CN102537206A - Gravity compensation device - Google Patents

Abstract

A gravity compensation device includes a force output device, an axis, and an arm rotating around the axis. When the rotating arm contacts the force output device, the force output device, such as a torsion spring, provides a force on the contact position of the arm. During the rotation of the arm in the first or second quadrant around the axis, the contact position of the arm on the force output device will continue to change, causing the force output device and the arm to rotate in a nonlinear relative motion. According to the influence of the changes in the force arm, relative rotation speed, and force angle on the torque of the axis, the gravity compensation device can simulate a torque output of 0 to 90 degrees similar to a sine function by using a linear force output device through appropriate design.

Description

Gravity compensation device

technical field

The present invention is a gravity compensation device, especially a device that can provide a relative compensation moment when an axis rotates in the first or second quadrant, so as to offset the effect of gravity on the object when an object rotates around the axis. impact.

Background technique

Among different types of equipment, if an object with a mass is to be moved or rotated, it is advantageous to compensate the object for gravity, with the aid of a compensating device that can counteract all or part of the gravity, which can be reduced force to move or rotate the object, which saves a lot of energy when there is no gravity compensation device. In terms of structural design, because the object can be driven with only a small force, the required power device or linkage mechanism is relatively simple, and the cost can also be reduced simultaneously.

As shown in Fig. 1, it shows an existing gravity compensation method. The object 11 has a mass W and can rotate around the axis 12, and the distance between the center of the object 11 and the axis 12 is L. The gravity compensation mechanism refers to a torsion spring 13 installed at the center of the shaft 12. A fixed rod 131 of the torsion spring 13 is fixed, and the moving rod 132 rotates synchronously with the object 11. The torsion spring 13 is used to compensate or counteract this. The effect of gravity when the object 11 rotates from 0 to 90 degrees. The spring torque constant of this torsion spring is K _M . θ is the rotation angle of the object. According to mathematical formula

Moment of shaft 12 = W*L*Sinθ

The compensation torque of the torsion spring 13 is = K _M * θ

Wherein the W and L are constants, and Sinθ is a nonlinear increasing curve, so the torque obtained with the change of the θ angle is a nonlinear increasing, and the torsion spring 13 is a linear spring, and the compensation torque provided is a linear Therefore, this type of gravity compensation method cannot fully satisfy the moment change caused by gravity.

In order to solve this problem, such as the "Passive gravity-compensatong mechanisms" patent case of U.S. Patent No. 6,899,308, two sets of rotating mechanisms with a non-circular surface are used, and two sets of springs are connected with the components of the aforementioned mechanisms to achieve gravity compensation. Purpose. In the manufacture of this structure, the preferred embodiment is to use a pair of non-circular gears as a match, which is more difficult and costly to manufacture, and when the product is miniaturized, the material strength (metal gear) and matching Under factors such as precision, the aforementioned problems are more obvious.

In addition, the "Gravity compensation device" of US Patent No. 7,677,523 provides another structure. The disadvantage of this structure is that it is impossible to simulate the part where the slope of the trigonometric function gradually decreases, because if the radius of the pulley shrinks inwards, the coilable cable cannot touch the retracted part, and will be resisted by the relatively protruding part of the front section, and it will rotate during rotation. During the process, the relative distance between the load and the force output device will change as the radius of the pulley changes, or if the distance remains constant, the force application angle will change.

In view of this, the present inventor also designed a gravity compensation device in order to solve the influence caused by gravity when an existing object rotates around the center of an axis.

Contents of the invention

The present invention is a kind of gravity compensating device, which is mainly used in the location of the shaft, which can compensate or counteract the influence caused by gravity when the object connected to the shaft rotates, and can drive the shaft with a smaller force rotate.

To achieve the above-mentioned purpose, the gravity compensation device of the present invention includes a force output device, a shaft, and an arm that rotates around the shaft, mainly when the rotating arm is in contact with the force output device, using a force such as a torsion spring The output device provides a force to the contact position of the arm. During the rotation of the arm in the first or second quadrant centered on the axis, the contact position of the arm on the force output device will continue to change, so that the force output device The speed of relative rotation, the force arm acting on the arm and the force angle of the arm change accordingly. With proper design, the shaft can be increased according to the rotation angle, and the generated moment value presents a non-linear and Approximate to the increasing curve of sine function 0-90 degrees.

