CN107738275A - A kind of cam extension spring mechanism of mechanical arm gravity compensation - Google Patents
A kind of cam extension spring mechanism of mechanical arm gravity compensation Download PDFInfo
- Publication number
- CN107738275A CN107738275A CN201711049846.4A CN201711049846A CN107738275A CN 107738275 A CN107738275 A CN 107738275A CN 201711049846 A CN201711049846 A CN 201711049846A CN 107738275 A CN107738275 A CN 107738275A
- Authority
- CN
- China
- Prior art keywords
- mechanical
- extension spring
- cam
- underarm
- gravity compensation
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of cam extension spring mechanism of mechanical arm gravity compensation, including mechanical upper arm (1), mechanical underarm (5), disc cam (2), steel wire rope (4) and extension spring unit, described mechanical upper arm (1) is rotatably arranged on mechanical underarm (5) upper end, the disc cam (2) is fixedly connected with mechanical upper arm (1), one end of described steel wire rope (4) is fixed on disc cam (2) edge, and the other end is fastened on the extension spring unit on mechanical underarm (5).Compared with prior art, the complete gravity compensation of the achievable joint of mechanical arm big corner scope of the present invention.The implementation process of the present invention causes the motion with mechanism for cam driven camber of spring, corresponding change occurs for spring force, the gravitional force that mechanical arm changes is converted into elastic potential energy, realizes that joint of mechanical arm reaches complete gravitational equilibrium effect in effective working space.
Description
Technical field
The present invention relates to a kind of mechanical device of mechanical arm gravity compensation, more particularly, to a kind of mechanical arm gravity compensation
Cam extension spring mechanism.
Background technology
Because joint of mechanical arm of the diameter parallel in ground is acted on by armed lever gravity, joint can produce extra torsion
Square, reduces the dynamic characteristic of mechanical arm, and most of mechanical arms are required for design weight compensation device.Active gravity compensation
The output torque generally by regulation motor, recycle rope traction, balance out mechanical arm deadweight to caused by joint
Moment of torsion, so as to realize mechanical arm gravitational equilibrium.Active gravity-compensated device can realize the complete of multi-joint mechanical arm in theory
Full weight dynamic balance, but need to work out complicated control program and algorithm, and the real-time detection to mechanical arm position and center of gravity.
Simultaneously because adding motor, the increase of mechanical arm overall structure size is result in, cost also accordingly increases.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of mechanical arm gravity is mended
The cam extension spring mechanism repaid.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of cam extension spring mechanism of mechanical arm gravity compensation, including mechanical upper arm, mechanical underarm, disc cam, steel wire
Rope and extension spring unit, described mechanical upper arm are rotatably arranged on mechanical underarm upper end, and the disc cam is fixed with mechanical upper arm
Connection, one end of described steel wire rope are fixed on disc cam edge, and the other end is fastened on the extension spring on mechanical underarm
Unit.
Preferably, described mechanical upper arm is rotatably arranged on mechanical underarm by joint hinge, and can be around joint hinge
Center of rotation rotate.
Preferably, described cam extension spring mechanism also includes the pulley for being arranged on mechanical underarm bottom, the steel wire rope one
After end is fixed with disc cam, it is connected again with the extension spring unit after pulley guiding.
It is centrally located at it is furthermore preferred that the pulley rotates with mechanical upper arm around mechanical underarm on same vertical curve.
Preferably, described extension spring unit uses the steady pin being fixedly connected with its end to be arranged on mechanical underarm.
Preferably, the extension spring that described extension spring unit is connected in parallel including one group or plural groups.
Preferably, during work, described steel wire rope is in tensioned state all the time.
At work, mechanical upper arm deadweight can produce the mechanical arm of the present invention to its center of rotation O point on mechanical underarm
A raw additional torque T, because disc cam and mechanical upper arm are fixed, can also be rotated therewith, steel wire rope just starts to twine
It is wound on disc cam, extension spring produces elastic deformation so as to be elongated by steel wire rope, and pulling force will be to rotating caused by extension spring deformation
O points in center produce an opposite torque, and then the gravitional force that mechanical arm changes is converted into elastic potential energy, realize mechanical arm
Joint reaches complete gravitational equilibrium effect in effective working space.
