CN103496603B - A kind of constant force mechanisms - Google Patents
A kind of constant force mechanisms Download PDFInfo
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- CN103496603B CN103496603B CN201310465608.7A CN201310465608A CN103496603B CN 103496603 B CN103496603 B CN 103496603B CN 201310465608 A CN201310465608 A CN 201310465608A CN 103496603 B CN103496603 B CN 103496603B
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- constant force
- torsion
- torsion spring
- axle system
- small machine
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Abstract
The invention provides a kind of constant force mechanisms, comprising: to be installed on mount pad and connect successively provide the heavy motor axle system of moment of torsion outputting power by a heavy motor, comprise the torsion spring member of a torsion spring and the small machine axle system of moment of torsion outputting power be provided by a small machine; The top of the moment of torsion efferent of large and small two motor shaft systems relatively and be fixed on torsion spring member two ends respectively; The moment of torsion efferent of small machine axle system also overlaps the cylindric wound portion having one and its linkage rotation; One force stay cable, its one end is fixed in wound portion and is wound around folding and unfolding on its excircle, and the other end tangentially draws connection load along wound portion.Heavy motor axle system provides rough power to control, torsion spring transition transmitting torque is adopted between large small machine, for constant force structure provides lower elasticity modulus, Collaborative Control constant force, small machine axle system provides accurate power to control, oscillation suppression disturbs, and avoids single motor and bears large carrying and high precision index simultaneously, thus realize large carrying, high precision requirement simultaneously.
Description
Technical field
The invention relates to a kind of constant force load maintainer, particularly relates to a kind of constant force mechanisms of Active Compensation formula.
Background technology
Constant force load maintainer is widely used in the fields such as coil paper, thermal power generation, test of materials, space equipment, and it directly can have influence on safety, the reliability of equipment.Especially at space industry, providing micro-low gravitation to compensate verify spacecraft performance by constant force mechanisms, is the ground validation mode often adopted.Traditional gravity compensation presentation mode has that counterweight balance, air supporting, water are floating, suspension method etc., and wherein suspension method gravity simulation has Active Compensation and passive compensation two kinds of modes, and active compensation is comparatively rare.The invention is designed a kind of for active constant-force mechanism, provides for heavy load, high precision constant force.
Summary of the invention
The problem that the invention will solve accurately keeps to realize active constant-force, provides a kind of constant force mechanisms, for realize constant force heavy load, high precision load.
For solving the problems of the technologies described above, the technical scheme that the invention adopts is: a kind of constant force mechanisms, comprising: to be installed on mount pad 4 and connect successively provide the heavy motor axle system 1 of moment of torsion outputting power by a heavy motor, comprise the torsion spring member 3 of a torsion spring and the small machine axle system 2 of moment of torsion outputting power be provided by a small machine;
The top of the moment of torsion efferent of large and small two motor shaft systems relatively and be fixed on torsion spring member 3 two ends respectively;
The moment of torsion efferent of small machine axle system also overlaps the cylindric wound portion having one and its linkage rotation;
One force stay cable, its one end is fixed in wound portion and is wound around folding and unfolding on its excircle, and the other end tangentially draws connection load along wound portion.
Be more than the core of the invention, its principle is in constant force compensation process, and the steady-state portion of object pulling force remains unchanged, and transient portion thereof pulling force causes fuctuation within a narrow range for being interfered.And the constant force mechanisms of this programme, heavy motor axle system provides rough power to control, main constant force (large carrying stable state pulling force) is provided, adopts torsion spring transition transmitting torque between large small machine, for constant force structure provides lower elasticity modulus, Collaborative Control constant force, small machine axle system provides accurate power to control, and oscillation suppression disturbs, and avoids single motor and bears large carrying and high precision index simultaneously, by double-motor constant force Collaborative Control, thus realize large carrying, high precision requirement simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the invention
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention is described in further detail.
As shown in Figure 1, the invention provides a kind of version of embodiment, in the present embodiment, constant force mechanisms mainly comprises heavy motor axle system 1, small machine axle system 2, torsion spring member 3, mounting bracket assembly 4, force stay cable 5 form, size two motor shaft systems arrange face-to-face, force stay cable is arranged in small machine Shafting torque efferent, torsion spring 31 transition transmitting torque is adopted between large and small motor, Collaborative Control constant force, wherein heavy motor 11 provides rough power to control, there is provided main constant force, small machine 21 provides accurate power to control, and oscillation suppression disturbs.