Wherein, the operating range of the arm is within the first and second quadrants.

Furthermore, the gravity compensation device of the present invention further includes a box body, the force output device, the shaft, and the arm are all arranged in the box body, and the shaft will extend out of the box body. The force output device includes a toggle piece and a twist The spring, the center of the torsion spring is set on the toggle, and the toggle will pull the torsion spring so that the rotation angle of the toggle is the same as the torsion angle of the torsion spring, and the center of the toggle is located on the rotation path of the arm Inside, when the arm rotates, a contact piece of the arm will contact with the toggle piece and make it rotate, and the torsion spring provides a force to be applied to the contact piece of the arm by the toggle piece, along with As the shaft continues to rotate, the contact position of the contact piece of the arm on the toggle piece will also change.

In the gravity compensation device of the present invention, an adjustment screw is provided on the wall of the box body. The torsion spring includes a helical line area and a fixed rod and a moving bar extending from the helical line area. The adjustment screw extends to the box. One end of the body is located in the helical coil, and when the adjusting screw is tightened, the number of effective coils of the torsion spring can be changed.

In the gravity compensation device of the present invention, there is a position locking member at the other wall of the box, and the position locking member can be adjusted to change its position on the wall, wherein the force output device is a torsion spring, and the torsion spring includes There is a helical line area, a fixed bar and a moving bar extending from the helical line area, and the position locking member fixes the position of the fixed bar of the torsion spring.

In the gravity compensation device of the present invention, the force output device is a torsion spring, and the torsion spring includes a helical area, a fixed rod and a moving rod extending from the helical area, the position of the fixed rod is fixed, and the The arm is in contact with the moving rod with the contact piece.

In the gravity compensation device of the present invention, the force output device, the shaft, and the arm are arranged in a base, and the base has an open accommodation space, and the positions of the force output device and the shaft are fixed on the base In the space, when the arm extends to the outside and can rotate around the center of the axis, the contact position of the contact piece of the arm on the force output device will also change when it rotates.

According to the design of the present invention, the force output device can be a torsion spring, and a machine base is provided for the shaft and the torsion spring to be arranged, and the torsion spring includes a helical line area and a fixed rod extending from the line area and a moving rod, wherein the fixed rod is fixed in the base, and the moving rod is in contact with a contact piece of the arm, and the contact position of the contact piece on the moving rod changes as the arm rotates, thereby A gravity compensation device is formed, wherein the arm can be directly connected to the object to be rotated.

In conjunction with the following illustrations, detailed description of the embodiments and the scope of the patent application, the above and other purposes and advantages of this creation will be described in detail later.

Description of drawings

Fig. 1 is the schematic diagram of existing gravity compensation device;

Fig. 2 is the schematic diagram of the embodiment of the present invention;

Fig. 3 is the figure of mathematical calculation of the present invention;

Fig. 4 is the graph (1) of moment and angle (θ1) of the present invention's simulated action state;

Fig. 5 is the graph (two) of moment and angle (θ1) of the present invention's simulated action state;

Fig. 6 is the analytical diagram of torque and angle;

7 is a perspective view of the first embodiment of the present invention applied to products;

Fig. 8 is an exploded view of the first embodiment of the present invention applied to products;

FIG. 9 is a schematic diagram of the operation of the first embodiment of the present invention;

Fig. 10 is a perspective view from another angle of the first embodiment of the present invention;

Fig. 11 is a perspective view of the second embodiment of the present invention actually applied to a product;

Fig. 12 is an exploded view of the second embodiment of the present invention actually applied to the product;

13A is a schematic diagram of the rotation angle of the shaft of a general torsion spring when the present invention is used;

Fig. 13B is a schematic diagram of the rotation angle of the shaft of the ideal torsion spring device applied in the present invention.