The present invention is actually a kind of passive type gravity-compensated device, and compensation device position is driven by the motion of mechanical arm
Change, the output moment of torsion opposite with gravity, in mechanical arm counter motion, balanced controls discharge the energy of storage, push away
Dynamic manipulator motion, it is not necessary to consume unnecessary energy.
Compared with prior art, the invention provides a kind of cam extension spring mechanism for mechanical arm gravity compensation is purely mechanic
Structure, its is simple in construction, it is small to take up space.In addition, simplify passive type gravity compensation structure, take full advantage of between joint
Pitch space, can be by extension spring cam arrangement in mechanical arm, and parts are few and light, not only makes compact-sized will not also increase volume
Outer subsidiary quality.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
In figure, 1- machinery upper arm, 2- disc cams, 3- joints hinge, 4- steel wire ropes, 5- machinery underarms, 6- pulleys, 7- drawings
Spring, 8- steady pins.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
A kind of cam extension spring mechanism of mechanical arm gravity compensation, including mechanical upper arm 1, mechanical underarm 5, disc cam 2, steel
Cord 4 and extension spring unit, mechanical upper arm 1 are rotatably arranged on the mechanical upper end of underarm 5, and disc cam 2 is fixed with mechanical upper arm 1 to be connected
Connect, one end of steel wire rope 4 is fixed on the edge of disc cam 2, and the other end is fastened on the extension spring unit on mechanical underarm 5.
As a kind of preferred embodiment of the present invention, mechanical upper arm 1 is rotatably arranged under machinery by joint hinge 3
On arm 5, and it can be rotated around the center of rotation of joint hinge 3.
As a kind of preferred embodiment of the present invention, the mechanism of cam extension spring 7 also includes being arranged on the mechanical bottom of underarm 5
Pulley 6, after the one end of steel wire rope 4 and disc cam 2 are fixed, be connected again with extension spring unit after the guiding of pulley 6.It is furthermore preferred that
Pulley 6 is rotated around mechanical underarm 5 with mechanical upper arm 1 and is centrally located on same vertical curve.
As a kind of preferred embodiment of the present invention, extension spring unit uses the steady pin 8 being fixedly connected with its end
On mechanical underarm 5.
As a kind of preferred embodiment of the present invention, extension spring unit includes the extension spring that one group or plural groups are connected in parallel
7。
As a kind of preferred embodiment of the present invention, during work, steel wire rope 4 is in tensioned state all the time.
At work, the mechanical deadweight of upper arm 1 can be to its center of rotation O point on mechanical underarm 5 for the mechanical arm of the present invention
An additional torque T is produced, because disc cam 2 and mechanical upper arm 1 are fixed, can also be rotated therewith, steel wire rope 4 is just opened
Beginning is wrapped on disc cam 2, and so as to be elongated by steel wire rope 4 and produce elastic deformation, extension spring 7 deforms caused pulling force for extension spring 7
An opposite torque will be produced to center of rotation O points, and then the gravitional force that mechanical arm changes is converted into elastic potential energy, it is real
Existing joint of mechanical arm reaches complete gravitational equilibrium effect in effective working space.
The present invention is actually a kind of passive type gravity-compensated device, and compensation device position is driven by the motion of mechanical arm
Change, the output moment of torsion opposite with gravity, in mechanical arm counter motion, balanced controls discharge the energy of storage, push away
Dynamic manipulator motion, it is not necessary to consume unnecessary energy.
Embodiment 1
A kind of cam extension spring mechanism of mechanical arm gravity compensation, its structure is as shown in figure 1, including under mechanical upper arm 1, machinery
Arm 5, disc cam 2, pulley 6, steady pin 8, steel wire rope 4 and extension spring unit, mechanical upper arm 1 are rotated by joint hinge 3 and set
On the mechanical top of underarm 5, and can be rotated around the center of rotation of joint hinge 3, disc cam 2 is fixedly connected with mechanical upper arm 1, and
Rotate with mechanical upper arm 1, after the one end of steel wire rope 4 is fixed with disc cam 2, be connected again with extension spring unit after the guiding of pulley 6, it is sliding
Wheel 6 is rotated around mechanical underarm 5 with mechanical upper arm 1 and is centrally located on same vertical curve, and extension spring 7 is used and is fixedly connected with its end
Steady pin 8 be arranged on mechanical underarm 5 on.
