CN107351120B - Gravity load balance arm and mechanical arm - Google Patents
Gravity load balance arm and mechanical arm Download PDFInfo
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- CN107351120B CN107351120B CN201610308934.0A CN201610308934A CN107351120B CN 107351120 B CN107351120 B CN 107351120B CN 201610308934 A CN201610308934 A CN 201610308934A CN 107351120 B CN107351120 B CN 107351120B
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- 230000005484 gravity Effects 0.000 title claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims description 34
- 230000008093 supporting effect Effects 0.000 abstract description 10
- 230000008859 change Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The embodiment of the application discloses a gravity load balance arm and a mechanical arm. The gravity load balance arm comprises a support, a first support arm with a first end capable of rotating around a first pivot arranged on the support, and a second support arm with a first end capable of rotating around a second pivot arranged on the support. The load mounting seat is provided with a set height in the vertical direction, the top end of the load mounting seat is pivoted with the first support arm through a third pivot, and the bottom end of the load mounting seat is pivoted with the second end of the second support arm through a fourth pivot; the first end of the first adjusting connecting rod is pivoted on the fourth pivot; a second adjusting link having a first end rotatable about a fifth pivot provided on the support. The part between the fifth pivot and the second pivot in the support, the second supporting arm, the first adjusting connecting rod and the second adjusting connecting rod form a crossed four-connecting-rod structure. An elastic member is provided between the sixth pivot and a portion of the holder between the first pivot and the fifth pivot. The application can realize real-time offset of the gravity load in the whole movement range.
Description
Technical Field
The application relates to the technical field of mechanical structure design, in particular to a gravity load balance arm and a mechanical arm composed of the gravity load balance arm.
Background
Industrial hand-held electric, hand-held pneumatic or hand-held hydraulic tools and the like have a heavy weight, and the weight of the tools can adversely affect the working efficiency, the operation stability and the use safety of users after long-term use.
Patent CN203204283U discloses a stent specifically for the photographic industry, which is applied to the photographic industry to carry a camera, and plays a role in supporting and stabilizing. The stabilizing arm is an improvement for industrial applications so that it can carry hand tools. However, the stabilizing arm of the structure cannot ensure a good gravity counteracting effect in the whole movement range in the vertical movement process, and the effect is mainly damping, so that the flexibility of gravity adjustment is correspondingly reduced when carrying the handheld tool.
In order to better balance the gravity, patent document 200680012023.8 discloses a balance supporting device. Fig. 1 shows a schematic structural view of a balance supporting device in the patent document. As shown in fig. 1, the balance support of the device adopts a parallel four-bar mechanism formed by a first side 301, a second side 302, a third side 322 and a fourth side 303, a connecting rod 320 is arranged at one end of the parallel four-bar mechanism far away from a load, the connecting rod 320 is connected with the load through a spring 314, and the connecting rod 320 lifts the spring to generate a supporting force for counteracting gravity. The balance supporting device generates moment to the gravity load by pulling the connecting rod 320 through the spring 314 so as to balance the load force, and the mechanism can improve the output condition of the spring moment when the mechanism swings up and down to limit the position, thereby ensuring the uniform offset of the gravity in the full movement range. The key adjustment in this configuration is the shaft 318 at the end of the spring. The spatial position change of the shaft 318 during the up-and-down motion of the mechanical arm directly affects the elongation of the spring and the force arm value generated by the spring relative to the shaft 312, so as to ensure the uniform counteracting effect of the spring moment on the load moment during the swing of the mechanical arm. The shaft 318 swings relative to the shaft 312 during the robotic arm motion because the spatial position of the shaft 318 is limited, thus reducing the significance of the adjustment to the spring output torque. Good real-time gravity counteracting effect can not be realized for the mechanical arm in the full swing range.
Disclosure of Invention
The application aims to provide a gravity load balance arm so as to solve the problem that the existing balance supporting device cannot generate a good gravity counteracting effect in real time, further improve the production efficiency of using a handheld tool, improve the stability of processing quality and reduce the potential safety hazard of production.
