CN105841649A - Oscillating joint using built-in volute spiral spring for realizing gravity balancing - Google Patents
Oscillating joint using built-in volute spiral spring for realizing gravity balancing Download PDFInfo
- Publication number
- CN105841649A CN105841649A CN201610349070.7A CN201610349070A CN105841649A CN 105841649 A CN105841649 A CN 105841649A CN 201610349070 A CN201610349070 A CN 201610349070A CN 105841649 A CN105841649 A CN 105841649A
- Authority
- CN
- China
- Prior art keywords
- sleeve
- nut
- support shaft
- hand member
- scroll spring
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Rotary Pumps (AREA)
Abstract
The invention discloses an oscillating joint using a built-in volute spiral spring for realizing gravity balancing. The oscillating joint comprises an embedded shaft, an embedded sleeve, a volute spiral spring, two identical bearings, an inner space ring, an outer space ring, an inner nut, an outer nut, a grating support, a grating, and a reading head. Relative rotation between the embedded shaft and the embedded sleeve is realized by a bearing. When the embedded shaft and the embedded sleeve rotates relatively, grooves formed at corresponding positions of the embedded shaft and the embedded sleeve drive the volute spiral spring to generate elastic deformation, so that the volute spiral spring applies a reverse action force on the embedded shaft assembly and thus the resistance increases when the embedded shaft and the embedded sleeve rotates relatively, thereby realizing gravity balancing of the joint type coordinate measurement machine. Moreover, when the oscillating joint is in use, no friction exists and no noise is caused.
Description
Technical field
The present invention relates to articulated coordinate machine field, specifically one utilizes built-in scroll spring to realize gravitational equilibrium
Swinging joint.
Background technology
Articulated coordinate machine is a kind of multivariant non-orthogonal coordinate system measuring machine, and it copies human hand and arm joint
A series of rod members are coupled together by structure by joint cascade, have that measurement scope is big, convenient, flexible, precision is higher, machine
The advantages such as tool simple in construction, good environmental adaptability.Articulated coordinate machine has been carried out deeply grinding by domestic and international each research institution
Study carefully, and develop Related product, articulated coordinate machine rapidly product quality on-line checking, maintenance of equipment, aircraft assembling,
The field such as Design of Dies, medical treatment is widely applied.At present, major joint formula coordinate measuring machine manufacturer in the world, as
Cimcore and Romer, in the product of its exploitation, balanced controls, mostly outside articulated coordinate machine, have a strong impact on coordinate
The labor aptitude of measuring machine, property and aesthetic property.
Bascule majority used in current joint formula coordinate measuring machine is all disposed within outside articulated coordinate machine
Portion, this results in during reality is measured, and coordinate measuring machine takes up room and becomes big, when measurement space is less when, inconvenience
In operational measure.Patent 201120145217.3 proposes to use air-balance to realize articulated coordinate machine gravitational equilibrium
Purpose, but this method is that cylinder is arranged on outside coordinate measuring machine, and this results in during reality is measured, measurement of coordinates
Machine takes up room and becomes big, when measurement space is less when, is not easy to operational measure.Patent 201010104156.6 proposes one
Flexible coordinate measuring machine gravity balance device based on magnetic flow liquid, but in its device magnetic flow liquid mutative damp to be used from
Close mechanism so that coordinate measuring machine articulation structure becomes complicated, is unfavorable for realizing accurately measuring.
Summary of the invention it is an object of the invention to provide a kind of swing utilizing built-in scroll spring to realize gravitational equilibrium and closes
Joint, to solve the problem that prior art articulated coordinate machine balanced controls exist.