[Description of main component symbols]

11 items

12 axis

13 torsion spring

131 fixed rod

132 mobile rod

2A gravity compensation device

23 force output device

24 axis

23 arms

231 contacts

F force

30 points

31 points

32 points

35 arc trajectory

41 curve

42 curves

50 cabinets

501 cover

502 container

503 shaft hole

504 threaded hole

505 arc groove

51 force output device

511 torsion spring

5111 Helix District

5112 fixed rod

5113 Moving Rod

512 Toggle

5121 center pole

5122 contact surface

5123 pieces

5124 center rod

52 axis

53 arms

531 contacts

55 adjustment screw

551 blind hole

56 position lock

561 holder

562 screw

563 connecting hole

564 screw holes

9A gravity compensation device

90 base

901 central axis

902 card slot

903 shaft hole

91 torsion spring

911 Helix Area

912 fixed rod

913 mobile rod

92 axes

93 arms

Detailed ways

As shown in FIG. 1 , it is a schematic diagram of the basic model of the gravity compensation device of the present invention. The gravity compensation device 2A includes a force output device 21 , a shaft 22 , and an arm 23 capable of rotating around the shaft 22 . The rotation range of the arm 23 is limited in the first quadrant in this example. There is a contact piece 231 on the arm 23 , and the contact piece 231 maintains a fixed distance from the center of the shaft 22 . The center of the force output device 21 is located in the rotation path of the arm 23, and the arm 23 contacts the force output device 21 with the contact piece 231 when rotating. The location will continue to change. The force output device 21 must be able to generate an active force F when the contact member 21 is in contact with it, and as the rotation angle increases, the active force F must also increase synchronously. Therefore, in this embodiment, the force output device 21 includes a torsion spring, and the center of the torsion spring must be located at the center of rotation of the force output device. In this figure, the force output device is only schematically shown, and the detailed structure and drawings will be described later. More on that later. But not limited thereto, the force output device can also use other linear springs, such as tension springs. Thus when the arm 23 rotates, the contact position of the arm 23 on the force output device 21 will continue to change, so that the relative rotation speed of the force output device 21, the force arm acting on the arm 23, and the contact piece 231 The force angle of the shaft also changes accordingly, and through proper calculation and design of the present invention, the shaft can be increased according to the rotation angle, and the generated torque value presents a non-linear and approximately sine function 0-90 degree increment curve . However, it is not limited thereto, and users can also design other different non-linear increasing types as required.

As shown in Fig. 3, it is a schematic diagram illustrating the principle of the present invention. Point 30 is the center point of the shaft, and point 31 is the center point of the force output device. The arm moves in the first quadrant relative to the shaft. The contact point between the arm and the force output device is represented by a black dot on the periphery, and rotates with the arm The positions of the black dots are different for different angles, and the arc curve 35 represents the trajectory of the black dots. The contact piece on the arm is fixed at a distance R from the shaft center, and the contact piece pushes the force output device so that the force output device rotates at an angle in the oblique area. Realization of the present invention is based on following three factors as the basis of design:

1. When the arm rotates θ1 relative to the shaft, the force output device rotates θ2, and the relationship between θ1 and θ2 is nonlinear;

2. The distance r between the contact point on the arm and the force output device and the center of the force output device will vary with the angle;

3. At each contact point on the force output device, the force of the force output device will have different included angles with the arm.

According to the above-mentioned factors, the torque output at the shaft of the present invention is:

The torque output by the force output device at the relative position*(R/r)*Cos (the angle between the force of the force output device and the arm)

According to the above description, the present invention further provides related mathematical calculation formulas. As mentioned above, the point 30 is the center point of the shaft, and the point 31 is the center position of the force output device. The relative position of point 31 with respect to point 30 is (d, h). Point 32, θ' and r' are used to assist in explaining the formula. K is the spring torque constant.

The mathematical calculation formula is as follows:

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; \&Right\; Arrow;</span>{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; Sin\&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}$

$\frac{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; Cos\&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; Sin\&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; Cot</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; \&Right\; Arrow;</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; Sin\&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; Cos\&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}$

${\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Right\; Arrow;</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span>}$

$\frac{{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; d</span>}}{{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; the\; tan</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; t</span>}{\mathrm{<span\; class="notranslate">\; an</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Right\; Arrow;</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; d</span>}}{{\mathrm{<span\; class="notranslate">\; r</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}$

$\mathrm{<span\; class="notranslate">\; Angle\; between\; R\; and\; r</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; ta</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; torque</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span>$

Therefore, as long as the R, h, and d values are set, the θ2 and r values corresponding to any θ1 value can be obtained according to the above formula, and the output torque of the present invention at this angle can also be calculated.