According to one aspect of an embodiment of the present application, there is provided a gravity load balancing arm comprising a support;
a first support arm having a first end rotatable about a first pivot provided on the support;
a second support arm having a first end rotatable about a second pivot provided on the support; the first pivot and the second pivot are vertically separated by a set height;
the load mounting seat is provided with a set height in the vertical direction, the top end of the load mounting seat is pivoted with the first support arm through a third pivot, and the bottom end of the load mounting seat is pivoted with the second end of the second support arm through a fourth pivot;
the first end of the first adjusting connecting rod is pivoted on the fourth pivot;
the first end of the second adjusting connecting rod can rotate around a fifth pivot arranged on the support, and the second end of the second adjusting connecting rod is pivoted with the second end of the first adjusting connecting rod through a sixth pivot; in the vertical direction, the fifth pivot is arranged between the first pivot and the second pivot; the height of the sixth pivot is lower than that of the fourth pivot;
the part between the fifth pivot and the second pivot in the support, the second support arm, the first adjusting connecting rod and the second adjusting connecting rod form a crossed four-connecting-rod structure;
and one end of the elastic component is fixed on the sixth pivot, and the other end of the elastic component is hinged with a part between the first pivot and the fifth pivot in the support.
The adjusting mechanism is arranged at the part of the support, which is used for fixing the elastic component, the other end of the elastic component is hinged with the adjusting mechanism, and the other end of the elastic component can be fixed at any position in the vertical direction between the first pivot and the fifth pivot through the adjusting mechanism.
Preferably, the adjusting mechanism includes:
the guide shaft is fixed between the first pivot and the fifth pivot;
the adjusting seat is connected with the guide shaft in a sliding manner;
the screw rod is fixedly connected with the adjusting seat;
the adjusting knob is arranged at the top of the screw rod, and the screw rod drives the adjusting seat to move in the vertical direction by rotating the adjusting knob;
the end of the elastic component far away from the sixth pivot is hinged with the adjusting seat.
As another preferable aspect, the adjusting mechanism includes:
the guide shaft is fixed between the first pivot and the fifth pivot;
the adjusting seat is connected with the guide shaft in a sliding manner;
the screw rod is fixedly connected with the adjusting seat;
the motor is arranged at the top of the screw rod, the motor drives the screw rod to automatically rotate, and the screw rod drives the adjusting seat to move in the vertical direction;
the end of the elastic component far away from the sixth pivot is hinged with the adjusting seat.
Preferably, in the crossed four-bar structure, the length of the first adjusting link is the same as the length of a portion between the fifth pivot and the second pivot in the support; the second support arm is the same as the second adjusting link in length.
Preferably, the elastic component is a single extension spring or a plurality of extension springs connected in parallel.
Preferably the first support arm and the second adjustment link form a parallel four-bar linkage; the crossed four connecting rods are arranged on two sides of the parallel four connecting rods.
Preferably, the elastic member includes a plurality of extension springs connected in parallel.
According to another aspect of the present application, there is further provided a mechanical arm, including two gravity load balancing arms and a connection mechanism as described above, wherein the supports of the two gravity load balancing arms are hinged to two ends of the connection mechanism, and each gravity load balancing arm can horizontally rotate around the connection mechanism.
According to the technical scheme, the gravity load balancing arm balances gravity load by utilizing the principle of moment balance. The combination of the crossed four-bar mechanism and the parallel four-bar mechanism enables the extreme value position of the elastic moment to coincide with the extreme value position of the gravity load, and enables the change curve of the elastic moment to well approximate to the change curve of the gravity load, so that real-time offset of the gravity load is realized in the whole movement range of the gravity load.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic structural view of a balance supporting device in the prior patent document;
FIG. 2 is a schematic view of a gravity load balancing arm according to a preferred embodiment;
FIG. 3 is a front view of the gravitational load balancing arm of FIG. 2;
FIGS. 4a-4c show simplified structural views of a gravitational load balancing arm in three different positions;
FIG. 5 is a graphical illustration of spring moment obtained by a weight load balancing arm using an elastic member with a set spring rate;
FIG. 6 is a block diagram used in calculating the curves shown in FIG. 5;
fig. 7 is a schematic structural view of a robot arm according to a preferred embodiment.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 2 is a schematic structural view of a gravitational load balancing arm, shown in accordance with a preferred embodiment. As shown in fig. 2, the gravity load balancing arm includes a support 1, a first support arm 2, a second support arm 3, a load mount 4, a first adjustment link 5, a second adjustment link 6, and an elastic member 7.