Wherein, heavy motor axle system 1 be the main load of constant force mechanisms bear unit.This axle system comprises heavy motor 11, band-type brake 12, retarder 13.In the present embodiment, retarder is as the major part of heavy motor Shafting torque efferent, and the output shaft of heavy motor is connected with retarder 13 input end through after band-type brake 12, and retarder 13 mouth connects torsion spring member coupling end.
Small machine axle system is the load output unit of constant force mechanisms, mainly bears interference load, controls for the accurate power of constant force.This axle system provides moment of torsion outputting power by a small machine 21, and in the present embodiment, by a ball spline shaft pair 22 as moment of torsion efferent, castellated shaft one end of ball spline shaft pair connects the output shaft of small machine, and the other end connects torsion spring member coupling end.Described cylindric wound portion 23 can be directly born by the spline housing of ball spline shaft pair, makes isometrical circle by its periphery, also can on spline housing a sheathed cylinder again.
Force stay cable is constant force mechanisms output unit, and one end is connected with load, and one end and wound portion 23 are connected, and a force stay cable part is wound in wound portion 23, and another part is tangentially drawn along wound portion 23 and born load, rotates realize self draw-in and draw-off function by wound portion 23.Preferably, for being more convenient for being wound around folding and unfolding force stay cable, wound portion 23 surface working has spiral groove 24.Due to wound portion 23 constant-radius, the constant force of force stay cable exports and can be converted into as controlling constant torque.
Preferably, a force stay cable pulling force sensor of also can connecting feeds back as control system.
Torsion spring member 3 comprise torsion spring 31 and with two coupling ends 32, coupling end 32 one end be used for torsion spring install, the other end be used for and corresponding coupling of shaft system.Torsion spring member 3 is as the middle transition link of size Motor torque, and after heavy motor main moment of torsion warp beam system is delivered to torsion spring coupling end, torsion spring stand under load twists, and transfers torque to small machine axle system.
Mounting bracket assembly 4 comprises a mount pad, and mount pad supports large and small motor shaft system by bearing (411,412,413), and mount pad bottom also can be connected a base plate or underframe (not shown), and the installation matrix as total supports.
Constant force mechanisms in the present embodiment, owing to using dual motors system to control, need progressively load during use, concrete steps are as follows:
1, large and small motor shaft fastens electricity, and small machine axle system 2 does not first carry out active, but servo-actuated, heavy motor 1 closed loop, controls to rotate adjustment wound portion by force stay cable coiling length to zone of reasonableness, and then band-type brake locking heavy motor axle system, waits to be loaded;
2, force stay cable offered load, load is delivered to torsion spring member after wound portion, small machine axle system, and torsion spring member connects heavy motor axle system one end and locked by band-type brake, and torsion spring stand under load reverses and bears load;
3, heavy motor incision closed loop control locked-in torque, band-type brake unclamps, and heavy motor provides pulling force average, after torsion spring transmission, pass to wound portion, and constant force mechanisms realizes constant force and slightly controls.Owing to being disturbed influence, load meeting fuctuation within a narrow range, show as small machine axle system end and slightly swing with wound portion, heavy motor axle system end swings very little;
4, small machine incision closed loop control, carries out accurate adjustment by small machine axle frenulum movable reel and compensates exciting force, realize constant force and accurately control.
In sum, the invention has the following feature and beneficial effect:
1, adopt large and small two motors to arrange face-to-face, Collaborative Control provides load torque.
2, torsion spring is structurally adopted to carry out moment of torsion transmission between double-motor, for constant force structure provides lower elasticity modulus.
3, owing to adopting Double Motor Control, avoid single motor and bear large carrying and high precision index simultaneously, there is load-carrying capacity large, the feature that control accuracy is high.
4, adopt cylindric wound portion to be wound around carrier as force stay cable, possess draw-in and draw-off function simultaneously.
5, constant force mechanisms loading procedure adopts substep to load, and the thick control and the essence that realize constant force respectively control.
6, force stay cable series connection pulling force sensor, as constant force mechanisms motor feedback control signal.
Claims (8)
1. a constant force mechanisms, it is characterized in that, comprising: to be installed on mount pad (4) and connect successively provide the heavy motor axle system (1) of moment of torsion outputting power by a heavy motor, comprise the torsion spring member (3) of a torsion spring (31) and the small machine axle system (2) of moment of torsion outputting power be provided by a small machine;
The top of the moment of torsion efferent of large and small two motor shaft systems relatively and be fixed on torsion spring member (3) two ends respectively;
The moment of torsion efferent of small machine axle system also overlaps the cylindric wound portion having one and its linkage rotation;
One force stay cable, its one end is fixed in wound portion and is wound around folding and unfolding on its excircle, and the other end tangentially draws connection load along wound portion.
