controlling element, including space link assembly, the tensile subassembly of spring, the tensile regulating assembly of spring, output assembly and supplementary coupling assembling, wherein output assembly is connected with space link assembly, and the tensile subassembly of spring is connected with space link assembly and the tensile regulating assembly of spring respectively, and the tensile regulating assembly of space link assembly, spring sets up in the cavity that supplementary coupling assembling constitutes, just supplementary coupling assembling includes space link assembly mounting flange. The constant force executing device can effectively reduce the operation difficulty of the industrial robot and an operator, and can improve the production efficiency and the processing quality of products.
Description
Technical Field
The application relates to the field of force conduction, in particular to a constant force executing device.
Background
At present, aiming at the field of polishing, grinding and deburring operation of industrial robots, in order to achieve good operation effect, stable and close contact between a tool installed at the tail end of the robot and a workpiece needs to be ensured. Due to the irregular shape of the surface of the workpiece and the position error between the robot and the workpiece, the close contact state between the robot and the workpiece is difficult to ensure all the time, and the workpiece is easily damaged due to uneven polishing. The current common solution is to add a force sensor at the end of the robot and control the robot through a force control algorithm. However, the introduction of force sensors and force control algorithms raises the requirements on system software and hardware and increases the difficulty of robot control algorithms, and meanwhile, a series of problems are brought to the safety and reliability of operation.
Meanwhile, in some places of traditional manual operation, such as gluing, grinding and polishing operation processes, the tool and the workpiece are required to be kept in stable and close contact, and therefore higher requirements are brought to operation methods of workers.
Disclosure of Invention
An object of this application is to provide a constant force final controlling element for between terminal and the instrument of robot or between operative employee and the instrument of polishing to guarantee within effective stroke, the instrument can contact with the work piece with the power of invariable size, can effectual reduction industrial robot and operative employee's the operation degree of difficulty, can improve the processingquality of production efficiency and product again simultaneously.
The constant force execution device comprises a space connecting rod assembly, a spring stretching adjusting assembly, an output assembly and an auxiliary connecting assembly, wherein the output assembly is connected with the space connecting rod assembly, the spring stretching assembly is respectively connected with the space connecting rod assembly and the spring stretching adjusting assembly, the space connecting rod assembly, the spring stretching assembly and the spring stretching adjusting assembly are arranged in a cavity formed by the auxiliary connecting assembly, and the auxiliary connecting assembly comprises a space connecting rod assembly mounting flange.
Further, the space connecting rod assembly comprises a lower mounting platform, an upper mounting platform and at least 2 groups of stretching two connecting rod assemblies, wherein the resultant force direction of the at least 2 groups of stretching two connecting rod assemblies is vertical upwards, each group of stretching two connecting rod assemblies comprises 2 stretching connecting rod groups, each stretching connecting rod group comprises a connecting rod body, a connecting rod big end and a connecting rod small end, the connecting rod big ends of the 2 stretching connecting rod groups are connected, the connecting rod small ends of the 2 stretching connecting rod groups are respectively connected with the lower mounting platform and the upper mounting platform, and the lower mounting platform and the upper mounting platform realize the translation between the platforms through the at least 2 groups of stretching two connecting rod assemblies.
Further, the space connecting rod assembly further comprises at least 2 auxiliary connecting rod assemblies, each auxiliary connecting rod assembly comprises 2 auxiliary connecting rod groups, each auxiliary connecting rod group comprises a connecting rod body, a connecting rod big end and a connecting rod small end, the connecting rod big ends of the 2 auxiliary connecting rod groups are connected, and the connecting rod small ends of the 2 auxiliary connecting rod groups are respectively connected with the lower mounting platform and the upper mounting platform.
Furthermore, the number of the stretching two-connecting-rod assemblies is the same as that of the auxiliary two-connecting-rod assemblies.
Further, the quantity of spring tension assembly is unanimous with two tensile link assembly quantity, and every group spring tension assembly includes wire rope connecting block of acting as go-between, wire rope, fixed pulley support, mount pad, extension spring, wire rope spring connecting block, and wherein wire rope connecting block of acting as go-between meets with two tensile link assembly's connecting rod major part, the fixed pulley is installed on the fixed pulley support, the fixed pulley support mounting be in on the mount pad, the mount pad is fixed on auxiliary connection subassembly's space link assembly mounting flange, wire rope one end is acted as go-between the connecting block with wire rope and is carried out fixed connection and walk around the fixed pulley after, the other end is connected with extension spring with wire rope spring connecting block is fixed.