In order to achieve the above object, the technical solution adopted in the present invention is:
Built-in scroll spring is utilized to realize the swinging joint of gravitational equilibrium, it is characterised in that: include the support of pipe box shape, support
Interior left end is coaxially equipped with circular axle bed, and axle bed right-hand member is coaxially connected with, in supporting, the circle set that relative axle bed is expanding, described
Axle bed right side central coaxial connects the support shaft passed from circle set, axle bed, circle set, support shaft constitute embedded shaft assembly,
Be equipped with scroll spring in described circle set, described scroll spring be enclosed within support shaft outer and and support shaft between have space, circle set side
Wall has groove vertically, and the outer end of scroll spring is assemblied in the groove of circle set sidewall, and in described support, right-hand member is coaxially equipped with set
Cylinder, sleeve left end is coaxially connected with sleeve pipe in supporting, and described sleeve pipe stretches in the scroll spring inner circle in circle set, and support shaft
Passing from sleeve right-hand member after coaxially sequentially passing through sleeve pipe, sleeve, sleeve side walls has groove, the inner of described scroll spring vertically
It is assemblied in the groove of sleeve side walls, is made up of sleeve pipe, sleeve and is nested with assembly；
Bearing it is respectively fitted with, in the support shaft between two bearings in support shaft in support shaft in described sleeve pipe, in sleeve
Be equipped with the spacer ring separating two bearings, and the bearing in sleeve separated to being positioned in sleeve right-hand member nozzle by spacer ring, support shaft from
Being equipped with nut, grating, light barrier holder on the axle body that sleeve right-hand member passes the most successively, wherein nut is inside and outside nut
The coaxial double-round structure constituted, the inner nut in nut screws togather and is arranged in support shaft, and the outer nut in nut screws togather and is arranged on
Sleeve right-hand member, by the bearing in nut clamp sleeve right-hand member, described grating, light barrier holder keep at a certain distance away in support shaft,
And light barrier holder right flank two symmetric position is separately installed with read head.
The described swinging joint utilizing built-in scroll spring to realize gravitational equilibrium, it is characterised in that: two axle in support shaft
Bearing structure is identical, is made up of concentric inside and outside circle respectively, and the corresponding spacer ring between two bearings is also by concentric inside and outside spacer ring
Constitute, the cone spacer of spacer ring separate two bearings inner ring, the outer ring spacer of spacer ring separates two bearings outer ring, the inner nut of described nut
Bearing inner race in clamp sleeve right-hand member, the bearing outer ring in the outer nut clamp sleeve right-hand member of nut.
The described swinging joint utilizing built-in scroll spring to realize gravitational equilibrium, it is characterised in that: scroll spring is not deposited
In the problem of friction of motion, noise in use will not be produced.
The present invention include embedded shaft assembly, be nested with assembly, scroll spring, two identical bearings, cone spacer and outward every
Spacer ring, inner nut and the nut of outer nut composition, light barrier holder, grating, the read head that circle is constituted；Embedded shaft assembly and being nested with
Assembly can realize rotating against by bearing, and two bearings are supported by cone spacer and outer ring spacer and separate, embedded shaft assembly and
It is nested with correspondence position on assembly and all has the groove of assembling scroll spring, in order to assemble scroll spring.
In the present invention, embedded shaft assembly all has the groove of assembling scroll spring with being nested with correspondence position on assembly, in order to
Assembling scroll spring, embedded shaft assembly and be nested with assembly rotate against time, embedded shaft assembly and be nested with on assembly correspondence
Groove above position drives scroll spring to produce elastic deformation, so that scroll spring has opposition to embedded shaft assembly,
Namely increase with being nested with resistance when assembly rotates against at embedded shaft assembly, balance a part of gravity, thus realize closing
The gravitational equilibrium of joint formula coordinate measuring machine, makes articulated coordinate machine the most comfortable.
In the present invention, embedded shaft assembly and be nested with assembly when rotating against, scroll spring produces elastic deformation, and it reverses
Power is contrast to the direction of motion of embedded shaft assembly, so this active force is used for overcoming articulated type measurement of coordinates completely
The gravity of machine, will not produce impact to miscellaneous part, also would not affect the certainty of measurement of articulated coordinate machine.
The invention provides the swinging joint utilizing built-in scroll spring to realize gravitational equilibrium, reduce measuring machine due to deadweight
The malformation produced, alleviates the measurement intensity of gauger, improves the labor aptitude of articulated coordinate machine, property and attractive in appearance
Property.
The invention have the advantages that:
1, there is not the problem of friction of motion in scroll spring, in use will not produce noise.
2, the malformation that measuring machine produces is reduced due to deadweight.
3, the measurement intensity of gauger is alleviated.
4, bascule is efficiently arranged at intraarticular, reduces articulated coordinate machine and take up room, improve joint
The labor aptitude of formula coordinate measuring machine, property and aesthetic property.
Accompanying drawing explanation
Fig. 1 is articulated coordinate machine schematic diagram.
Fig. 2 is articulated coordinate machine swinging joint internal explosion figure.