A first pivot 8 and a second pivot 9 are arranged on one side of the support 1, and the first pivot 8 and the second pivot 9 are vertically separated by a set height. The axes of the first pivot 8 and the second pivot 9 are perpendicular to the paper surface shown in fig. 2. In this embodiment, the first pivot 8 is located above the second pivot 9.
The first support arm 2 is pivotally connected to a first pivot 8. The first support arm 2 includes a first end and a second end, and the first support arm 2 is pivotally connected to the first pivot shaft 8 via the first end thereof and is rotatable about the first pivot shaft 8.
The second support arm 3 is pivotally connected to the second pivot 9. The second support arm 3 also comprises a first end and a second end, the second support arm 3 being pivotally connected to the second pivot 9 by its first end and being rotatable about the second pivot 9. I.e. the abutment 1 is arranged on one side of the first support arm 2 and the second support arm 3.
The load mount 4 is mounted on the other side of the first support arm 2 and the second support arm 3. The load mount 4 has a set height in the vertical direction, including a top end and a bottom end. The top end of the load mounting seat 4 is pivoted with the first support arm 2 through a third pivot 10, and the bottom end of the load mounting seat is pivoted with the second end of the second support arm 3 through a fourth pivot 11. The load mount 4 is for mounting a gravitational load.
A fifth pivot 12 is also provided between the first pivot 8 and the second pivot 9 of the support 1, i.e. in the vertical direction, the fifth pivot 12 is located between the first pivot 8 and the second pivot 9.
The first adjusting link 5 comprises a first end and a second end, wherein the first end of the first adjusting link 5 is pivoted on the fourth pivot 11; the second end of the first adjusting link 5 is pivotally connected to a sixth pivot located below the fourth pivot 11.
The second adjusting link 6 comprises a first end and a second end, wherein the first end of the second adjusting link 6 is pivotally connected to the fifth pivot 12 on the support 1, and the second end of the second adjusting link 6 is pivotally connected to the sixth pivot 14.
One end of the elastic member 7 is fixed to the sixth pivot 14, and the other end thereof is hinged to a portion of the holder 1 between the first pivot 8 and the fifth pivot 12. In the present embodiment, the elastic member 7 is preferably a single extension spring.
The part of the support 1 between the fifth pivot 12 and the second pivot 9, the second support arm 3, the first adjusting link 5 and the second adjusting link 6 form a crossed four-bar structure. Wherein, the part between the fifth pivot 12 and the second pivot 9 in the support 1 and the first adjusting connecting rod 5 are two short rods in the crossed four-bar linkage, and the second supporting arm 3 and the second adjusting connecting rod 6 are two long rods in the crossed four-bar linkage. As a preferred embodiment of the embodiments, the length of two long rods in the crossed four-bar linkage is the same, and the length of two short rods is the same.
In the case that the lengths of the two long rods in the crossed four-bar linkage are unchanged, the change of the lengths of the two short rods can change the extreme point position of the output torque curve of the elastic component 7. In the application, the lengths of the two short rods need to satisfy: under the selection of the same independent variable angle and specific related constants (the original length of the elastic component, the initial position of the tail end of the elastic component and the elastic coefficient of the elastic component), the offset between the output torque curve of the elastic component 7 and the extreme point of the torque curve of the gravity load should be as small as possible, namely, the distance between the abscissa of the extreme point of the output torque curve of the elastic component 7 and the abscissa of the extreme point of the torque curve of the gravity load should be as small as possible.
It should be noted that, the two long rods and the two short rods adopted in the crossed four-bar linkage are the same in length and are only exemplary, and the lengths of the four links in the crossed four-bar linkage can be all or part of the lengths of the four links. The lengths of the long rod and the short rod in the crossed four-bar linkage are not particularly limited, and the lengths of the four-bar linkage can meet the condition that the deviation of the extreme points of the output moment curve of the elastic component 7 and the moment curve of the gravity load is as small as possible, and all the conditions fall into the protection scope of the application.
