CN105865385A - Cylindrical cam-compressed spring type joint balancing mechanism - Google Patents
Cylindrical cam-compressed spring type joint balancing mechanism Download PDFInfo
- Publication number
- CN105865385A CN105865385A CN201610380386.2A CN201610380386A CN105865385A CN 105865385 A CN105865385 A CN 105865385A CN 201610380386 A CN201610380386 A CN 201610380386A CN 105865385 A CN105865385 A CN 105865385A
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- China
- Prior art keywords
- cylindrical cam
- joint
- stage clip
- roller
- joint shaft
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Classifications
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- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a cylindrical cam-compressed spring type joint balancing mechanism which is mainly composed of a compressed spring and a cylindrical cam. A joint arm rotates to cause relative motion between a roller and the cylindrical cam, and the compressed spring is compressed to generate the moment used for balancing the weight of the joint arm and parts connected with the joint arm. The cylindrical cam-compressed spring type joint balancing mechanism is simple in structure and can be used for a joint arm type coordinate measuring machine.
Description
Technical field
The present invention relates to articulated arm coordinate measuring machine field, specifically a kind of cylindrical cam compressed spring type joint balance machine
Structure.
Background technology
Articulated arm coordinate measuring machine is referred to as again flexible coordinate measuring machine.Articulated arm coordinate measuring machine is according to bionical
Learning principle, the structure of simulation human arm, is a kind of nonopiate coordinate measuring machine with six-freedom degree.This measurement of coordinates
Machine is easy to carry, it is big to measure scope, its to measure environmental requirement unlike orthogonal coordinates measuring machine strict, simultaneously as tool
There is six-freedom degree, it is possible to achieve the measurement of spatial complex shape, have wide range of applications.
Articulated arm coordinate measuring machine is a kind of manual measurement instrument.Were it not for balanced controls, no matter articulated arm is sat
Whether co-ordinate measuring machine uses, and all can bring adverse effect.When measuring workpiece, the hand-held gauge head of operator and measurement arm is needed to enter
Row is measured, i.e. the weight of gauge head, measurement arm and partial joint needs to be born by operator, measures operation when for a long time
Time, operator can produce feeling of fatigue.Although the weight of measuring machine can be alleviated by selecting novel and portable material, but
Can not inherently solve the problems referred to above.When not measuring, during the static placement of coordinate measuring machine, due to by centrifugal force
Effect, articulation mechanism can produce sagging phenomenon under gravity, cause instrument to tilt, time serious may damage instrument.
Therefore, commodity articulated arm coordinate measuring machine is fitted with bascule.
Summary of the invention it is an object of the invention to provide a kind of cylindrical cam compressed spring type joint balance mechanism, for joint arm
Formula coordinate measuring machine.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of cylindrical cam compressed spring type joint balance mechanism, it is characterised in that: include cylindrical cam, the foreign steamer of described cylindrical cam
Wide be made up of identical two parts, cylindrical cam be disposed with two rollers axisymmetricly, two rollers respectively with joint
Arm is fixed together, and also includes joint shaft, and cylindrical cam is slid axially by guider and is arranged on joint shaft, joint shaft
On be cased with stage clip, stage clip one end is fixed on cylindrical cam, and the stage clip other end is fixed on joint；When rotary articulated arm, rolling
Son promotes cylindrical cam compression press spring, and the reaction force acts that stage clip produces is in roller, and counteracting force can resolve into and axially divide
Power and with axially vertical component, with the distance of axially vertical component distance joint shaft be roller centre to joint shaft away from
From, therefore produce a moment..
Described a kind of cylindrical cam compressed spring type joint balance mechanism, it is characterised in that: described cylindrical cam directly with close
Joint arm is fixed together, and now sliding axially on joint shaft is provided with slide block, roller and joint shaft top shoe on cylindrical cam
Being fixed together, joint shaft is cased with stage clip, stage clip one end is fixed on slide block, and the stage clip other end is fixed on joint；When turning
During movable joint arm, cylindrical cam promotes roller and by slide block compression press spring, and the counteracting force that stage clip produces is by roller effect
In cylindrical cam, counteracting force can resolve into axial thrust load and with axially vertical component, with axially vertical component distance
The distance of joint shaft is roller centre to the distance of joint shaft, therefore produces a moment.
In the present invention, when rotary articulated arm, roller and cylindrical cam relative motion, compression press spring produces counteracting force,
Reaction forces become axial thrust load and with axially vertical component, be not zero with axially vertical component distance joint shaft, because of
This produces a moment.When spring selection is reasonable, cam is reasonable in design, this moment can be offset joint arm and be attached thereto portion
The weight of part, plays counterbalance effect.
