CN105634192A - Self-locking adjustable electric putter - Google Patents
Self-locking adjustable electric putter Download PDFInfo
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- CN105634192A CN105634192A CN201410617667.6A CN201410617667A CN105634192A CN 105634192 A CN105634192 A CN 105634192A CN 201410617667 A CN201410617667 A CN 201410617667A CN 105634192 A CN105634192 A CN 105634192A
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- screw nut
- self
- feed screw
- electric pushrod
- locking
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Abstract
The invention discloses a self-locking adjustable electric putter. The electric putter comprises an electromagnet module (23), which adjusts the position of a connecting part (22) between a drive mechanism (1) and a cylinder mechanism (3) by controlling the on-off of an electromagnetic coil (231), so as to achieve the on and off between the drive mechanism (1) and the cylinder mechanism (3) and thus to achieve the self-locking adjustable function of the electric putter. The electric putter further comprises a lead screw nut contact (38) and a resistor (39). The nut contact (38) and the resistor (39) are in sliding contact with each other, the position of a lead screw nut (32) can be calculated by measuring a resistance value of the resistor (39) at the nut contact (38), and thus the real-time elongation, real-time elongation speed and real-time load force of a piston rod (34) can be obtained.
Description
Technical field
The present invention relates to a kind of electric pushrod or electric cylinder, particularly relate in the fields such as mechanical exoskeleton, it is desirable to the application scenarios of push rod self-lock force can be controlled.
Background technology
Electric pushrod, also known as push-rod electric machine, electric cylinder and existing brake, is the power-jdriven gear of a kind of straight reciprocating motion that the rotary motion of motor is changed into push rod, is applied primarily to the fields such as electric bed for medical purpose, Electric sofa, jacking system. Due to the functional requirement of early stage application scenarios, electric pushrod is designed to the form having self-locking more, namely owing to frictional force or speed reducing ratio are excessive, electric pushrod can not reverse drive, namely enable reverse drive, its required driving force is also very large. Along with being continually changing of functional requirement, in applications such as mechanical exoskeletons, it is desirable to the aspects such as the response speed of electric pushrod and the interactivity of people get a promotion. This is accomplished by the self-locking performance to electric pushrod and carries out controlling in real time and regulating. Meanwhile, integrated in electric pushrod of self-locking force control device is also naturally and optimization. On the other hand, for the real-time elongation of push rod, real-time elongation speed and the isoparametric monitoring means of real-time carrying, it also it is in the applications such as electric pushrod itself and mechanical exoskeleton, it is achieved the key issue that low cost accurately controls. The present invention is conceived to solve problem above exactly.
Summary of the invention
The main technical problem to be solved in the present invention is to provide a kind of adjustable electric pushrod of self-locking, namely can regulate the self-locking situation of electric pushrod in application process, and then realize flexible labour-saving reverse drive function. Meanwhile, the present invention also to solve the accurate control problem of the low cost to electric pushrod, namely uses simple method to obtain the real-time elongation of electric pushrod, extend speed, real time load power in real time.
By the description carried out below in conjunction with accompanying drawing, above-mentioned purpose and the other objects, features and advantages of the present invention will become more apparent, and wherein, described accompanying drawing represents the preferred embodiments of the present invention in the way of illustrative example.
Accompanying drawing explanation
Fig. 1 indicates that the general illustration of electric pushrod according to an embodiment of the invention;
Fig. 2 indicates that the schematic diagram of the drive mechanism of the electric pushrod shown in Fig. 1;
Fig. 3 indicates that the general illustration of the electric pushrod of the another kind of embodiment according to the present invention;
Fig. 4 indicates that the schematic diagram of the drive mechanism of the electric pushrod shown in Fig. 3;
Fig. 5 indicates that the method schematic diagram obtaining the real-time elongation of electric pushrod;
Fig. 6 indicates that the constitutional diagram of electric magnet and feed screw nut in the electric pushrod cylinder mechanism of the embodiment of the another kind of scheme according to the present invention, wherein Fig. 6 A is a kind of combining form, Fig. 6 B is another kind of combining form, and Fig. 6 C is the structure chart of feed screw nut in this programme.