2. constant force mechanisms according to claim 1, it is characterized in that: described heavy motor axle system (1) also includes band-type brake (12), retarder (13), the output shaft of described heavy motor is connected with retarder (13) input end afterwards through band-type brake (12), and retarder (13) mouth connects torsion spring member one end.
3. constant force mechanisms according to claim 1, it is characterized in that: the moment of torsion efferent of described small machine axle system is a ball spline shaft pair (22), castellated shaft one end of ball spline shaft pair connects the output shaft of small machine, and the other end connects torsion spring member.
4. constant force mechanisms according to claim 3, is characterized in that: described wound portion (23) is directly born by the spline housing of ball spline shaft pair, makes isometrical circle by its periphery; Or on spline housing a sheathed cylindrical drum again.
5. constant force mechanisms according to claim 1, is characterized in that: described wound portion (23) surface working has spiral groove (24).
6. constant force mechanisms according to claim 1, is characterized in that: a described force stay cable pulling force sensor of also connecting feeds back as control system.
7. constant force mechanisms according to claim 1, is characterized in that: described torsion spring member (3) comprises two coupling ends (32), the affixed torsion spring in coupling end (32) one end, the other end and corresponding coupling of shaft system.
8. constant force mechanisms according to claim 1, is characterized in that: described mount pad (4) bottom is also connected a base plate or underframe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310465608.7A CN103496603B (en) | 2013-09-29 | 2013-09-29 | A kind of constant force mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310465608.7A CN103496603B (en) | 2013-09-29 | 2013-09-29 | A kind of constant force mechanisms |
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| Publication Number | Publication Date |
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| CN103496603A CN103496603A (en) | 2014-01-08 |
| CN103496603B true CN103496603B (en) | 2015-08-12 |
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| CN201310465608.7A Active CN103496603B (en) | 2013-09-29 | 2013-09-29 | A kind of constant force mechanisms |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105221695B (en) * | 2015-10-23 | 2017-11-03 | 哈尔滨工业大学 | Low friction space perseverance torsion spring cam mechanism |
| CN105253797B (en) * | 2015-10-23 | 2017-06-20 | 哈尔滨工业大学 | Low inertia spring torsion bar type constant force mechanisms |
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| CN2804351Y (en) * | 2005-06-29 | 2006-08-09 | 李凯 | Shutter with constant tension |
| DE102005036484A1 (en) * | 2005-08-03 | 2007-02-08 | Koenig & Bauer Ag | Mechanism moving heavy service unit of printing machine, comprising covers, guards or automatic plate changers, includes counterbalancing system and controlled motor drive |
| KR20080105382A (en) * | 2007-05-30 | 2008-12-04 | 유장호 | A automatic winding force controllable device |
| CN201434649Y (en) * | 2009-06-24 | 2010-03-31 | 江苏超力电器有限公司 | Axial pulsation detector of motor rotor |
| KR20130081447A (en) * | 2012-01-09 | 2013-07-17 | (주)가온솔루션 | Roll to roll equipment having tension and rotating speed control system |
| CN203486627U (en) * | 2013-09-29 | 2014-03-19 | 天津航天机电设备研究所 | Constant force mechanism |
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2013
- 2013-09-29 CN CN201310465608.7A patent/CN103496603B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2804351Y (en) * | 2005-06-29 | 2006-08-09 | 李凯 | Shutter with constant tension |
| DE102005036484A1 (en) * | 2005-08-03 | 2007-02-08 | Koenig & Bauer Ag | Mechanism moving heavy service unit of printing machine, comprising covers, guards or automatic plate changers, includes counterbalancing system and controlled motor drive |
| KR20080105382A (en) * | 2007-05-30 | 2008-12-04 | 유장호 | A automatic winding force controllable device |
| CN201434649Y (en) * | 2009-06-24 | 2010-03-31 | 江苏超力电器有限公司 | Axial pulsation detector of motor rotor |
| KR20130081447A (en) * | 2012-01-09 | 2013-07-17 | (주)가온솔루션 | Roll to roll equipment having tension and rotating speed control system |
| CN203486627U (en) * | 2013-09-29 | 2014-03-19 | 天津航天机电设备研究所 | Constant force mechanism |
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| CN103496603A (en) | 2014-01-08 |
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