As a preferred scheme in each embodiment, an adjusting mechanism 13 is mounted on a part of the support 1 for fixing the elastic member 7, the other end of the elastic member 7 is hinged with the adjusting mechanism 13, and the other end of the elastic member 7 can be fixed at any position in the vertical direction between the first pivot 8 and the fifth pivot 12 through adjustment of the adjusting mechanism 13.
Fig. 3 is a front view of the gravitational load balancing arm of fig. 2. As shown in fig. 3, the adjustment mechanism 13 includes a guide shaft 130, an adjustment seat 131, a screw 132, and an adjustment knob 133. Wherein the guide shaft 130 is fixed between the first pivot 8 and the fifth pivot 12. The adjusting seat 131 is slidably coupled to the guide shaft 130. The screw rod 132 is fixedly connected with the adjusting seat 131. The adjusting knob 133 is disposed at the top of the screw rod 132, and the screw rod 132 drives the adjusting seat 131 to move in the vertical direction by rotating the adjusting knob 133. The elastic member 7 is fixed to the adjustment seat 131, and preferably, the end of the elastic member 7 remote from the sixth pivot 14 is hinged to the adjustment seat.
As another preferable scheme, the adjusting mechanism comprises a guide shaft, an adjusting seat, a screw rod and a motor. Wherein the guiding axle is fixed between the first pivot 8 and the fifth pivot 12. The adjusting seat is connected with the guide shaft in a sliding way. The screw rod is fixedly connected with the adjusting seat. The motor is arranged at the top of the screw rod, the motor drives the screw rod to automatically rotate, and the screw rod drives the adjusting seat to move in the vertical direction. The end of the elastic member 7 remote from the sixth pivot 14 is hinged to the adjustment seat. By controlling the motor, the position of the elastic component 7 can be automatically adjusted. By adjusting the end of the resilient member 7 remote from the sixth pivot 14, the resilient member 7 is able to accommodate different gravitational loads.
The working principle of the gravity load balancing arm in the present application will be described in detail.
The position of the end of the elastic member 7 remote from the sixth pivot 14 is adjusted accordingly in response to the gravitational load. The gravity load balancing arm in the application balances gravity load by utilizing the principle of moment balance. Fig. 4a-4c show simplified views of the structure of the gravitational load balancing arm in three different positions. During the up and down swing of the gravity load, the moment generated by the gravity load relative to the first pivot 8 and the second pivot 9 on the support 1 is balanced by the moment generated by the spring relative to the fifth pivot 12. As shown in fig. 4a, the gravity force arm of the first support arm 2 and the second support arm 3 decreases during the up-and-down swing, and the gravity of the gravity load is constant, so that the moment of the gravity load decreases in this case. As shown in fig. 4b, in the horizontally straightened position, the gravitational moment of the gravitational load is at a maximum. The elastic member 7 does not have a maximum value of the elastic moment generated by the elastic member 7 to the second adjusting link 6 when the second adjusting link 6 is pulled and moment is provided thereto. Correspondingly, the extreme position of the spring moment is the position of the second adjusting lever 6 at a downward angle relative to the horizontal. The elastic member 7 is connected to the second adjusting link 6 by the first adjusting link 5 at a position of a downward swing angle with respect to the horizontal position, so that the extreme value position of the elastic moment coincides with the extreme value position of the gravity load. After the extreme value position of the elastic moment coincides with the extreme value position of the gravity load, the change curve of the elastic moment and the change curve of the gravity load show good approximation effect, so that real-time offset of the gravity load is realized in the whole movement range of the gravity load. As the gravity continues downwards as shown in fig. 4c, the moment created by the gravity load with respect to the first 8 and second 9 pivots on the support 1 is balanced by the moment created by the spring with respect to the fifth pivot 12.