Further, each group of spring stretching assemblies is provided with one or more stretching springs, or a plurality of groups of spring stretching assemblies share one stretching spring.
Furthermore, the spring stretching adjusting assembly comprises a spring adjusting screw rod and an adjusting nut, wherein one end of the spring adjusting screw rod is connected with an extension spring in the spring stretching assembly, and the other end of the spring adjusting screw rod is in threaded connection with the adjusting nut.
Further, the spring stretching adjusting assembly further comprises a spring anti-torsion device, and a spring adjusting screw rod is installed in the clamping groove of the spring anti-torsion device.
Further, supplementary coupling assembling still includes shell, handle, apron.
Further, output assembly includes output shaft, linear bearing, gag lever post, the output shaft with space link assembly's last mounting platform is connected, and with linear bearing cooperatees, linear bearing installs on auxiliary connection subassembly's shell, the gag lever post is installed on spring tension assembly's fixed pulley support.
The constant force execution device is a constant force execution device based on a linear spring, can float with constant force within a certain working stroke range, and ensures that a tool and a workpiece are closely and stably contacted, so that the damage of the tool and the workpiece in the working processes of grinding, polishing, deburring and the like is effectively avoided, and the product yield is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates an isometric view of a spatial linkage assembly of a constant force actuator according to one embodiment of the present application;
FIG. 2 illustrates an isometric view of a combination of a spatial linkage assembly and a spring tension assembly of a constant force actuator according to one embodiment of the present application;
FIG. 3 illustrates an isometric view of a constant force actuator with a cutaway housing and handle according to an embodiment of the present application;
fig. 4 shows a schematic view of the constant force principle of a constant force actuator according to an embodiment of the present application.
Detailed Description
The invention will be further described with reference to the following figures and specific examples: examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The constant force execution device comprises a space connecting rod assembly, a spring stretching adjusting assembly, an output assembly and an auxiliary connecting assembly, wherein the output assembly is connected with the space connecting rod assembly, the spring stretching assembly is respectively connected with the space connecting rod assembly and the spring stretching adjusting assembly, the space connecting rod assembly, the spring stretching assembly and the spring stretching adjusting assembly are arranged in a cavity formed by the auxiliary connecting assembly, and the auxiliary connecting assembly comprises a space connecting rod assembly mounting flange.
FIG. 1 illustrates an isometric view of a spatial linkage assembly of a constant force actuator according to one embodiment of the present application.
According to an embodiment of the invention, the spatial connecting rod assembly comprises a lower mounting platform, an upper mounting platform and at least 2 groups of stretching two-connecting rod assemblies, wherein the resultant force direction of the at least 2 groups of stretching two-connecting rod assemblies is vertical upwards, each group of stretching two-connecting rod assemblies comprises 2 stretching connecting rod groups, each stretching connecting rod group comprises a connecting rod body, a connecting rod big end and a connecting rod small end, the connecting rod big ends of the 2 stretching connecting rod groups are connected, the connecting rod small ends of the 2 stretching connecting rod groups are respectively connected with the lower mounting platform and the upper mounting platform, and the lower mounting platform and the upper mounting platform realize translation between the platforms through the at least 2 groups of stretching two-connecting rod assemblies.
According to an embodiment of the present invention, the spatial link assembly further includes at least 2 auxiliary two-link assemblies, each auxiliary two-link assembly includes 2 auxiliary link groups, each auxiliary link group includes a link body, a link big end and a link small end, the link big ends of the 2 auxiliary link groups are connected, and the link small ends of the 2 auxiliary link groups are respectively connected with the lower mounting platform and the upper mounting platform.
According to an embodiment of the present invention, the number of the two stretching link assemblies is the same as that of the two auxiliary link assemblies, and the two stretching link assemblies and the two auxiliary link assemblies are arranged at intervals.
Specifically, as shown in fig. 1, the spatial link assembly includes: the lower mounting platform 11, the upper mounting platform 12, 2 sets of two-link stretching assemblies 13 and 2 sets of two-link auxiliary assemblies 14. Each connecting rod group comprises a connecting rod body 131, 132, 141, 142, a connecting rod big end and a connecting rod small end, the connecting rod big ends of 2 connecting rod groups are connected, the two stretching connecting rod assemblies of 2 groups and the two auxiliary connecting rod assemblies of 2 groups are respectively connected with the lower mounting platform 11 and the upper mounting platform 12, namely the connecting rod small ends of the 2 connecting rod groups are respectively connected with the lower mounting platform 11 and the upper mounting platform 12 to form a space moving mechanism, and the requirement of translation between the lower mounting platform and the upper mounting platform is met.
