CN112025755B - Constant force execution device - Google Patents
Constant force execution device Download PDFInfo
- Publication number
- CN112025755B CN112025755B CN202011093824.XA CN202011093824A CN112025755B CN 112025755 B CN112025755 B CN 112025755B CN 202011093824 A CN202011093824 A CN 202011093824A CN 112025755 B CN112025755 B CN 112025755B
- Authority
- CN
- China
- Prior art keywords
- assembly
- connecting rod
- spring
- stretching
- assemblies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000712 assembly Effects 0.000 claims description 63
- 238000000429 assembly Methods 0.000 claims description 63
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 30
- 239000010959 steel Substances 0.000 description 30
- 238000009434 installation Methods 0.000 description 5
- 238000005498 polishing Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000227 grinding Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application aims to provide a constant force executing device which 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. The constant force executing device can effectively reduce the operation difficulty of industrial robots and operators, 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, in order to achieve a good operation effect, the industrial robot needs to ensure that a tool arranged at the tail end of the robot is in stable and close contact with a workpiece in the polishing, grinding and deburring operation field. And because of 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 at all times, and the workpiece is easy to be 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 by a force control algorithm. However, the introduction of force sensors and force control algorithms increases the requirements on the software and hardware of the system and the difficulty of the robot control algorithm, and simultaneously brings a series of problems to the safety and reliability of operation.
Meanwhile, in some traditional manual working places, such as gluing, grinding and polishing, stable and close contact between tools and workpieces is required, which puts high demands on the operation method of workers.
Disclosure of Invention
An object of the present application is to provide a constant force actuator for ensuring that a tool can be contacted with a workpiece with a constant force within an effective stroke between a robot end and the tool or between an operator and a polishing tool, thereby effectively reducing the difficulty of operation of an industrial robot and an operator and improving the production efficiency and the processing quality of products.
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 connected with the space connecting rod assembly and the spring stretching adjusting assembly respectively, 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 connecting rod groups, each 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 connecting rod groups are connected, the connecting rod small ends of the 2 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 among 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 groups of auxiliary two connecting rod assemblies, each group of auxiliary two connecting rod assemblies comprises 2 connecting rod groups, each 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 connecting rod groups are connected, and the connecting rod small ends of the 2 connecting rod groups are connected with the lower mounting platform and the upper mounting platform respectively.
Further, the number of the stretching two-bar linkage assemblies is the same as the number of the auxiliary two-bar linkage assemblies.
Further, the quantity of the spring stretching components is consistent with that of the two stretching connecting rod components, each group of the spring stretching components comprises a steel wire rope stretching connecting block, a steel wire rope, a fixed pulley support, a mounting seat, a stretching spring and a steel wire rope spring connecting block, wherein the steel wire rope stretching connecting block is connected with the big end of the connecting rod of the two stretching connecting rod components, the fixed pulley is mounted on the fixed pulley support, the fixed pulley support is mounted on the mounting seat, the mounting seat is fixed on a space connecting rod component mounting flange of the auxiliary connecting component, one end of the steel wire rope is fixedly connected with the steel wire rope stretching connecting block and bypasses the fixed pulley, and the other end of the steel wire rope stretching connecting block is fixedly connected with the stretching spring.
Further, each set of spring tension assemblies is provided with one or more tension springs, or multiple sets of spring tension assemblies share one tension spring.
Further, 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 a stretching 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 tension adjusting assembly further comprises a spring torsion preventer, and the spring adjusting screw is installed in the clamping groove of the spring torsion preventer.
Further, the auxiliary connection assembly further comprises a shell, a handle and a cover plate.
Further, the output assembly comprises an output shaft, a linear bearing and a limiting rod, wherein the output shaft is connected with an upper mounting platform of the space connecting rod assembly and 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.
The constant force executing device is a constant force executing device based on a linear spring, can float with constant force within a certain working stroke range, and ensures close and stable contact between a tool and a workpiece, thereby effectively avoiding damage to the tool and the workpiece in the work of polishing, deburring and the like and improving the product percent of pass.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, 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 spatial linkage assembly and 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 housing and handle broken away according to one embodiment of the application;
fig. 4 shows a schematic diagram of the constant force principle of the constant force actuator according to an embodiment of the present application.