The limitation of the present invention: between joint arm and the axle in joint, cylindrical cam compressed spring type joint balance mechanism place
Big rotational angle not can exceed that 180 degree.
Beneficial effects of the present invention: by cylindrical cam and stage clip Compositional balance mechanism, during articulation, by balancing
The power acted on axle that mechanism produces is pulling force vertically, balanced controls the moment acting on axle produced is for around axle
To moment of torsion, little to the adverse effect of articulated arm coordinate measuring machine certainty of measurement；Simultaneously as cylindrical cam compressed spring type joint
Balanced controls are simple, can be placed in intra articular, make instrument configurations succinct, attractive in appearance.
Accompanying drawing explanation
Fig. 1 is cylindrical cam compressed spring type joint balance mechanism signal when being fixed together of roller and the joint arm of the present invention
Figure.
Fig. 2 is cylindrical cam compressed spring type joint balance mechanism signal when being fixed together of cam and the joint arm of the present invention
Figure.
Fig. 3 is the cylindrical cam curve synoptic diagram of the present invention.
Detailed description of the invention
As it is shown in figure 1, a kind of cylindrical cam compressed spring type joint balance mechanism, including cylindrical cam 3, outside cylindrical cam 3
Profile is made up of identical two parts, and cylindrical cam 3 is disposed with two rollers 4 axisymmetricly, two rollers 4 respectively with
Joint arm 5 is fixed together, and also includes joint shaft 1, and cylindrical cam 3 is slid axially by guider and is arranged on joint shaft 1
On, joint shaft 1 is cased with stage clip 2, stage clip 2 one end is fixed on cylindrical cam 3, and stage clip 2 other end is fixed on joint；When turning
During movable joint arm 5, roller 4 promotes cylindrical cam 3 compression press spring 2, and the reaction force acts that stage clip 2 produces is in roller 4, retroaction
Power can resolve into axial thrust load and with axially vertical component, be rolling with the distance of axially vertical component distance joint shaft 1
Son 4 centers, to the distance of joint shaft 1, therefore produce a moment..
As in figure 2 it is shown, present configuration is it may also is that cylindrical cam 3 is directly fixed together with joint arm 5, now close
Sliding axially on nodal axisn 1 and be provided with slide block 6, on cylindrical cam 3, roller 4 is fixed together with joint shaft 1 top shoe 6, joint
Being cased with stage clip 2 on axle 1, stage clip 2 one end is fixed on slide block 6, and stage clip 2 other end is fixed on joint；When rotary articulated arm 5
Time, cylindrical cam 3 promotes roller 4 and by slide block 6 compression press spring 2, and the counteracting force that stage clip 2 produces acts on circle by roller
Post cam 3, counteracting force can resolve into axial thrust load and with axially vertical component, with axially vertical component distance joint
The distance of axle 1 is roller 4 center to the distance of joint shaft 1, therefore produces a moment.
In the present invention, the roller 4 on cylindrical cam 3 is fixed together with joint arm 5, leads between cylindrical cam 3 and axle 1
To device, cylindrical cam 3 can slide axially, it is impossible to rotates.When rotary articulated arm 5, roller 4 promotes cylindrical cam 3 to press
Contractive pressure spring 2, the reaction force acts that stage clip 2 produces is in roller 4, and counteracting force can resolve into axial thrust load and with axially vertical
Component, be roller centre to the distance of axle 1 with the distance of axially vertical component distance axis 1, therefore produce a moment.
Fig. 2 gives the kinematic sketch of mechanism of another embodiment of the present invention.Cylindrical cam 3 is solid with joint arm 5
Being scheduled on together, roller 4 is fixed together with the slide block 6 on axle 1, and slide block 5 can slide axially, it is impossible to rotate.Close when rotating
During joint arm 5, cylindrical cam 3 promotes roller 4 and by slide block 6 compression press spring 2, and the counteracting force that stage clip 2 produces is made by roller 4
For cylindrical cam 3, counteracting force can resolve into axial thrust load and with axially vertical component, with axially vertical component away from
The distance of off-axis 1 is roller centre to the distance of axle 1, therefore produces a moment.
Fig. 3 gives the Design of cam curves schematic diagram of the present invention, is made up of two sections of identical curves, therefore, flat
Maximum rotation angle between joint arm and the axle in weighing apparatus joint, mechanism place can not be more than 180 degree.