When mechanical arm works, mechanical upper arm 1 will produce one because itself is affected by gravity to the center of joint hinge 3
Additional torque.Additional torque meeting driving mechanical upper arm 1, which produces motion, to be tended to, because disc cam 2 and mechanical upper arm 1 are consolidated
It is fixed, also can and then it rotate, steel wire rope 4 is initially wrapped around on disc cam 2, and extension spring 7 is elongated by steel wire rope 4 and produces elastic change
Shape.Pulling force caused by deformation will produce one to the central point of joint hinge 3 and itself be affected by gravity generation one with mechanical upper arm 1
The opposite torque of additional torque, when two torque energies are completely counterbalanced by, so as to realize mechanical arm gravitational equilibrium.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using invention.
Person skilled in the art obviously can easily make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without by performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel do not depart from improvement that scope made and modification all should be the present invention's according to the announcement of the present invention
Within protection domain.
Claims (7)
1. the cam extension spring mechanism of a kind of mechanical arm gravity compensation, it is characterised in that including mechanical upper arm (1), mechanical underarm
(5), disc cam (2), steel wire rope (4) and extension spring unit, described mechanical upper arm (1) are rotatably arranged on mechanical underarm (5)
End, the disc cam (2) are fixedly connected with mechanical upper arm (1), and one end of described steel wire rope (4) is fixed on disc cam
(2) on edge, the other end is fastened on the extension spring unit on mechanical underarm (5).
A kind of 2. cam extension spring mechanism of mechanical arm gravity compensation according to claim 1, it is characterised in that described machine
Tool upper arm (1) is rotatably arranged on mechanical underarm (5) by joint hinge (3), and can be turned around the center of rotation of joint hinge (3)
It is dynamic.
3. the cam extension spring mechanism of a kind of mechanical arm gravity compensation according to claim 1, it is characterised in that described is convex
Wheel extension spring (7) mechanism also includes the pulley (7) for being arranged on mechanical underarm (5) bottom, described steel wire rope (4) one end and disc cam
(2) after fixed, it is connected again with the extension spring unit after the pulley (7) guiding.
A kind of 4. cam extension spring mechanism of mechanical arm gravity compensation according to claim 3, it is characterised in that the pulley
(7) rotate and be centrally located on same vertical curve around mechanical underarm (5) with mechanical upper arm (1).
A kind of 5. cam extension spring mechanism of mechanical arm gravity compensation according to claim 1, it is characterised in that described drawing
Spring unit uses the steady pin (8) being fixedly connected with its end to be arranged on mechanical underarm (5).
A kind of 6. cam extension spring mechanism of mechanical arm gravity compensation according to claim 1, it is characterised in that described drawing
The extension spring (7) that spring unit is connected in parallel including one group or plural groups.
A kind of 7. cam extension spring mechanism of mechanical arm gravity compensation according to claim 1, it is characterised in that during work,
Described steel wire rope (4) is in tensioned state all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711049846.4A CN107738275A (en) | 2017-10-31 | 2017-10-31 | A kind of cam extension spring mechanism of mechanical arm gravity compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711049846.4A CN107738275A (en) | 2017-10-31 | 2017-10-31 | A kind of cam extension spring mechanism of mechanical arm gravity compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107738275A true CN107738275A (en) | 2018-02-27 |
Family
ID=61233799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711049846.4A Pending CN107738275A (en) | 2017-10-31 | 2017-10-31 | A kind of cam extension spring mechanism of mechanical arm gravity compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107738275A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818618A (en) * | 2018-06-29 | 2018-11-16 | 华中科技大学 | A kind of healing robot arm gravity balance device |