Detailed Description
The invention is further described with reference to the drawings and the specific embodiments below: examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. 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 connected with the space connecting rod assembly and the spring stretching adjusting assembly respectively, 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 the embodiment of the invention, 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 connecting rod groups, each 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 connecting rod groups are connected, the connecting rod small ends of the 2 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 among the platforms through the at least 2 groups of stretching two connecting rod assemblies.
According to an embodiment of the invention, the space connecting rod assembly further comprises at least 2 groups of auxiliary two connecting rod assemblies, each group of auxiliary two connecting rod assemblies comprises 2 connecting rod groups, each 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 connecting rod groups are connected, and the connecting rod small ends of the 2 connecting rod 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 linkage assemblies is the same as the number of the two auxiliary linkage assemblies, and the two stretching linkage assemblies and the two auxiliary linkage assemblies are arranged at intervals.
Specifically, as shown in fig. 1, the space connecting rod assembly includes: the lower mounting platform 11, the upper mounting platform 12, the 2 groups of stretching two-link assemblies 13 and the 2 groups of auxiliary two-link assemblies 14. Each connecting rod group comprises a connecting rod body 131, 132, 141 and 142, a connecting rod big end and a connecting rod small end, the connecting rod big ends of the 2 connecting rod groups are connected, two ends of the 2 groups of stretching two connecting rod assemblies and the 2 groups of auxiliary two connecting rod assemblies 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 translation between the lower mounting platform and the upper mounting platform is met.
In addition, the two stretching connecting rod assemblies and the auxiliary two connecting rod assemblies can reasonably select the quantity according to the space size of an actual mechanism, and the requirement that the resultant force direction of each two stretching connecting rod assemblies is vertical upwards can be met. The number of the stretching two-link assemblies and the number of the auxiliary two-link assemblies can be the same or different, for example, the stretching two-link assemblies can be 2 groups of stretching two-link assemblies, 2 groups of auxiliary two-link assemblies, 4 groups of stretching two-link assemblies, 2 groups of auxiliary two-link assemblies and the like, the application only uses one combination form of the combination of the stretching two-link assemblies of 2 groups and the auxiliary two-link assemblies of 2 groups to carry out claim description, and the other combinations are all within the protection range.
Moreover, if the number of the two stretching connecting rod assemblies and the number of the two auxiliary connecting rod assemblies are the same, the two stretching connecting rod assemblies and the two auxiliary connecting rod assemblies can be arranged at intervals, so that the stability of movement between the platforms can be better ensured.
Figure 2 illustrates an isometric view of a combination spatial linkage assembly and spring tension assembly of a constant force actuator according to one embodiment of the present application.
According to the embodiment of the invention, the number of the spring stretching components is consistent with that of the two stretching connecting rod components, each group of the spring stretching components comprises a steel wire rope pulling connecting block, a steel wire rope, a fixed pulley support, a mounting seat, a stretching spring and a steel wire rope spring connecting block, wherein the steel wire rope pulling connecting block is connected with the large end of the connecting rod of the two stretching connecting rod components, the fixed pulley is mounted on the fixed pulley support, the fixed pulley support is mounted on the mounting seat, the mounting seat is fixed on a space connecting rod component mounting flange of the auxiliary connecting component, one end of the steel wire rope is fixedly connected with the steel wire rope pulling connecting block and bypasses the fixed pulley, and the other end of the steel wire rope is fixedly connected with the steel wire rope spring connecting block and then is connected with the stretching spring.
According to an embodiment of the invention, each set of spring tension assemblies is provided with one or more tension springs, or groups of spring tension assemblies share one tension spring.
Specifically, as shown in fig. 2, the device comprises 2 groups of spring stretching assemblies, wherein each group of spring stretching assemblies comprises a steel wire rope pulling connecting block (21), a steel wire rope (22), a stretching spring (23), a fixed pulley (24), a fixed pulley bracket (25), a mounting seat (26) and a steel wire rope spring connecting block (27). The installation seat (26) comprises a vertical rod (262) and an installation table (261), wherein the steel wire rope drawing connecting block (21) is connected with the 2 groups of stretching two connecting rod assemblies (13) in the space connecting rod assemblies, one end of the steel wire rope (22) is fixedly connected with the steel wire rope drawing connecting block (21) and bypasses the fixed pulley (24), the other end of the steel wire rope drawing connecting block is fixedly connected with the stretching spring (23) after the steel wire rope spring connecting block (27) is fixed, the fixed pulley (24) is installed on the fixed pulley bracket (25), the fixed pulley bracket (25) is installed on the installation seat (26), and the installation seat (26) is fixed on the space connecting rod assembly installation flange of the auxiliary connecting rod assembly.