Fig. 5 is a schematic diagram of a spring moment curve obtained by using an elastic member with a set elastic coefficient for a weight load balance arm. Wherein the abscissa is the angle of rotation of the second adjusting link relative to the horizontal plane, and the ordinate is the moment generated by the load on the support under the condition of 15 kg load, and the curve shown in fig. 5 shows the situation that the moment of the spring approaches the moment of gravity in the whole movement process. The gravity moment curves are identical in form for loads of different gravities, but the highest point changes. As can be seen from fig. 5, the gravity load balancing arm of the present application can make the spring moment curve approach the gravity moment curve to form a good supporting effect. And further realize real-time counteracting of the gravity load in the whole movement range.
Fig. 6 is a structural diagram used in calculating the curve shown in fig. 5. As shown in fig. 6, D is the gravitational moment arm, H is the spring moment arm, and angle a is the angle taken by the abscissa in fig. 5.
In the present application, the first support arm 2 and the second adjustment link 6 may each be a cylinder having a set cross-sectional area, and the cross-sectional shape of the cylinder includes, but is not limited to, a circle or a regular polygon such as a square, etc. For higher bearing capacity, the first support arm 2 and the second adjustment link 6 may also preferably be ladder-like brackets extending a set length in the direction of the paper surface in fig. 2. As shown in fig. 3. Suitably, the first pivot 8, the third pivot 10, and the fifth pivot 12 and the sixth pivot 14, which are pivotally connected to the first support frame, and the second adjusting link 6, each have a set length in the direction along the paper surface in fig. 2.
When the first support arm 2 and the second adjusting link 6 adopt ladder-shaped brackets, the first support arm 2 and the second adjusting link 6 form a parallel four-link structure. Suitably, the support 1 also has a set length in the direction along the plane of the paper in fig. 2, while the second support arm 3 and the first adjustment link 5 are mounted on both sides of the parallel four links, i.e. a set of intersecting four links are provided on both sides of the parallel four links, respectively. The support 1, the parallel four-bar linkage, the cross four-bar linkage and the load mounting seat 4 enclose a frame body with a certain mounting space, in which the elastic component 7 is preferably a plurality of extension springs, which are arranged in parallel.
It should be noted that, the first support arm 2 and the second adjustment link 6 are only exemplary, and the shapes of the first support arm 2 and the second adjustment link 6 are not limited in particular, and all the shapes that can form a certain installation space with the support 1 and the load mount 4 fall into the protection scope of the present application.
The working principle of the gravity load balancing arm used by combining the parallel four-bar mechanism and the crossed four-bar mechanism in the embodiment is the same as that of the gravity load balancing arm, and the description is omitted here.
According to another aspect of the present application, there is also provided a robot arm. Fig. 7 is a schematic structural view of a robot arm according to a preferred embodiment. As shown in fig. 7, the mechanical arm includes two gravity load balancing arms 701 and a connecting mechanism 702 as described above, the supports 1 of the two gravity load balancing arms are hinged to two ends of the connecting mechanism 702, and each gravity load balancing arm can horizontally rotate around the connecting mechanism.
According to the technical scheme, the gravity load balancing arm balances gravity load by utilizing the principle of moment balance. The combination of the crossed four-bar mechanism and the parallel four-bar mechanism enables the extreme value position of the elastic moment to coincide with the extreme value position of the gravity load, and enables the change curve of the elastic moment to well approximate to the change curve of the gravity load, so that real-time offset of the gravity load is realized in the whole movement range of the gravity load.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the application is not limited to the precise methods that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (9)
1. A gravitational load balancing arm, comprising:
a support;
a first support arm having a first end rotatable about a first pivot provided on the support;
a second support arm having a first end rotatable about a second pivot provided on the support; the first pivot and the second pivot are vertically separated by a set height;
the load mounting seat is provided with a set height in the vertical direction, the top end of the load mounting seat is pivoted with the first support arm through a third pivot, and the bottom end of the load mounting seat is pivoted with the second end of the second support arm through a fourth pivot;
the first end of the first adjusting connecting rod is pivoted on the fourth pivot;
the first end of the second adjusting connecting rod can rotate around a fifth pivot arranged on the support, and the second end of the second adjusting connecting rod is pivoted with the second end of the first adjusting connecting rod through a sixth pivot; in the vertical direction, the fifth pivot is arranged between the first pivot and the second pivot; the height of the sixth pivot is lower than that of the fourth pivot;
the part between the fifth pivot and the second pivot in the support, the second support arm, the first adjusting connecting rod and the second adjusting connecting rod form a crossed four-connecting-rod structure;
and one end of the elastic component is fixed on the sixth pivot, and the other end of the elastic component is hinged with a part between the first pivot and the fifth pivot in the support.