Detailed description of the invention
The present invention is described in further detail in conjunction with accompanying drawing below by detailed description of the invention.
With reference to Fig. 1, represent electric pushrod according to an embodiment of the invention. Electric pushrod is made up of three parts: driving mechanism 1, electric energy can be converted to mechanical energy output, drive transmission device 2 or execution structure 3 after the current is applied directly or indirectly, in electric pushrod, mainly occur with the form of motor; Drive mechanism 2, passes to cylinder mechanism 3 by the power that driving mechanism 1 produces, and the process of transmission is usually by the function of the proportioning realization deceleration of gear; Cylinder mechanism 3, exports the power that drive mechanism 2 passes in the way of rectilinear motion.
Drive mechanism 2, including: drive output gear 21, be the gear being connected with motor output shaft; Connection member 22, for connecting the output of driving mechanism 1 and the input of cylinder mechanism 3, general requirement realizes deceleration simultaneously, i.e. reducing gear or decelerator, is coordinated by different gears, it is achieved transmission and deceleration; Cylinder body connects gear 24, by driving force incoming for connection member 22, imports in cylinder mechanism 3, and general cylinder body connects gear 24 and is connected with the leading screw 31 in cylinder mechanism 3, and the rotation being connected gear 24 by cylinder body drives leading screw 31 to rotate.
Connection member 22 in the present embodiment, are made up of two gears being integrated, they respectively: with drive the reduction gearing that engages of output gear 21, i.e. deceleration input gear 221; The reduction gearing of gear 24 engagement, i.e. deceleration output gear 222 it is connected with cylinder body.
Drive mechanism 2, also includes electromagnet module 23. Electromagnet module 23 includes: solenoid 231, produces magnetic field, to attract the connector 233 between electromagnet module 23 and connection member (reducing gear) 22 so that it is produce displacement after energising; Spring 232, for being resetted by connector 233, due to magnetic field suction after solenoid 231 energising, connector 233 produces displacement, makes spring 232 compress, and after power-off, spring 232 ejects, and makes connector 233 reset; Connector 233 between electromagnet module and connection member, is that connection member 22 is servo-actuated by the movement of connector 233, and then is switched on or switched off the connection between driving mechanism 1 and cylinder mechanism 3.
During connection, self-lock force is replied, and push rod is not easily reversed driving, it is possible to be positively driven. During disconnection, self-lock force major part is released from, and push rod is easily reversed driving, is not positively driven. It this example is on-state.
Simultaneously when controlling the self-lock force of electric pushrod, the control signal of electromagnet module is desirable to have precedence over the driving signal to driving mechanism and provides. In the off state, reduce the idle running of driving mechanism as far as possible.
Cylinder mechanism 3, including: leading screw 31; Feed screw nut 32, or claim piston, including the contact surface 322 of the contact surface 321 of two contact surfaces, feed screw nut and leading screw, feed screw nut and piston rod; The effect that the leading screw far-end strong point 33, limited location and support piston rod 34 slide; Piston rod 34, it is possible to stretch out retraction, is connected with feed screw nut 32; Piston rod connecting hole 35, is used for connecting load; Near-end limit switch 36, when feed screw nut 32 drive piston rod 34 retract least significant end time, contact near-end limit switch 36 by feed screw nut 32, stop driving mechanism 1 to continue to drive piston rod 34 to bounce back; Far-end limit switch 37, when feed screw nut 32 drives piston rod 34 to reach top, contacts far-end limit switch 37 by feed screw nut 32, stops driving mechanism 1 to continue to drive piston rod 34 overhanging; Feed screw nut contact 38, hard contact, there is line to stretch out electric pushrod, when being used for calculating real-time elongation, obtain the resistance value that feed screw nut contact 38 obtains on resistor 39; Resistor 39, the resistor of strip, it is allowed to feed screw nut contact 38 is at upper contact slide, and feed screw nut contact 38 constitutes slide-wire rheostat, has line to stretch out electric pushrod, and resistance is evenly distributed along push rod telescopic direction.
With reference to Fig. 2, represent the drive mechanism of the electric pushrod shown in Fig. 1, under the control of electromagnet module, release connection member 22, make the schematic diagram connecting disconnection between driving mechanism 1 and cylinder mechanism 3. The driving force that now driving mechanism 1 produces can not drive cylinder body to connect gear 24, but now push rod increases reverse drive, and cylinder body connects gear 24 and can dally with reverse drive.