In addition, the spring stretching assembly is selected according to the actual space size and is consistent with the number of the two stretching connecting rod assemblies, the application only uses one combination form of 2 groups of combinations for carrying out the right illustration, and the other combinations are all within the protection scope.
Furthermore, the number of the stretching springs can be selected according to the actual space, each group of the stretching spring assemblies can be provided with one or more stretching springs, and a plurality of groups of the stretching springs can also share one stretching spring.
Furthermore, the number of the fixed pulleys and the steel wire ropes is selected according to the number of the actual mechanism space, the application only uses 2 groups of fixed pulleys and 2 groups of steel wire ropes for combination, and the other combinations are all in the protection range when the 2 groups of fixed pulleys are arranged on the fixed pulley bracket (25) side by side in a combination mode.
Figure 3 illustrates an isometric view of a constant force actuator with a housing and handle broken away according to one embodiment of the present application.
According to one embodiment of the invention, the spring tension adjusting assembly comprises a spring adjusting screw rod and an adjusting nut, wherein one end of the spring adjusting screw rod is connected with a tension spring in the spring tension assembly, and the other end of the spring adjusting screw rod is in threaded connection with the adjusting nut.
According to an embodiment of the invention, the spring tension adjustment assembly further comprises a spring anti-torsion device, and the spring adjustment screw is mounted in the spring anti-torsion device clamping groove.
According to an embodiment of the invention, the auxiliary connection assembly further comprises a housing, a handle and a cover plate.
According to one embodiment of the invention, the output assembly comprises an output shaft, a linear bearing and a limiting rod, wherein 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 the shell of the auxiliary connecting assembly, and the limiting rod is mounted on the fixed pulley bracket of the spring stretching assembly.
Specifically, as shown in fig. 3, the spring tension adjusting assembly includes: the device comprises 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 rod (31) is arranged in the clamping groove of the spring torsion preventer (32) so as to prevent the tension spring (23) from rotating to cause the winding of the steel wire rope (22) when the adjusting nut (33) rotates. The relative position between the spring adjusting screw and the auxiliary connecting component can be effectively adjusted by rotating the adjusting nut, so that the pretightening force of the tension spring is adjusted.
As further shown in fig. 3, the auxiliary connecting member comprises a housing (51), a space connecting rod assembly mounting flange (52), a handle (53) and a cover plate (54), and the output assembly comprises an output shaft (41), a linear bearing (42) and a limiting rod (43). The output shaft (41) is connected with the upper mounting platform (12) of the space connecting rod assembly and is matched with the linear bearing (42), the linear bearing (42) is mounted on a shell (51) part of other auxiliary assemblies, the limiting rod (43) is mounted on the fixed pulley support (25), and when the output shaft (41) runs downwards and contacts the limiting rod (43), the automatic stop is achieved.
Fig. 4 shows a schematic diagram of the constant force principle of the 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 the shaft 1, in a coordinate system O1-X1Y1, O1C1 is a rod member, O1 is a rotation point, A1 is a fixed winding point of a steel wire rope connected with a tension spring, B1 is a fixed point of the steel wire rope mounted on the rod member O1C1, and a load action point C1; the distance of O1A1 is L1, the length of O1B1 rod is L2, the length of O1C1 rod is L3, one end of the steel wire rope is connected with B1, the other end of the steel wire rope bypasses the fixed point A1 and is connected with the extension spring, and the other end of the extension spring is fixed at the point D1. The length A1B1 is equal to the elongation delta X of the spring; the included angle between the graphic A1B1 and the O1C1 is alpha, and the included angle between the O1C1 and the O1A1 is theta;
The rod piece O1C1 is subjected to stress analysis, a force F1 is applied to the rod piece through the point C1 and parallel to the y1 direction, and the moment of the force F1 and the spring tension force F on the rod piece relative to the point O1 is respectively as follows: MO1 (F1) =f1×l3×sinθ; MO1 (F) =fl2×sα=kΔx×l2×sα (k is a spring coefficient), when the rod is in a balanced state, MO1 (F1) =m1 (F). In the triangle O1A1B1, sine theorem is used, sin θ: sin α=a1b1:o1a1, the relation can be deduced: f1 =kl1×l2/L3. That is, under the condition that the length of A1B1 is constant equal to the spring elongation Δx, the O1C1 rod has a constant force f1=kl1×l2/L3 across the C1 point and parallel to the y1 direction within a certain angle range, so that the rod O1C1 is in a balanced state.