At cylindrical cam Curve Design rationally and under conditions of selecting corresponding suitable spring, when joint arm rotates, cylinder
The moment that cam compressed spring type joint balance mechanism produces can be offset joint arm and be attached thereto the weight of parts, plays balance effect
Really.
Claims (2)
1. a cylindrical cam compressed spring type joint balance mechanism, it is characterised in that: include cylindrical cam, outside described cylindrical cam
Profile is made up of identical two parts, and cylindrical cam is disposed with two rollers axisymmetricly, two rollers respectively with pass
Joint arm is fixed together, and also includes joint shaft, and cylindrical cam is slid axially by guider and is arranged on joint shaft, joint
Being cased with stage clip on axle, stage clip one end is fixed on cylindrical cam, and the stage clip other end is fixed on joint；When rotary articulated arm,
Roller urges cylindrical cam compression press spring, the reaction force acts that stage clip produces can resolve into axially in roller, counteracting force
Component and with axially vertical component, with the distance of axially vertical component distance joint shaft be roller centre to joint shaft away from
From, therefore produce a moment.
A kind of cylindrical cam the most according to claim 1 compressed spring type joint balance mechanism, it is characterised in that: described cylinder is convex
Wheel is directly fixed together with joint arm, and now sliding axially on joint shaft is provided with slide block, roller and pass on cylindrical cam
Nodal axisn top shoe is fixed together, and joint shaft is cased with stage clip, and stage clip one end is fixed on slide block, and the stage clip other end is fixed on pass
On joint；When rotary articulated arm, cylindrical cam promotes roller and by slide block compression press spring, and the counteracting force that stage clip produces passes through
Roller acts on cylindrical cam, counteracting force can resolve into axial thrust load and with axially vertical component, with axially vertical
The distance of component distance joint shaft is roller centre to the distance of joint shaft, therefore produces a moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610380386.2A CN105865385A (en) | 2016-05-31 | 2016-05-31 | Cylindrical cam-compressed spring type joint balancing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610380386.2A CN105865385A (en) | 2016-05-31 | 2016-05-31 | Cylindrical cam-compressed spring type joint balancing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105865385A true CN105865385A (en) | 2016-08-17 |
Family
ID=56675601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610380386.2A Pending CN105865385A (en) | 2016-05-31 | 2016-05-31 | Cylindrical cam-compressed spring type joint balancing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105865385A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101625238A (en) * | 2009-08-06 | 2010-01-13 | 浙江大学 | Automatically adjusting balance method of gage beam of flexible coordinate measuring machine and balance joint |
| CN201476778U (en) * | 2009-08-06 | 2010-05-19 | 浙江大学 | Automatic-adjusted balanced joint of measuring arm of flexible coordinate measuring machine |
| CN202048864U (en) * | 2010-06-30 | 2011-11-23 | 中机生产力促进中心 | Joint balance protective device for portable flexible coordinates measuring instrument rotation pair |
| CN203438248U (en) * | 2013-09-12 | 2014-02-19 | 赵忠兴 | Bidirectional action type spring balancer |
| CN104669261A (en) * | 2015-02-11 | 2015-06-03 | 北京航空航天大学 | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness |
| CN105443568A (en) * | 2015-12-10 | 2016-03-30 | 合肥工业大学 | Pendulant joint capable of realizing force balance and mechanism limitation by utilizing internal pressure spring |
-
2016
- 2016-05-31 CN CN201610380386.2A patent/CN105865385A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101625238A (en) * | 2009-08-06 | 2010-01-13 | 浙江大学 | Automatically adjusting balance method of gage beam of flexible coordinate measuring machine and balance joint |
| CN201476778U (en) * | 2009-08-06 | 2010-05-19 | 浙江大学 | Automatic-adjusted balanced joint of measuring arm of flexible coordinate measuring machine |
| CN202048864U (en) * | 2010-06-30 | 2011-11-23 | 中机生产力促进中心 | Joint balance protective device for portable flexible coordinates measuring instrument rotation pair |
| CN203438248U (en) * | 2013-09-12 | 2014-02-19 | 赵忠兴 | Bidirectional action type spring balancer |
| CN104669261A (en) * | 2015-02-11 | 2015-06-03 | 北京航空航天大学 | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness |
| CN105443568A (en) * | 2015-12-10 | 2016-03-30 | 合肥工业大学 | Pendulant joint capable of realizing force balance and mechanism limitation by utilizing internal pressure spring |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160817 |
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| WD01 | Invention patent application deemed withdrawn after publication |