As shown in Fig. 4 and Fig. 5, it is the graph (one) and (two) of the torque and angle (θ1) of the simulated action state of the present invention, in Fig. 4, this R value is set as 20, d=0 , when h increases gradually from 0 to 19, several torque (T) curves are presented. It can be seen from the figure that when h increases gradually, the torque curve will shift from lower right to upper left. In Fig. 5, the R value is set to 20, h=0, when d gradually increases from 0 to 19, several torque (T) curves are presented. It can be seen from the figure that when d increases gradually, the torque curve is will shift from bottom left to top right. On this basis, when obtaining the actual moment curve of an object to be used for gravity compensation, the inventor can set the R value according to the size of the gravity compensation device, and then assume a close value of h and d, and calculate according to the formula Finally, after obtaining a hypothetical torque curve, compare the difference with the actual torque curve, and then according to the logic in Figure 4 and Figure 5, increase or decrease the value of h or d in due course, and finally the gravity compensation device of the present invention that is closest to the actual torque curve can be obtained R, h and d values.

As shown in FIG. 6 , it is a comparison table of moment and angle between an object and the device of the present invention when it rotates. This figure is based on the aforementioned calculation method to obtain the preferred value of the relevant data of the device of the present invention, wherein R=25mm, h=7.1375mm, d=3.3125mm, and the moment of the two at 90 degrees is set as 1 unit For comparison, the curve 41 in the figure is the torque increasing curve when the object rotates from the vertical state to the horizontal state, and the torque presents a non-linear increase due to the influence of gravity. Curve 42 is the torque increasing curve of the gravity compensation device of the present invention obtained according to the above formula. From the figure, it can be found that the two curve tracks are similar, so the present invention can be installed on the rotating shaft of an object to compensate the gravitational influence of the object when it rotates. , and the object can be driven by using a smaller driving device instead.

Then, the embodiment of the present invention applied to the product will be explained. In the following embodiments, the present invention mainly utilizes the torsion spring as the force output device, but the diameter of the torsion spring will affect its angle of rotation. The structure of the embodiment will be explained, and then a discussion and illustration will be made on the impact situation.

As shown in Figures 7 and 8, the perspective view and exploded view of the first embodiment of the product where the principle of the present invention is applied. The gravity compensation device 5A of the present invention includes a box body 50 , a force output device 51 , a shaft 52 , and an arm 53 . The box body 50 is a hollow box formed by combining a cover 501 and a container 502 for accommodating the aforementioned components. The cover 501 has a shaft hole 503 for extending the shaft 52 . The shaft 52 is connected to the arm 53 , and the arm 53 has a contact piece 531 , and the contact piece 531 maintains a fixed distance from the center of the shaft 52 . The force output device 51 includes a torsion spring 511 and a toggle member 512 . The torsion spring 511 includes a helical section 5111 and a fixed rod 5112 and a moving rod 5113 extending therefrom. The toggle member 512 has a central rod 5121, which is fixed in the box body 50, so that the toggle member 512 can rotate at a large angle around the central rod 5121, and the arm 53 has an arc The guide slot 532 is provided for the passage of the central rod 5121 , so that the central rod 5121 does not interfere with the rotation of the arm 53 . And the toggle piece 512 has a curved contact surface 5122 and a sub-piece 5123, and the contact surface 5122 and the sub-piece 5123 have a certain distance from the central rod 5121. The contact surface 5122 is for the contact piece 531 to be in contact with, and the fork piece 5123 is used to buckle the moving rod 5113 of the torsion spring 511, and the position of the fixed arm 5112 is fixed in the box body 50 .