In addition, the number of the stretching two-connecting-rod assemblies and the number of the auxiliary two-connecting-rod assemblies can be reasonably selected according to the space size of an actual mechanism, and the requirement that the resultant force direction of each stretching two-connecting-rod assembly is vertical upwards can be met. The number of the two-link stretching assemblies and the two-link auxiliary assemblies may be the same or different, for example, 2 sets of two stretching assemblies, 2 sets of two auxiliary links, or 4 sets of two stretching assemblies, 2 sets of two auxiliary links, etc. the present application is only claimed in one combination form of the combination of the two-link stretching assemblies and the two-link auxiliary assemblies, and the remaining combinations are within the protection range.
Moreover, if the number of the stretching two-connecting-rod assemblies and the number of the auxiliary two-connecting-rod assemblies are the same, the stretching two-connecting-rod assemblies and the auxiliary two-connecting-rod assemblies can be arranged at intervals, so that the stability of the movement between the platforms is better ensured.
FIG. 2 illustrates an isometric view of a combination of a spatial linkage assembly and a spring tension assembly of a constant force actuator according to one embodiment of the present application.
According to an embodiment of the invention, the number of the spring stretching assemblies is the same as that of the stretching two-link assemblies, each group of the spring stretching assemblies comprises a steel wire rope stay wire connecting block, a steel wire rope, a fixed pulley bracket, a mounting seat, a stretching spring and a steel wire rope spring connecting block, wherein the steel wire rope stay wire connecting block is connected with a connecting rod big end of the stretching two-link assemblies, the fixed pulley is mounted on the fixed pulley bracket, the fixed pulley bracket is mounted on the mounting seat, the mounting seat is fixed on a mounting flange of the spatial link assembly of the auxiliary connecting assembly, one end of the steel wire rope is fixedly connected with the steel wire rope stay wire connecting block and bypasses the fixed pulley, and the other end of the steel wire.
According to an embodiment of the invention, each set of spring tension assemblies is provided with one or more tension springs, or a plurality of sets of spring tension assemblies share one tension spring.
Specifically, as shown in fig. 2, the device comprises 2 groups of spring stretching assemblies, and each group of spring stretching assemblies comprises a steel wire rope stay wire connecting block 21, a steel wire rope 22, a stretching spring 23, a fixed pulley 24, a fixed pulley support 25, a mounting seat 26 and a steel wire rope spring connecting block 27. The mount pad 26 includes montant 262 and mount table 261 again, wire rope act as go-between connecting block 21 with in the space link assembly 2 two tensile link assemblies 13 of group connect, wire rope 22 one end with wire rope act as go-between connecting block 21 carries out fixed connection and walks around behind the fixed pulley 24, the other end with wire rope spring connecting block 27 is connected with extension spring 23 after fixed, fixed pulley 24 installs on fixed pulley support 25, fixed pulley support 25 installs above the mount pad 26, the mount pad 26 is fixed on supplementary link assembly's the space link assembly mounting flange.
In addition, the spring stretching assemblies are selected according to the number of the actual mechanism spaces and are consistent with the number of the stretching two-link assemblies, the application is only claimed in a combination form of 2 combinations, and the rest combinations are within a protection range.
Moreover, the number of the extension springs can be selected according to actual space, one or more extension springs can be matched with each group of spring extension assemblies, multiple groups of spring extension assemblies can share one extension spring, the application is only claimed in the mode that 2 groups of spring extension assemblies share one extension spring, and the rest combinations are in a protection range.
Moreover, the quantity of fixed pulley, wire rope should be selected according to actual mechanism space size quantity, and this application only makes right the description with 2 groups of fixed pulley, 2 groups of wire rope combinations, 2 groups of fixed pulley side by side install the combination form on fixed pulley support 25 all in the protection scope.
Fig. 3 illustrates an isometric view of a constant force actuator with a cutaway housing and handle according to an embodiment of the present application.
According to one embodiment of the invention, the spring tension adjusting assembly comprises a spring adjusting screw and an adjusting nut, wherein one end of the spring adjusting screw is connected with an extension spring in the spring tension assembly, and the other end of the spring adjusting screw is in threaded connection with the adjusting nut.
According to an embodiment of the present invention, the spring tension adjustment assembly further comprises a spring anti-torsion device, and the spring adjustment screw is installed in the spring anti-torsion device slot.