With reference to Fig. 3, represent the general illustration of the electric pushrod of the another kind of embodiment according to the present invention. From being differing principally in that of Fig. 1: the form of expression of connection member (or deceleration component) 22 is different, common gear be changed to bevel gear; Connection status between the compression of spring 232 and corresponding driving mechanism 1 and the cylinder mechanism 3 of elongation reverse, Fig. 3 represents connected state.
With reference to Fig. 4, represent the drive mechanism of the electric pushrod shown in Fig. 3, under the control of electromagnet module, regain connection member 22, make the schematic diagram connecting disconnection between driving mechanism 1 and cylinder mechanism 3. The driving force that now driving mechanism 1 produces can not drive cylinder body to connect gear 24, but now push rod increases reverse drive, and cylinder body connects gear 24 and can dally with reverse drive.
With reference to Fig. 5, represent the method schematic diagram obtaining the real-time elongation of electric pushrod. Feed screw nut contact 38 and resistor 39 constitute slide-wire rheostat, it is possible to calculate real-time elongation by measuring feed screw nut contact 38 real time resistance value acquired on resistor 39. Feed screw nut contact 38 and resistor 39 have external line, and connection includes the proximal points of 38 .-39, the remote point of 38 .-39. Below for the proximal points of 38 .-39, set forth real-time elongation, extend the computational methods of speed, real time load power in real time. When resistor 39 resistance is evenly distributed along push rod telescopic direction, it is known that the total resistance R of resistor 39 whole piece resistanceAlways, the total length L of whole piece resistanceAlways, by measuring on feed screw nut contact 38 and resistor 39 the resistance value R between two external lines in real timeSurvey, it is possible to pass through LSurvey=LAlways*RSurvey/RAlways, calculate and obtain real-time elongation LSurvey. When resistor 39 resistance is along push rod telescopic direction skewness, find R by the method tabled look-upSurveyCorresponding LSurvey��
Calculating the method extending speed in real time is, Vn=(Ln�CLn-1)/TSampling, wherein elongation speed is V in real timen, real-time elongation is Ln, the elongation that a upper sampling time point is corresponding is Ln-1, real-time sampling time TSampling��
The method calculating real time load power is, FLoad=f(Vn), wherein real time load power is FLoad, elongation speed is V in real timen, f (Vn) for speed-carrying correspondence table. V is found by the method tabled look-upnCorresponding FLoad��
With reference to Fig. 6, indicate that the another kind of scheme according to the present invention embodiment electric pushrod cylinder mechanism in the constitutional diagram of electric magnet and feed screw nut, namely when adjusting the self-lock force of electric pushrod, the another kind of scheme of enforcement. In this scheme, such as Fig. 6 A and Fig. 6 B, electromagnet module is arranged in the cylinder mechanism 3 of electric pushrod. The part that feed screw nut S32 in cylinder mechanism 3 contacts with leading screw 31 is divided into two parts (S3211 and S3212), uses electromagnet module S23 to connect two parts feed screw nut (S3211 and S3212). To electromagnet module S23 power on/off, it is achieved the Guan Bi of two parts feed screw nut (S3211 and S3212) and separation. During Guan Bi, feed screw nut S32 and leading screw 31 step up, and produce self-locking, it is possible to drive. During separation, feed screw nut S32 and leading screw 31 get loose, eliminate self-locking, and drive invalid.
In order to the combination of feed screw nut S32 and electromagnet module S23 being fixed and guiding, cylinder mechanism 3 increases a support bar S30. Support bar S30 such as Fig. 6 A, in the S3211 part of feed screw nut S32, can be penetrated by the mode of perforate, makes the combination of feed screw nut S32 and electromagnet module S23 can be formed in perforate and support bar S30 and moves reciprocatingly on guide rail. Support bar S30 such as Fig. 6 B, on electromagnet module S23 or its support parts, can also be penetrated by the mode of perforate, form guide rail. For the balance of retentivity, two electromagnet module should be used to realize symmetrical and control simultaneously.