As shown in Figure 9, when the shaft 52 is rotating, the arm 53 rotates synchronously, and the toggle piece 512 is buckled on the side of the moving rod 5113 of the torsion spring 511 because of its buckle 5123, when the arm 53 is in this contact When the member 531 is in contact with the contact surface 5122 of the toggle member 512, the torsion force generated by the twisting of the torsion spring 5111 will provide the toggle member 512 with a force acting on the position of the contact member 531 of the arm 53, and with the rotation angle of the shaft 52 The contact position of the contact piece 531 on the contact surface 5122 changes continuously, and the relative rotation speed of the force output device 51, the force arm acting on the arm 53 and the force angle of the contact piece 531 also change accordingly. And the moment of the shaft 52 presents a non-linear increasing mode.

In the above embodiments, it is desirable to have a fine-tuning effect in order to satisfy the actual assembly, so that the user can correct or adjust the torque output mode finally generated by the shaft 52 . As shown in FIG. 8 and FIG. 10 , the gravity compensation device 5A further includes an adjusting screw 55 and a position locking member 56 . The wall of the container 502 of the box body 50 has a screw hole 504, which is the place where the adjustment screw 55 is set. Another central rod 5124 with a smaller diameter at the position of the rod 5121 is arranged therein. The outer diameter of the adjusting screw 55 is equal to or slightly larger than the inner diameter of the helical zone 5111 of the torsion spring 511. When the adjusting screw 55 is locked into the helical zone 5111 The number of effective coils of the torsion spring 511 will be changed, and the spring torque constant will also be changed, which can also change the torque value of the shaft 52 . The position locking member 56 includes a holder 561 and a screw 562, and an arc groove 505 is formed on the wall of the container 502, and the holder 561 has a connecting hole 563 for the torsion spring 511. The fixing rod 5112 is inserted into the connection hole 563, and the retainer 561 has a screw hole 564 for the screw 562 to be locked in the screw hole 564 through the arc groove 505 from the outside, so that the torsion spring can The fixed rod 5112 of the 5111 is fixed on the inner wall of the container 502 at different angles. Since the outer diameter of the adjustment screw 55 is slightly larger than the inner diameter of the helical area 5111 of the torsion spring 511, the action of locking (or releasing) will change the opening of the torsion spring 511. The angle, so can provide a room for adjustment.

As shown in Fig. 11 and Fig. 12, it is a perspective view and an exploded view of the second embodiment of the present invention applied to a product. The gravity compensation device 9A of the present invention is mainly composed of a base 90 , a force output device, a shaft 92 , and an arm 93 . The force output device is a torsion spring 91 , and the torsion spring 91 includes a helical area 911 and a fixed rod 912 and a moving rod 913 extending from the helical area 911 . The base 90 has an open accommodating space in which the aforementioned components are arranged. The base 90 has a central axis 901 inserted in the center of the helical area 911 of the torsion spring 91 to fix the torsion spring 91. The base 90 has a slot 902 below the central axis 901 for inserting the fixing rod 912 to fix its position. The base 90 also has a set of shaft holes 903 opposite to each other for the shaft 92 to be disposed therein. The shaft hole 903 is not on the same center line as the central shaft 901 , in fact, the central point of the central shaft 901 is on the moving path of the arm 93 . The arm 93 has a contact piece 931 in addition. The contact piece 931 has a fixed distance from the center of the shaft 52. When the arm 93 rotates, the contact piece 931 remains in contact with the moving rod 913 and drives the moving rod 913 to rotate. . The contact position between the contact member 931 and the moving rod 913 will change according to the rotation angle of the arm 93 .

The embodiment shown in Fig. 11 and Fig. 12 is a design with a relatively simple structure. The torque of the shaft 52 of the gravity compensation device 5A still presents a non-linear gradual increase with the increase of the rotation angle. In this embodiment, it is only suitable for torsion springs. When the diameter h is small enough and d is large enough, it can only be applied when the influence caused by the diameter of the torsion spring is ignored. In this embodiment the arm 53 can be directly connected to the object to be rotated instead of connecting the object to the shaft 52 .

In the above two embodiments, the torsion spring is mainly used as the main component of the force output device, but when the torsion spring is used as the force output unit, the diameter of the torsion spring must be considered. When the torsion spring is directly used in practice, the center of rotation Point can move and can influence its rotation angle, as shown in Figure 13A, Figure 13B, Figure 13A is a torsion spring, Figure 13B is an ideal torsion spring device, utilizes the structure of the present invention to set out from the same angle, two torsion springs respectively The 90-degree schematic diagram shows that the output shaft rotation angles α and α1 are obviously different, the rotation angle of the torsion spring feedback force to the arm is affected and the rotation center of the torsion spring in Fig. 13B moves along its circumference. Therefore, in the first embodiment of the present invention, a set of force output devices is formed by a toggle piece and a torsion spring, and a toggle piece is used to overlap the center of the torsion spring on its axis and fix a moving rod of the torsion spring. The merging device can be regarded as an ideal torsion spring, the rotation center of the toggle piece does not change and the rotation angle of the torsion spring is consistent with that of the toggle piece.

Based on the above, the present invention utilizes a force output device (such as a torsion spring) to provide an active force on the arm in contact with it, but as the arm rotates, the contact position between the arm and the force output device also changes continuously. In this way, the relative rotation speed of the force output device, the force arm acting on the arm, and the force angle of the arm can be changed accordingly, so that the shaft connected to the arm can generate a non-linear and gradually increasing torque, so that the overall device can offset the actual one. The effect of gravity on an object as it rotates.

The above are only preferred embodiments for explaining the present invention, and are not intended to limit the present invention in any form. Therefore, any modification or change of the present invention made under the same spirit of the invention , should still be included in the scope of protection intended by the present invention.

Claims (7)

1. gravity-compensated device; It is characterized in that; Include a power output unit, one and can be the arm that rotation is done at the center with the axle, have a contact apart from an axle center fixation distance on this arm, this power output unit be centered close in the rotate path of arm; When this arm rotation, can contact with the power output unit with this contact; This power output unit provides an active force in the contact position of arm, and along with the lasting rotation of axle, and contact position and the loading angle of this contact of the contact of this arm on this power output unit also can change.

2. gravity-compensated device as claimed in claim 1 is characterized in that, the start scope of this arm is in first and second quadrant.

3. gravity-compensated device as claimed in claim 1 is characterized in that other includes a casing; This power output unit, axle and arm all are arranged in the casing, and this meeting is by extending out in the casing, and this power output unit includes a shifting part and a torsion spring; The center of this torsion spring is arranged on the shifting part, and this shifting part can draw this torsion spring, makes the angle of swing of shifting part identical with the windup-degree of torsion spring; This shifting part is centered close in the rotate path of arm; When this arm rotation, the contact of this arm can contact and make it turn with this shifting part, and this torsion spring then provides an active force to be bestowed the contact place of arm by shifting part; Along with the lasting rotation of axle, the contact position of the contact of this arm on shifting part also can change.

4. gravity-compensated device as claimed in claim 3; It is characterized in that; The wall place of this casing is provided with an adjustment screw in addition, and this torsion spring includes a helix district and by a helix district extended fixing rod of institute and a movement rod, the end that this adjustment screw extends in the casing is to be positioned at this spiral winding; When this adjustment screw means, can change the active line number of turns of this torsion spring.

5. gravity-compensated device as claimed in claim 3; It is characterized in that; This casing another side wall place has a positional lock firmware, and this positional lock firmware can change it in the position at wall place through adjustment, and wherein this power output unit is a torsion spring; This torsion spring includes a helix district and by an extended fixing rod of helix district institute and a movement rod, and this positional lock firmware is also being fixed the position of the fixing rod of this torsion spring.

6. gravity-compensated device as claimed in claim 1; It is characterized in that; This power output unit is a torsion spring; This torsion spring includes a helix district and by an extended fixing rod of helix district institute and a movement rod, the position of this fixing rod is fixed, and this arm is to be to contact with movement rod with contact.

7. gravity-compensated device as claimed in claim 1; It is characterized in that; This power output unit, axle and arm are to be arranged in the support, and this support has the containing space that is open, and the position of this power output unit and axle all is fixed in the space of support; Also can rotate with the axle center when arm extends to the external world, the contact of this arm contact position on the power output unit when rotated also can change.

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