According to an embodiment of the present invention, the auxiliary connection assembly further includes a housing, a handle, and a cover plate.
According to an embodiment of the invention, the output assembly comprises an output shaft, a linear bearing and a limiting rod, the output shaft is connected with the upper mounting platform of the space connecting rod assembly and is matched with the linear bearing, the linear bearing is mounted on a shell of the auxiliary connecting assembly, and the limiting rod is mounted on a fixed pulley bracket of the spring stretching assembly.
Specifically, as shown in fig. 3, the spring tension adjusting assembly includes: a spring adjusting screw 31, an adjusting nut 33 and a spring anti-torsion device 32. One end of the spring adjusting screw rod 31 is connected with the extension spring 23 of the spring extension assembly, and the other end of the spring adjusting screw rod is in threaded connection with the adjusting nut 33; the spring adjusting screw 31 is installed in the slot of the spring anti-twist device 32 to prevent the adjusting nut 33 from rotating to drive the extension spring 23 to rotate and wind the steel cable 22. Through rotating the adjusting nut, the relative position between the spring adjusting screw and the auxiliary connecting component can be effectively adjusted, and therefore the pre-tightening force of the extension spring is adjusted.
As shown in fig. 3, the auxiliary connecting member includes a housing 51, a mounting flange 52 of the spatial link assembly, a handle 53, and a cover plate 54, and the output assembly includes an output shaft 41, a linear bearing 42, and a limit rod 43. The output shaft 41 is connected with the upper mounting platform 12 of the spatial connecting rod assembly and is matched with the linear bearing 42, the linear bearing 42 is mounted on the shell 51 part of the other auxiliary assembly, the limiting rod 43 is mounted on the fixed pulley bracket 25, and when the output shaft 41 runs downwards and contacts the limiting rod 43, the output shaft stops automatically.
Fig. 4 shows a schematic view of the constant force principle of a constant force actuator according to an embodiment of the present application.
As shown in fig. 4, the left side and the right side of the drawing are symmetrical to a shaft 1, in a coordinate system O1-X1Y1, O1C1 is a rod member, O1 is a rotation point, a1 is a steel wire rope fixing winding point connected with a tension spring, B1 is a fixing point of the steel wire rope mounted on the rod member O1C1, and a load acting point is a point C1; wherein the distance of O1A1 is L1, the length of O1B1 pole L2, the length of O1C1 pole L3, wire rope one end is connected with B1, one end is walked around A1 fixed point and is connected with extension spring, the other end of extension spring is fixed in D1 point. The length of A1B1 is constantly equal to the spring elongation delta X; the angle between A1B1 and O1C1 is shown as α, and the angle between O1C1 and O1A1 is shown as θ;
when a force F1 is applied to the rod member O1C1 through a point C1 and in parallel with a direction y1, relative to a point O1, the moments of the F1 and the spring tension F on the rod member are respectively as follows: MO1(F1) ═ F1 × L3 × sin θ; MO1(F) ═ F × L2 ═ k × Δ X ═ L2 ═ sin α (k is the spring constant), when the rod is in equilibrium, that is, MO1(F1) ═ MO1 (F). In triangle O1A1B1, sine θ: sin α ═ A1B1: O1A1, the relationship can be derived: f1 ═ k × L1 × L2/L3. That is, under the condition that the length of A1B1 is constantly equal to the spring elongation Δ X, the rod O1C1 is in an equilibrium state because the rod O1C1 passes through the point C1 and is parallel to the y1 with a constant force F1 ═ k L1 ═ L2/L3.
Similarly, in the coordinate system O2-X2Y2, the rod O2C2 has a constant force F2 ═ k ═ L1 ═ L2/L3 ═ F1 in a certain angular range, parallel to the Y2 direction, passing through the point C2, so that the rod O2C2 is in an equilibrium state.
Since O1C1 and O2C2 are symmetrical with respect to axis 1, the resultant force directions of F1 and F2 are vertically upward along axis 1 and are constant in magnitude. And reasonably matching the k value of the spring and the length sizes, so that the constant resultant force F can be determined.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixedly connected, detachably connected, or integrally formed: the connection may be mechanical, electrical, or communication, and may be direct or indirect via an intermediary, and may be a communication within two elements or an interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. The utility model provides a constant force final controlling element, its characterized in that, constant force final controlling element includes space link assembly, the tensile subassembly of spring, the tensile adjusting part of spring, output assembly and supplementary coupling assembling, and wherein output assembly is connected with space link assembly, and the tensile subassembly of spring is connected with space link assembly and the tensile adjusting part of spring respectively, and space link assembly, the tensile subassembly of spring, the tensile adjusting part of spring set up in the cavity that supplementary coupling assembling constitutes, just supplementary coupling assembling includes space link assembly mounting flange.