Similarly, in the coordinate system O2-X2Y2, the O2C2 rod has a constant force f2=kl1 l2/l3=f1 across the C2 point and parallel to the Y2 direction within a certain angular range, so that the rod O2C2 is in a balanced state.
Since O1C1, O2C2 are symmetrical with respect to axis 1, the direction of the resultant of F1 and F2 is vertically upward along axis 1 and of constant magnitude. The constant resultant force F can be determined by reasonably matching the k value of the spring and the length dimensions.
In the present application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed therewith: the two components can be connected mechanically, electrically or in communication, or directly or indirectly through an intermediate medium, or in communication or interaction relationship of the two components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It will be evident to those skilled in the art that the 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 characteristics 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 evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (9)
1. The constant force executing device is characterized by comprising 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, the auxiliary connecting assembly comprises a space connecting rod assembly mounting flange, the space connecting rod assembly comprises a lower mounting platform, an upper mounting platform, at least 2 groups of stretching two connecting rod assemblies and at least 2 groups of auxiliary two connecting rod assemblies, the at least 2 groups of stretching two connecting rod assemblies are arranged at intervals, 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, a connecting rod big end and a connecting rod small end, the connecting rod small ends of the 2 stretching connecting rod assemblies are respectively connected with the lower mounting platform and the upper mounting platform, and the lower mounting platform and the upper mounting platform are respectively realized through at least 2 groups of stretching two connecting rod assemblies.
2. The constant force actuator of claim 1, wherein each set of auxiliary two-bar linkage comprises 2 auxiliary bar linkage groups, each auxiliary bar linkage group comprises a bar body, a bar big end and a bar small end, the bar big ends of the 2 auxiliary bar linkage groups are connected, and the bar small ends of the 2 auxiliary bar linkage groups are connected with the lower mounting platform and the upper mounting platform respectively.
3. The constant force actuator of claim 2, wherein the number of tension and auxiliary two-bar assemblies is the same.
4. A constant force actuator according to any one of claims 2-3, wherein the number of spring tension assemblies is identical to the number of tension two link assemblies, and each set of spring tension assemblies comprises a wire rope stay connection block, a wire rope, a fixed pulley support, a mounting seat, a tension spring and a wire rope spring connection block, wherein the wire rope stay connection block is connected with the large end of the link of the tension two link assemblies, the fixed pulley is mounted on the fixed pulley support, the fixed pulley support is mounted on the mounting seat, the mounting seat is fixed on a space link assembly mounting flange of the auxiliary connection assembly, and one end of the wire rope is fixedly connected with the wire rope stay connection block and bypasses the fixed pulley, and the other end of the wire rope is fixedly connected with the wire rope spring connection block and then is connected with the tension spring.
5. The constant force actuator of claim 4, wherein each set of spring tension assemblies is provided with one or more tension springs, or wherein multiple sets of spring tension assemblies share one tension spring.
6. The constant force actuator of claim 4, wherein the spring tension adjustment assembly comprises a spring adjustment screw and an adjustment nut, wherein one end of the spring adjustment screw is connected to the tension spring in the spring tension assembly and the other end is threadably connected to the adjustment nut.
7. The constant force actuator of claim 6, wherein the spring tension adjustment assembly further comprises a spring anti-twister, the spring adjustment screw being mounted within the spring anti-twister slot.
8. The constant force actuator of any of claims 6-7, wherein the auxiliary link assembly further comprises a housing, a handle, and a cover plate.