2. The gravity load balancing arm according to claim 1, wherein the portion of the support to which the elastic member is fixed is provided with an adjusting mechanism, the other end of the elastic member is hinged to the adjusting mechanism, and the other end of the elastic member is fixable at any position in a vertical direction between the first pivot and the fifth pivot by the adjusting mechanism.
3. The gravity load balancing arm according to claim 2, wherein the adjustment mechanism comprises:
the guide shaft is fixed between the first pivot and the fifth pivot;
the adjusting seat is connected with the guide shaft in a sliding manner;
the screw rod is fixedly connected with the adjusting seat;
the adjusting knob is arranged at the top of the screw rod, and the screw rod drives the adjusting seat to move in the vertical direction by rotating the adjusting knob;
the end of the elastic component far away from the sixth pivot is hinged with the adjusting seat.
4. The gravity load balancing arm according to claim 2, wherein the adjustment mechanism comprises:
the guide shaft is fixed between the first pivot and the fifth pivot;
the adjusting seat is connected with the guide shaft in a sliding manner;
the screw rod is fixedly connected with the adjusting seat;
the motor is arranged at the top of the screw rod, the motor drives the screw rod to automatically rotate, and the screw rod drives the adjusting seat to move in the vertical direction;
the end of the elastic component far away from the sixth pivot is hinged with the adjusting seat.
5. The gravity load balancing arm according to claim 1, wherein in the crossed four-bar linkage, the length of the first adjustment link is the same as the length of the portion of the support between the fifth pivot and the second pivot; the second support arm is the same as the second adjusting link in length.
6. The gravity load balancing arm according to any of claims 1 to 5, wherein the elastic member is a single tension spring or a plurality of tension springs connected in parallel.
7. The gravity load balancing arm according to any one of claims 1 to 5, wherein the first support arm and the second adjustment link constitute parallel four links;
the crossed four connecting rods are arranged on two sides of the parallel four connecting rods.
8. The gravity load balancing arm of claim 7, wherein the resilient member comprises a plurality of extension springs connected in parallel.
9. A mechanical arm, characterized by comprising two gravity load balance arms and a connecting mechanism according to any one of claims 1 to 8, wherein the supports of the two gravity load balance arms are hinged to two ends of the connecting mechanism, and each gravity load balance arm can horizontally rotate around the connecting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308934.0A CN107351120B (en) | 2016-05-10 | 2016-05-10 | Gravity load balance arm and mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308934.0A CN107351120B (en) | 2016-05-10 | 2016-05-10 | Gravity load balance arm and mechanical arm |
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| CN107351120A CN107351120A (en) | 2017-11-17 |
| CN107351120B true CN107351120B (en) | 2023-11-10 |
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| WO2019179402A1 (en) | 2018-03-23 | 2019-09-26 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
| CN110291324B (en) * | 2018-03-23 | 2021-08-17 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism, holder device and shooting system |
| NL1043149B1 (en) * | 2019-02-11 | 2020-08-19 | Vlaar Innovations B V | Balancing arm with friction hinge |
| WO2022007464A1 (en) * | 2020-07-10 | 2022-01-13 | 北京术锐技术有限公司 | Balancing device and surgical robot |
| CN112161183A (en) * | 2020-10-23 | 2021-01-01 | 平顶山学院 | News interview equipment stabilizer |
| CN113063069A (en) * | 2021-04-21 | 2021-07-02 | 榆逗(上海)智能科技有限公司 | Manual adjusting structure of display support arm |
| CN114161480B (en) * | 2021-12-30 | 2024-04-16 | 伯朗特机器人股份有限公司 | Robot with auxiliary supporting device |
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| CN107351120A (en) | 2017-11-17 |
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