2. The constant-force actuator according to claim 1, wherein the spatial link assembly comprises a lower mounting platform, an upper mounting platform, and at least 2 groups of two-link assemblies, wherein the resultant force direction of at least 2 groups of two-link assemblies is vertically upward, each group of two-link assemblies comprises 2 stretching link assemblies, each stretching link assembly comprises a link body, a link big end and a link small end, the link big ends of the 2 stretching link assemblies are connected, the link small ends of the 2 stretching link assemblies are respectively connected with the lower mounting platform and the upper mounting platform, and the lower mounting platform and the upper mounting platform realize the translation between the platforms through at least 2 groups of two-link assemblies.
3. The constant-force actuator according to claim 2, wherein the spatial link assembly further comprises at least 2 auxiliary two-link assemblies, each auxiliary two-link assembly comprises 2 auxiliary link groups, each auxiliary link group comprises a link body, a large link head and a small link head, the large link heads of the 2 auxiliary link groups are connected, and the small link heads of the 2 auxiliary link groups are respectively connected with the lower mounting platform and the upper mounting platform.
4. The constant force actuator according to claim 3, wherein the number of the tension two-link assemblies is the same as the number of the auxiliary two-link assemblies.
5. The constant force actuator according to any one of claims 2 to 4, wherein the number of the spring tension assemblies is the same as the number of the tension two-link assemblies, and each group of the spring tension assemblies comprises a wire rope stay connecting block, a wire rope, a fixed pulley bracket, a mounting seat, a tension spring and a wire rope spring connecting block, wherein the wire rope stay connecting block is connected with the big end of the link of the tension two-link assembly, the fixed pulley is mounted on the fixed pulley bracket, the fixed pulley bracket is mounted on the mounting seat, the mounting seat is fixed on the mounting flange of the space link assembly of the auxiliary connecting assembly, one end of the wire rope is fixedly connected with the wire rope stay connecting block and bypasses the fixed pulley, and the other end of the wire rope is connected with the tension spring after being fixed with.
6. The constant force actuator according to claim 5, wherein each set of spring tension assemblies is provided with one or more tension springs, or wherein a plurality of sets of spring tension assemblies share a single tension spring.
7. The constant force actuator according to claim 5, wherein the spring tension adjusting assembly comprises a spring adjusting screw and an adjusting nut, wherein one end of the spring adjusting screw is connected with the tension spring in the spring tension assembly, and the other end of the spring adjusting screw is in threaded connection with the adjusting nut.
8. The constant force actuator of claim 7, wherein the spring tension adjustment assembly further comprises a spring anti-torque device, the spring adjustment screw being mounted within the spring anti-torque device slot.
9. The constant force actuator according to any one of claims 7-8, wherein the auxiliary connection assembly further comprises a housing, a handle, and a cover.
10. The constant force actuator according to claim 9, wherein the output assembly comprises an output shaft, a linear bearing and a limiting rod, the output shaft is connected with the upper mounting platform of the spatial connecting rod assembly and is matched with the linear bearing, the linear bearing is mounted on a housing of the auxiliary connecting assembly, and the limiting rod is mounted on a fixed pulley bracket of the spring stretching assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022275422.3U CN212553901U (en) | 2020-10-14 | 2020-10-14 | Constant force actuating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022275422.3U CN212553901U (en) | 2020-10-14 | 2020-10-14 | Constant force actuating device |
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| CN212553901U true CN212553901U (en) | 2021-02-19 |
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| CN202022275422.3U Active CN212553901U (en) | 2020-10-14 | 2020-10-14 | Constant force actuating device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025755A (en) * | 2020-10-14 | 2020-12-04 | 哈工大机器人（合肥）国际创新研究院 | Constant force actuating device |
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2020
- 2020-10-14 CN CN202022275422.3U patent/CN212553901U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025755A (en) * | 2020-10-14 | 2020-12-04 | 哈工大机器人（合肥）国际创新研究院 | Constant force actuating device |
| CN112025755B (en) * | 2020-10-14 | 2024-06-18 | 哈工大机器人（合肥）国际创新研究院 | Constant force execution device |
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