9. The constant force actuator of claim 8, wherein the output assembly comprises an output shaft coupled to the upper mounting platform of the spatial linkage assembly and mated to the linear bearing mounted on the housing of the auxiliary linkage assembly, and a stop bar mounted on the fixed sheave bracket of the spring tension assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011093824.XA CN112025755B (en) | 2020-10-14 | 2020-10-14 | Constant force execution device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011093824.XA CN112025755B (en) | 2020-10-14 | 2020-10-14 | Constant force execution device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112025755A CN112025755A (en) | 2020-12-04 |
| CN112025755B true CN112025755B (en) | 2024-06-18 |
Family
ID=73573317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011093824.XA Active CN112025755B (en) | 2020-10-14 | 2020-10-14 | Constant force execution device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112025755B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212553901U (en) * | 2020-10-14 | 2021-02-19 | 哈工大机器人（合肥）国际创新研究院 | Constant force actuating device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6920936B2 (en) * | 2002-03-13 | 2005-07-26 | Schlumberger Technology Corporation | Constant force actuator |
| US7334642B2 (en) * | 2004-07-15 | 2008-02-26 | Schlumberger Technology Corporation | Constant force actuator |
| CN101725767B (en) * | 2010-01-15 | 2011-08-10 | 高永峰 | Coaxial constant force spring support hanger |
| CN104214491B (en) * | 2013-05-29 | 2017-08-04 | 泰州市创新电子有限公司 | A kind of drawing compressed spring type display screen constant force lifting support frame of adjustable lifting bearing capacity |
| CN203743616U (en) * | 2014-01-14 | 2014-07-30 | 淄博佳能石化机械有限公司 | Non-sidesway constant force spring support |
| WO2015107404A1 (en) * | 2014-01-15 | 2015-07-23 | Meccanica Biomedica S.R.L. | Adjustable intensity constant force generator |
| US20160298396A1 (en) * | 2015-04-08 | 2016-10-13 | Probe Technology Services, Inc. | Constant force centralizer |
| CN105173959B (en) * | 2015-10-10 | 2017-10-10 | 杭州沪宁电梯部件股份有限公司 | A kind of deflecting constant force limiter of speed |
| CN108709018A (en) * | 2018-07-23 | 2018-10-26 | 扬州市泰克管道机械有限公司 | A kind of compact constant supporting spring hanger |
| CN108942895A (en) * | 2018-09-05 | 2018-12-07 | 安徽理工大学 | A kind of six-freedom parallel power head with constant force output characteristics |
-
2020
- 2020-10-14 CN CN202011093824.XA patent/CN112025755B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212553901U (en) * | 2020-10-14 | 2021-02-19 | 哈工大机器人（合肥）国际创新研究院 | Constant force actuating device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112025755A (en) | 2020-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210229265A1 (en) | Movable Hybrid Machining Robot based on Three-Degree-of-Freedom Force-Controlled Parallel Module | |
| CN104002304A (en) | Novel pneumatic manipulator | |
| EP2758216B1 (en) | Shock tolerant structure | |
| CN204566140U (en) | Robot and system of processing | |
| CN112025755B (en) | Constant force execution device | |
| CN205660724U (en) | A constant force device for robot is terminal | |
| CN110733052A (en) | Robot clamp and robot | |
| CN112025365A (en) | Machining clamp for cylinder cover blank adopting robot feeding and discharging mode | |
| CN216758880U (en) | Double-shaft variable-pitch tightening machine | |
| CN212553901U (en) | Constant force actuating device | |
| CN115241781A (en) | Control cabinet or electrical cabinet back plate assembly production line and assembly process thereof | |
| CN203495979U (en) | Anti-collision mechanism | |
| CN110962150B (en) | Manipulator device with return upset function | |
| CN208342839U (en) | SCARA robot | |
| CN205217837U (en) | A manipulator is got to punch press | |
| CN209289282U (en) | A kind of SCARA robot | |
| CN208629374U (en) | A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism | |
| CN211806207U (en) | Anticollision buffering clamping jaw mechanism for mechanical arm | |
| CN114619284A (en) | Automatic correction clamping and feeding device | |
| CN211193893U (en) | Double-robot machining workstation | |
| CN108262756B (en) | Agility force-sensing end effector for assembling spacecraft large-scale equipment | |
| CN216463233U (en) | Universal device for machining connecting rod | |
| CN110539322A (en) | Self-leveling manipulator | |
| CN221252961U (en) | Clamping device and conveying equipment | |
| CN114474139A (en) | Flexible workpiece grabbing structure and grabbing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |