CN203486627U - Constant force mechanism - Google Patents
Constant force mechanism Download PDFInfo
- Publication number
- CN203486627U CN203486627U CN201320618919.8U CN201320618919U CN203486627U CN 203486627 U CN203486627 U CN 203486627U CN 201320618919 U CN201320618919 U CN 201320618919U CN 203486627 U CN203486627 U CN 203486627U
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- constant force
- motor shaft
- torsion spring
- shaft system
- small
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Abstract
The utility model provides a constant force mechanism which comprises a large motor shaft system, a torsion spring assembly comprising a torsion spring, a small motor shaft system, and a constant force cable. The large motor shaft system receives torque output power from a large motor and the small shaft motor shaft system receives torque output power from a small motor. The large motor shaft system and the small motor shaft system are installed on an installation seat and sequentially connected. The top ends of torque output portions of the large motor shaft system and the small motor shaft system are opposite and fixedly connected to the two ends of the torsion spring assembly respectively. The torque output portion of the small motor shaft system is further sleeved with a cylindrical winding part, wherein the torque output portion and the cylindrical winding part rotate in a linked mode. One end of the constant force cable is fixedly connected to the winding portion and wound on the periphery of the winding portion in a reeling and unreeling mode and the other end of the constant force cable leads out connection loads in the tangential direction of the winding portion. The large motor shaft system provides rough force control, the large motor and the small motor transmit torque through the torsion spring in a transition mode, and the low elastic coefficient is provided for a constant force structure. Constant force is controlled cooperatively, the small motor shaft system provides accurate force control, fluctuation disturbance is hindered, and the situation that a single motor bears large loads and highly precise indexes at the same time is avoided. Thus, the requirements for large loads and high precision are met at the same time.
Description
Technical field
The invention relates to a kind of constant force load maintainer, relates in particular 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 can directly have influence on safety, the reliability of equipment.Especially at space industry, by constant force mechanisms, providing micro-low gravity compensation to verify spacecraft performance, is the ground validation mode often adopting.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 two kinds of modes of passive compensation, and active compensation is comparatively rare.The invention is designed a kind of for active constant-force mechanism, for heavy load, high precision constant force, provides.
Summary of the invention
The problem that the invention will solve is accurately to keep in order to realize active constant-force, and a kind of constant force mechanisms is provided, and for constant force heavy load, the high precision realizing, loads.
For solving the problems of the technologies described above, the technical scheme that the invention adopts is: a kind of constant force mechanisms, comprising: be installed on mount pad 4 and connect successively by a large motor, the large motor shaft of moment of torsion outputting power is provided is 1, comprise the torsion spring assembly 3 of a torsion spring and provide the small machine axle of moment of torsion outputting power by a small machine to be 2;
The top of the moment of torsion efferent that large and small two motor shafts are is fixed on torsion spring assembly 3 two ends relatively and respectively;
The moment of torsion efferent of small machine axle system also overlap have one with the cylindric wound portion of 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 is tangentially drawn connection load along wound portion.
Be more than the core of the invention, its principle is in constant force compensation process, and the stable state of object pulling force partly remains unchanged, and transient state part pulling force causes fuctuation within a narrow range for being interfered.And the constant force mechanisms of this programme, large motor shaft is to provide rough power to control, main constant force (carrying greatly stable state pulling force) is provided, between large small machine, adopts torsion spring transition transmitting torque, 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 has avoided single motor to bear large carrying and high precision index simultaneously, by double-motor constant force Collaborative Control, thereby realize large carrying, high precision requirement simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the invention
The specific embodiment
Below in conjunction with accompanying drawing, the invention is described in further detail.
As shown in Figure 1, the invention provides the version of a kind of embodiment, in the present embodiment, constant force mechanisms mainly comprises that large motor shaft is 1, small machine axle is 2, torsion spring assembly 3, mounting bracket assembly 4, force stay cable 5 form, two motor shaft systems of size arrange face-to-face, force stay cable is arranged in small machine Shafting torque efferent, between large and small motor, adopt torsion spring 31 transition transmitting torques, Collaborative Control constant force, wherein large motor 11 provides rough power to control, main constant force is provided, and small machine 21 provides accurate power to control, and oscillation suppression disturbs.
Wherein, large motor shaft be 1 be constant force mechanisms main load bear unit.This axle system comprises large motor 11, band-type brake 12, retarder 13.In the present embodiment, retarder is as the major part of large motor Shafting torque efferent, and the output shaft of large motor is connected with retarder 13 input ends through band-type brake 12 is rear, and retarder 13 mouths connect torsion spring assembly coupling ends.
Small machine axle system is the load output unit of constant force mechanisms, mainly bears interference load, for the accurate power of constant force, controls.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 assembly coupling end.Described cylindric wound portion 23 can be directly to be born by the spline housing of ball spline shaft pair, is about to its periphery and makes isometrical circle, also can be 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 and born load along wound portion 23, can realize self draw-in and draw-off function by wound portion 23 rotations.Preferably, be wound around folding and unfolding force stay cable for being more convenient for, wound portion 23 surface working have spiral groove 24.Due to wound portion 23 constant-radius, the output of the constant force of force stay cable can be converted into as constant torque is controlled.