Detailed description of the invention
See shown in Fig. 1, Fig. 2, utilize built-in scroll spring to realize the swinging joint of gravitational equilibrium, include pipe box shape
Supporting, in supporting, left end is coaxially equipped with circular axle bed 4.1, and axle bed 4.1 right-hand member is coaxially connected with relative axle bed in supporting
4.1 expanding round sets 4.2, axle bed 4.1 right side central coaxial connects the support shaft 4.3 passed from circle set 4.2, by axle bed
4.1, justify set 4.2, support shaft 4.3 constitutes embedded shaft assembly 4, is equipped with scroll spring 5 in circle set 4.2, and scroll spring 5 is enclosed within and props up
Support axle 4.3 is outer also and space between support shaft 4.3, circle set 4.2 sidewalls have groove 4.4, the outer end of scroll spring 5 vertically
In 5.1 grooves 4.4 being assemblied in circle set 4.2 sidewalls, in supporting, right-hand member is coaxially equipped with sleeve 6.2, and sleeve 6.2 left end is in supporting
Being coaxially connected with sleeve pipe 6.1, sleeve pipe 6.1 stretches in scroll spring 5 inner circle in circle set 4.2, and support shaft 4.3 is coaxially worn successively
Passing from sleeve 6.2 right-hand member after crossing sleeve pipe 6.1, sleeve 6.2, sleeve pipe 6.1 sidewall has groove 6.3 vertically, scroll spring 5 interior
End 5.2 is assemblied in the groove 6.3 of sleeve pipe 6.1 sidewall, is made up of sleeve pipe 6.1, sleeve 6.2 and is nested with assembly 6；
Bearing 7,10 it is respectively fitted with in support shaft 4.3 in support shaft 4.3 in sleeve pipe 6.1, in sleeve 6.2, two bearings 7,
Be equipped with the spacer ring separating two bearings 7,10 in support shaft 4.3 between 10, and spacer ring the bearing 10 in sleeve 6.2 is separated to
Being positioned in sleeve 6.2 right-hand member nozzle, support shaft 4.3 is equipped with spiral shell from the axle body that sleeve 6.2 right-hand member passes the most successively
Mother, grating 13, light barrier holder 14, wherein nut is the coaxial double-round structure that inside and outside nut 12,11 is constituted, the interior spiral shell in nut
Mother 12 screws togather and is arranged in support shaft 4.3, and the outer nut 11 in nut screws togather and is arranged on sleeve 6.2 right-hand member, by nut clamping sleeve
Bearing 10 in cylinder 6.2 right-hand members, grating 13, light barrier holder 14 keep at a certain distance away in support shaft 4.3, and light barrier holder 14 is right
Side two symmetric position is separately installed with read head 15,16.
In support shaft, 4.3 two bearings 7,10 structures are identical, are made up of concentric inside and outside circle respectively, corresponding two bearings 7,
Spacer ring between 10 is also made up of concentric inside and outside spacer ring 9,8, the cone spacer 9 of spacer ring separate two bearings 7,10 inner ring, spacer ring
Outer ring spacer 8 separate two bearings 7,10 outer ring, bearing 10 inner ring in inner nut 12 clamp sleeve 6.2 right-hand member of nut, nut
Outer nut 11 clamp sleeve 6.2 right-hand member in bearing 10 outer ring.
There is not the problem of friction of motion in scroll spring 5, in use will not produce noise.
The present invention is assemblied in the structure chart of articulated coordinate machine as it is shown in figure 1, include three swinging joint 1,2,3.
As in figure 2 it is shown, joint of the present invention includes embedded shaft assembly 4, being nested with assembly 6, scroll spring 5, two identical
Bearing 7,10, cone spacer 9, outer ring spacer 8, inner nut 12, outer nut 11, light barrier holder 14, grating 13, read head 15,16；Embedded
Shaft assembly 4 and be nested with between assembly 6 and have two bearings 7,10, two bearings 7,10 are separated by cone spacer 9 and outer ring spacer 8,
By two bearings 7,10, embedded shaft assembly 4 and be nested with assembly 6 and can rotate against, utilize inner nut 12 and outer nut 11
Compressing inner ring and the outer ring of bearing 10, grating 13 is arranged on one end of embedded shaft assembly 4, light barrier holder 14 is arranged on grating 13
Side, be fixed on and be nested with on assembly 6, read head 15,16 is arranged on light barrier holder 14, grating 13 and light barrier holder 14
There is a certain distance；Embedded shaft assembly 4 and be nested with on assembly 6 groove above correspondence position and drive scroll spring 5 to produce
Elastic deformation, so that scroll spring has opposition to embedded shaft assembly 4, namely at embedded shaft assembly 4 be nested with
The when that assembly 6 doing relative rotary motion, resistance is gradually increased, thus realizes the gravitational equilibrium of articulated coordinate machine.
Claims (3)
1. utilize built-in scroll spring to realize the swinging joint of gravitational equilibrium, it is characterised in that: include the support of pipe box shape,
In support, left end is coaxially equipped with circular axle bed, and axle bed right-hand member is coaxially connected with the circle set that relative axle bed is expanding, institute in supporting
State the central coaxial connection of axle bed right side and have the support shaft passed from circle set, axle bed, circle set, support shaft constitute embedded axle group
Part, is equipped with scroll spring in described circle set, described scroll spring be enclosed within support shaft outer and and support shaft between have space, circle set
Sidewall has groove vertically, and the outer end of scroll spring is assemblied in the groove of circle set sidewall, and in described support, right-hand member is coaxially equipped with
Sleeve, sleeve left end is coaxially connected with sleeve pipe in supporting, and described sleeve pipe stretches in the scroll spring inner circle in circle set, and supports
Axle passes from sleeve right-hand member after coaxially sequentially passing through sleeve pipe, sleeve, and sleeve side walls has groove vertically, described scroll spring interior
End is assemblied in the groove of sleeve side walls, is made up of sleeve pipe, sleeve and is nested with assembly；
Bearing it is respectively fitted with, in the support shaft between two bearings in support shaft in support shaft in described sleeve pipe, in sleeve
Be equipped with the spacer ring separating two bearings, and the bearing in sleeve separated to being positioned in sleeve right-hand member nozzle by spacer ring, support shaft from
Being equipped with nut, grating, light barrier holder on the axle body that sleeve right-hand member passes the most successively, wherein nut is inside and outside nut
The coaxial double-round structure constituted, the inner nut in nut screws togather and is arranged in support shaft, and the outer nut in nut screws togather and is arranged on
Sleeve right-hand member, by the bearing in nut clamp sleeve right-hand member, described grating, light barrier holder keep at a certain distance away in support shaft,
And light barrier holder right flank two symmetric position is separately installed with read head.
The swinging joint utilizing built-in scroll spring to realize gravitational equilibrium the most according to claim 1, it is characterised in that:
On support axle, two bearings structure is identical, is made up of concentric inside and outside circle respectively, and the corresponding spacer ring between two bearings is also by concentric
Inside and outside spacer ring is constituted, the cone spacer of spacer ring separate two bearings inner ring, the outer ring spacer of spacer ring separates two bearings outer ring, described spiral shell
Female bearing inner race in inner nut clamp sleeve right-hand member, the bearing outer ring in the outer nut clamp sleeve right-hand member of nut.
The swinging joint utilizing built-in scroll spring to realize gravitational equilibrium the most according to claim 1, it is characterised in that: whirlpool
There is not the problem of friction of motion in coil spring, in use will not produce noise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610349070.7A CN105841649A (en) | 2016-05-19 | 2016-05-19 | Oscillating joint using built-in volute spiral spring for realizing gravity balancing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610349070.7A CN105841649A (en) | 2016-05-19 | 2016-05-19 | Oscillating joint using built-in volute spiral spring for realizing gravity balancing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105841649A true CN105841649A (en) | 2016-08-10 |
Family
ID=56594166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610349070.7A Pending CN105841649A (en) | 2016-05-19 | 2016-05-19 | Oscillating joint using built-in volute spiral spring for realizing gravity balancing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105841649A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813337A (en) * | 2016-09-12 | 2018-03-20 | 杭州国辰正域科技有限公司 | Bi-directional rotary joint with balanced controls |
| CN108081310A (en) * | 2016-11-23 | 2018-05-29 | 克恩-里伯斯(太仓)有限公司 | A kind of gravity balance device of mechanical arm |
| CN109333578A (en) * | 2018-11-13 | 2019-02-15 | 杭州电子科技大学 | Vapour-pressure type arc plunger type rotary balance device and its revolution balance method to joint |
| CN111322353A (en) * | 2020-02-06 | 2020-06-23 | 中国电子科技集团公司第二十九研究所 | Configurable torque-adjustable gravity balance device |
| CN111388273A (en) * | 2020-03-24 | 2020-07-10 | 吉林大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4366638A (en) * | 1980-03-27 | 1983-01-04 | Dieter Ketterer | Box magazine for firearms |
| CN1991292A (en) * | 2005-12-31 | 2007-07-04 | 钢保实业有限公司 | Constitution of automatic rolling-up tapeline causing case contraction, weight lightening and strip lengthen |
| CN202033000U (en) * | 2011-01-26 | 2011-11-09 | 贾小龙 | Length sensor |
| CN103876834A (en) * | 2012-12-19 | 2014-06-25 | 燕山大学 | Positioning mechanical arm |
| CN105443655A (en) * | 2015-12-10 | 2016-03-30 | 合肥工业大学 | Swing joint for realizing force balance and mechanism limit by using internal bending springs |
-
2016
- 2016-05-19 CN CN201610349070.7A patent/CN105841649A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4366638A (en) * | 1980-03-27 | 1983-01-04 | Dieter Ketterer | Box magazine for firearms |
| CN1991292A (en) * | 2005-12-31 | 2007-07-04 | 钢保实业有限公司 | Constitution of automatic rolling-up tapeline causing case contraction, weight lightening and strip lengthen |
| CN202033000U (en) * | 2011-01-26 | 2011-11-09 | 贾小龙 | Length sensor |
| CN103876834A (en) * | 2012-12-19 | 2014-06-25 | 燕山大学 | Positioning mechanical arm |
| CN105443655A (en) * | 2015-12-10 | 2016-03-30 | 合肥工业大学 | Swing joint for realizing force balance and mechanism limit by using internal bending springs |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813337A (en) * | 2016-09-12 | 2018-03-20 | 杭州国辰正域科技有限公司 | Bi-directional rotary joint with balanced controls |
| CN108081310A (en) * | 2016-11-23 | 2018-05-29 | 克恩-里伯斯(太仓)有限公司 | A kind of gravity balance device of mechanical arm |
| CN109333578A (en) * | 2018-11-13 | 2019-02-15 | 杭州电子科技大学 | Vapour-pressure type arc plunger type rotary balance device and its revolution balance method to joint |
| CN111322353A (en) * | 2020-02-06 | 2020-06-23 | 中国电子科技集团公司第二十九研究所 | Configurable torque-adjustable gravity balance device |
| CN111322353B (en) * | 2020-02-06 | 2021-11-19 | 中国电子科技集团公司第二十九研究所 | Configurable torque-adjustable gravity balance device |
| CN111388273A (en) * | 2020-03-24 | 2020-07-10 | 吉林大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN111388273B (en) * | 2020-03-24 | 2021-04-27 | 吉林大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105841649A (en) | Oscillating joint using built-in volute spiral spring for realizing gravity balancing | |
| CN207636180U (en) | A kind of Noise Sources Identification device | |
| CN104346988B (en) | A kind of large-scale heavy duty rolling simulation stand | |
| CN102431028A (en) | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom | |
| CN107520859A (en) | High precision position and posture positioning mechanical arm | |
| CN110260120A (en) | A kind of marketing data displaying device | |
| CN102527041B (en) | Electric swing | |
| CN105443568A (en) | Pendulant joint capable of realizing force balance and mechanism limitation by utilizing internal pressure spring | |
| CN105443655A (en) | Swing joint for realizing force balance and mechanism limit by using internal bending springs | |
| CN104155109A (en) | Working condition simulation testing machine for bearing of dual-mass flywheel | |
| CN105962971A (en) | Multi-freedom-degree driving device of medical ultrasonic probe | |
| CN107591060A (en) | A kind of student's teaching intelligent robot based on human-computer interaction | |
| CN207085980U (en) | Test tube rack special is tested in a kind of center blood station with blood examination | |
| CN207004939U (en) | A kind of axial-flow pump hangs erecting device | |
| CN207155815U (en) | Abnormal curved surface boring and riveting machine device people | |
| CN205824082U (en) | Gear type nut swing roller screw mandrel | |
| CN209238726U (en) | A kind of uncoiler collapsible drum arc plate | |
| CN209432427U (en) | Automobile parts intermetallic composite coating detecting tool | |
| CN202041196U (en) | Portable gravitational equilibrium adjusting mechanism of coordinate measuring machine | |
| CN202471005U (en) | Portable coordinate measuring machine swinging joint with balance mechanism | |
| CN208476263U (en) | A kind of magnetic navigation sensor with automatic calibration function | |
| CN204197310U (en) | A kind of two eccentric disk devices for spatial attitude adjustment | |
| CN209551719U (en) | Robot and its waist structure | |
| CN204536183U (en) | For the light reflective spectrum position regulator that biomarker detects | |
| CN105881584A (en) | Robot wrist mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160810 |