If Fig. 6 C is under this scheme, the structure chart of feed screw nut S32. Feed screw nut S32 is divided into 3 parts: the part S322 that feed screw nut S32 is connected with piston rod 34, and the part S321 that feed screw nut S32 contacts with leading screw 31 is divided into two parts (S3211 and S3212). Connected by groove S3221 and S3222 between S322 and S3211, S3212, it is achieved guide rail function. When electromagnet module (S23) power on/off, S3211 and S3212 two parts can slide laterally on groove S3221 and S3222, it is achieved steps up and the function of the leading screw 31 that gets loose. S322 inwall no longer has and the screw thread of leading screw 31 engagement, and for hollow structure, lengthwise position is limited by S321, and lateral attitude is limited by the piston rod 34 connected, and the lateral attitude of piston rod 34 is limited by the leading screw far-end strong point 33.
Above content is in conjunction with specific embodiment further description made for the present invention, it is impossible to assert that specific embodiment of the invention is confined to these explanations. For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, protection scope of the present invention all should be considered as belonging to.
Claims (10)
1. the adjustable electric pushrod of self-locking, it is characterised in that including: driving mechanism (1), can be converted to mechanical energy output, drive transmission device (2) or actuator (3) after the current is applied directly or indirectly by electric energy; Drive mechanism (2), passes to cylinder mechanism (3) by the power that driving mechanism (1) produces; Cylinder mechanism (3), exports the power that drive mechanism (2) or driving mechanism (1) pass in the way of rectilinear motion; Also include: in drive mechanism (2), including electromagnet module (23); By the control to electromagnet module (23) power on/off, control the position of connection member (22) between driving mechanism (1) and cylinder mechanism (3), realize being connected and disconnected between driving mechanism (1) and cylinder mechanism (3), and then achieve the self-locking scalable function of electric pushrod.
2. a kind of adjustable electric pushrod of self-locking as claimed in claim 1, it is characterized in that, described electromagnet module (23) including: solenoid (231), produces magnetic field, to attract the connector (233) between electromagnet module (23) and connection member (22) after energising; Spring (232), due to magnetic field suction after energising, spring (232) is compressed or is stretched, and after power-off, initial position replied by spring (232); Connector (233) between electromagnet module (23) and connection member (22).
3. a kind of adjustable electric pushrod of self-locking as claimed in claim 1, it is characterised in that when controlling the self-lock force of electric pushrod, control signal has precedence over driving signal and provides.
4. a kind of adjustable electric pushrod of self-locking as claimed in claim 1, it is characterized in that, a near-end limit switch (36) and a far-end limit switch (37) is included at cylinder mechanism (3), when feed screw nut (32) returns the bottom of cylinder mechanism (3), touch near-end limit switch (36), make recoil movement stop, when feed screw nut (32) extends the top of cylinder mechanism (3), touch far-end limit switch (37), make to stretch out motion and stop.
5. a kind of adjustable electric pushrod of self-locking as claimed in claim 1, it is characterized in that, a feed screw nut contact (38) and a resistor (39) is included at cylinder mechanism (3), when the piston rod (34) being connected with feed screw nut (32) does straight reciprocating motion, feed screw nut contact (38) is in the upper sliding contact of resistor (39), it is possible to record feed screw nut contact (38) in the upper resistance value obtained of resistor (39) by connecting wire.
6. a kind of adjustable electric pushrod of self-locking as claimed in claim 5, it is characterised in that the method calculating real-time elongation is, LSurvey=LAlways*RSurvey/RAlways, wherein elongation is L in real timeSurvey, real time resistance value is RSurvey, namely feed screw nut contact (38) are in the upper resistance value obtained of resistor (39), and total resistance value is RAlways, total length is LAlways; RAlways��LAlwaysFor known quantity, RSurveyFor measured value, LSurveyFor value of calculation.
7. a kind of adjustable electric pushrod of self-locking as claimed in claim 5, it is characterised in that calculating the method extending speed in real time is, Vn=(Ln�CLn-1)/TSampling, wherein elongation speed is V in real timen, real-time elongation is Ln, the elongation that a upper sampling time point is corresponding is Ln-1, real-time sampling time TSampling��
8. a kind of adjustable electric pushrod of self-locking as claimed in claim 5, it is characterised in that the method calculating real time load power is, FLoad=f(Vn), wherein real time load power is FLoad, elongation speed is V in real timen, f (Vn) for speed-carrying correspondence table.