Preferably, the force stay cable pulling force sensor of also can connecting feeds back as control system.
Torsion spring assembly 3 comprise torsion spring 31 and with two coupling ends 32, install for torsion spring coupling end 32 one end, the other end for and corresponding coupling of shaft system.Torsion spring assembly 3 is as the middle transition link of big or small Motor torque, and the main moment of torsion warp beam of large motor system is delivered to after torsion spring coupling end, and torsion spring stand under load twists, and transfers torque to small machine axle system.
Mounting bracket assembly 4 comprises a mount pad, on mount pad, by bearing (411,412,413), supports large and small motor shaft system, and mount pad bottom also can be connected a base plate or underframe (not shown) support as the installation matrix of total.
Constant force mechanisms in the present embodiment, owing to using dual motors system to control, need progressively load during use, and concrete steps are as follows:
1, large and small motor shaft is fastened electricity, and small machine axle is 2 first not carry out active work, but servo-actuated, large motor 1 closed loop, control rotation adjust wound portion by force stay cable coiling length to zone of reasonableness, then to lock large motor shaft be to wait to be loaded to band-type brake;
2, force stay cable offered load, load is delivered to torsion spring assembly after wound portion, small machine axle system, and it is that one end is locked by band-type brake that torsion spring assembly connects large motor shaft, and torsion spring stand under load reverses bears load;
3, large motor incision closed loop control locked-in torque, band-type brake unclamps, and large motor provides pulling force average, after torsion spring transmission, passes to wound portion, and constant force mechanisms is realized constant force and is slightly controlled.Owing to being disturbed influence, load meeting fuctuation within a narrow range, shows as small machine axle system end and slightly swings with wound portion, and motor shaft system end swings very little greatly;
4, small machine incision closed loop control, carries out accurate adjustment by small machine axle frenulum movable reel exciting force is compensated, and realizes constant force and accurately controls.
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, structurally between double-motor, adopt torsion spring to carry out moment of torsion transmission, for constant force structure provides lower elasticity modulus.
3, owing to adopting Double Motor Control, avoid single motor to 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 realizes respectively thick control and the essence of constant force and controls.
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: be installed on mount pad (4) and connect successively by a large motor provide moment of torsion outputting power large motor shaft system (1), comprise the torsion spring assembly (3) of a torsion spring (31) and provide the small machine axle of moment of torsion outputting power by a small machine to be (2);
The top of the moment of torsion efferent that large and small two motor shafts are is fixed on torsion spring assembly (3) two ends relatively and respectively;
The moment of torsion efferent of small machine axle system also overlap have one with the cylindric wound portion of 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 is tangentially drawn connection load along wound portion.
2. constant force mechanisms according to claim 1, it is characterized in that: described large motor shaft system (1) also includes band-type brake (12), retarder (13), the output shaft of described large motor is connected with retarder (13) input end through after band-type brake (12), and retarder (13) mouth connects torsion spring assembly one end.
3. constant force mechanisms according to claim 1, is characterized in that: the moment of torsion efferent that described small machine axle is is a ball spline shaft secondary (22), and castellated shaft one end of ball spline shaft pair connects the output shaft of small machine, and the other end connects torsion spring assembly.
4. constant force mechanisms according to claim 3, is characterized in that: described wound portion (23) is directly to be born by the spline housing of ball spline shaft pair, is about to its periphery and makes isometrical circle; Or on spline housing a sheathed cylindric cylinder 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: the 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 assembly (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 also can be connected a base plate or underframe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320618919.8U CN203486627U (en) | 2013-09-29 | 2013-09-29 | Constant force mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320618919.8U CN203486627U (en) | 2013-09-29 | 2013-09-29 | Constant force mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203486627U true CN203486627U (en) | 2014-03-19 |
Family
ID=50257473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320618919.8U Withdrawn - After Issue CN203486627U (en) | 2013-09-29 | 2013-09-29 | Constant force mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203486627U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496603A (en) * | 2013-09-29 | 2014-01-08 | 天津航天机电设备研究所 | Constant-force mechanism |
| CN105253797A (en) * | 2015-10-23 | 2016-01-20 | 哈尔滨工业大学 | Low-inertia spring and torsion bar type constant force mechanism |
-
2013
- 2013-09-29 CN CN201320618919.8U patent/CN203486627U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496603A (en) * | 2013-09-29 | 2014-01-08 | 天津航天机电设备研究所 | Constant-force mechanism |
| CN103496603B (en) * | 2013-09-29 | 2015-08-12 | 天津航天机电设备研究所 | A kind of constant force mechanisms |
| CN105253797A (en) * | 2015-10-23 | 2016-01-20 | 哈尔滨工业大学 | Low-inertia spring and torsion bar type constant force 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140319 Effective date of abandoning: 20150812 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140319 Effective date of abandoning: 20150812 |
|
| RGAV | Abandon patent right to avoid regrant |