9. the adjustable electric pushrod of self-locking, it is characterized in that, including: in the cylinder mechanism (3) of electric pushrod, the part that feed screw nut (S32) contacts with leading screw (31) is divided into two parts (S3211) and (S3212), uses electromagnet module (S23) to connect two parts feed screw nut; To electromagnet module (S23) power on/off, it is achieved the Guan Bi of two parts feed screw nut and separation; During Guan Bi, feed screw nut (S32) and leading screw (31) step up, and produce self-locking; During separation, feed screw nut (S32) and leading screw (31) get loose, and eliminate self-locking.
10. method as claimed in claim 9, it is characterized in that, also include: be connected by groove (S3221) and (S3222) between part (S322) that feed screw nut (S32) connects with piston rod (34) and two parts (S3211) and (S3212) that feed screw nut (S32) contacts with leading screw (31), it is achieved guide rail function; When electromagnet module (S23) power on/off, S3211 and S3212 two parts can in the upper slip of groove (S3221) and (S3222).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410617667.6A CN105634192A (en) | 2014-11-06 | 2014-11-06 | Self-locking adjustable electric putter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410617667.6A CN105634192A (en) | 2014-11-06 | 2014-11-06 | Self-locking adjustable electric putter |
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| Publication Number | Publication Date |
|---|---|
| CN105634192A true CN105634192A (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410617667.6A Pending CN105634192A (en) | 2014-11-06 | 2014-11-06 | Self-locking adjustable electric putter |
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| CN (1) | CN105634192A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106972689A (en) * | 2017-03-23 | 2017-07-21 | 无锡市宏霸机电设备有限公司 | Electric pushrod |
| CN108919115A (en) * | 2018-05-15 | 2018-11-30 | 中国航发湖南动力机械研究所 | adjustable resistance load, loading system and loading method |
| CN112900375A (en) * | 2021-01-19 | 2021-06-04 | 张海娜 | Self-locking gate for hydraulic engineering and use method |
| CN113088880A (en) * | 2021-06-08 | 2021-07-09 | 上海陛通半导体能源科技股份有限公司 | Telescopic driving assembly structure and semiconductor device |
| WO2022037494A1 (en) * | 2020-08-20 | 2022-02-24 | 浙江捷昌线性驱动科技股份有限公司 | Electric push rod having hand-rotatory release device |
-
2014
- 2014-11-06 CN CN201410617667.6A patent/CN105634192A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106972689A (en) * | 2017-03-23 | 2017-07-21 | 无锡市宏霸机电设备有限公司 | Electric pushrod |
| CN106972689B (en) * | 2017-03-23 | 2023-07-21 | 无锡宏霸机电股份有限公司 | Electric push rod |
| CN108919115A (en) * | 2018-05-15 | 2018-11-30 | 中国航发湖南动力机械研究所 | adjustable resistance load, loading system and loading method |
| CN108919115B (en) * | 2018-05-15 | 2020-10-23 | 中国航发湖南动力机械研究所 | Adjustable resistance load, loading system and loading method |
| WO2022037494A1 (en) * | 2020-08-20 | 2022-02-24 | 浙江捷昌线性驱动科技股份有限公司 | Electric push rod having hand-rotatory release device |
| US12038071B2 (en) | 2020-08-20 | 2024-07-16 | Zhejiang Jiecang Linear Motion Technology Co., Ltd. | Electric actuator having hand-screw release device |
| CN112900375A (en) * | 2021-01-19 | 2021-06-04 | 张海娜 | Self-locking gate for hydraulic engineering and use method |
| CN112900375B (en) * | 2021-01-19 | 2024-03-22 | 张海娜 | Self-locking type gate for hydraulic engineering and use method |
| CN113088880A (en) * | 2021-06-08 | 2021-07-09 | 上海陛通半导体能源科技股份有限公司 | Telescopic driving assembly structure and semiconductor device |
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Application publication date: 20160601 |
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