| CN108890695A (en) * | 2018-09-04 | 2018-11-27 | 安徽工程大学 | A kind of joint of robot torque balance device |
| CN109940659A (en) * | 2019-03-28 | 2019-06-28 | 东南大学 | A kind of Wire driven robot elastic mechanism for the compensation of mechanical arm gravitational moment |
| CN110202609A (en) * | 2019-07-04 | 2019-09-06 | 哈尔滨工业大学 | A kind of spring assist mechanism compensating rod piece torque |
| CN110203426A (en) * | 2019-05-21 | 2019-09-06 | 上海航天设备制造总厂有限公司 | Gravitational equilibrium lifting apparatus in a kind of perpendicular |
| CN112445268A (en) * | 2020-10-30 | 2021-03-05 | 江西昌河航空工业有限公司 | Rocker arm gravity balance mechanism |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
| CN114523493A (en) * | 2022-03-04 | 2022-05-24 | 国网安徽省电力有限公司电力科学研究院 | Gravity balancing device applied to mechanical arm joint |
| KR102441530B1 (en) * | 2021-12-28 | 2022-09-07 | 주식회사 휠라인 | Robot |
| IT202100011273A1 (en) | 2021-05-04 | 2022-11-04 | Fondazione St Italiano Tecnologia | Elastic balancing of loads in an exoskeleton |
| CN115476331A (en) * | 2022-11-15 | 2022-12-16 | 科弛医疗科技(北京)有限公司 | Manipulator and master-slave follow-up equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB329286A (en) * | 1929-02-05 | 1930-05-05 | Harry Riley Webb | A device for balancing bodies adapted for a rising and falling movement |
| CN2127417Y (en) * | 1992-08-15 | 1993-02-24 | 北京石油化工专科学校 | Carriage board self-balance device for truck |
| CN201632862U (en) * | 2010-03-23 | 2010-11-17 | 南京工程学院 | Torsion spring and cam combined constant force balancing device |
| CN201769806U (en) * | 2010-08-05 | 2011-03-23 | 上海汽车集团股份有限公司 | Transmission hand braking mechanism and automobile |
| CN103611257A (en) * | 2013-12-09 | 2014-03-05 | 广西科技大学 | Stepping leg-exercising machine |
-
2017
- 2017-10-31 CN CN201711049846.4A patent/CN107738275A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB329286A (en) * | 1929-02-05 | 1930-05-05 | Harry Riley Webb | A device for balancing bodies adapted for a rising and falling movement |
| CN2127417Y (en) * | 1992-08-15 | 1993-02-24 | 北京石油化工专科学校 | Carriage board self-balance device for truck |
| CN201632862U (en) * | 2010-03-23 | 2010-11-17 | 南京工程学院 | Torsion spring and cam combined constant force balancing device |
| CN201769806U (en) * | 2010-08-05 | 2011-03-23 | 上海汽车集团股份有限公司 | Transmission hand braking mechanism and automobile |
| CN103611257A (en) * | 2013-12-09 | 2014-03-05 | 广西科技大学 | Stepping leg-exercising machine |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818618A (en) * | 2018-06-29 | 2018-11-16 | 华中科技大学 | A kind of healing robot arm gravity balance device |
| CN108890695B (en) * | 2018-09-04 | 2021-04-23 | 安徽工程大学 | Robot joint moment balancing device |
| CN108890695A (en) * | 2018-09-04 | 2018-11-27 | 安徽工程大学 | A kind of joint of robot torque balance device |
| CN109940659A (en) * | 2019-03-28 | 2019-06-28 | 东南大学 | A kind of Wire driven robot elastic mechanism for the compensation of mechanical arm gravitational moment |
| CN110203426A (en) * | 2019-05-21 | 2019-09-06 | 上海航天设备制造总厂有限公司 | Gravitational equilibrium lifting apparatus in a kind of perpendicular |
| CN110202609A (en) * | 2019-07-04 | 2019-09-06 | 哈尔滨工业大学 | A kind of spring assist mechanism compensating rod piece torque |
| CN110202609B (en) * | 2019-07-04 | 2022-06-07 | 哈尔滨工业大学 | Spring boosting mechanism for compensating moment of rod piece |
| CN112445268A (en) * | 2020-10-30 | 2021-03-05 | 江西昌河航空工业有限公司 | Rocker arm gravity balance mechanism |
| IT202100011273A1 (en) | 2021-05-04 | 2022-11-04 | Fondazione St Italiano Tecnologia | Elastic balancing of loads in an exoskeleton |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
| KR102441530B1 (en) * | 2021-12-28 | 2022-09-07 | 주식회사 휠라인 | Robot |
| CN114523493A (en) * | 2022-03-04 | 2022-05-24 | 国网安徽省电力有限公司电力科学研究院 | Gravity balancing device applied to mechanical arm joint |
| CN114523493B (en) * | 2022-03-04 | 2023-10-03 | 国网安徽省电力有限公司电力科学研究院 | Gravity balancing device applied to mechanical arm joint |
| CN115476331A (en) * | 2022-11-15 | 2022-12-16 | 科弛医疗科技(北京)有限公司 | Manipulator and master-slave follow-up equipment |
| CN115476331B (en) * | 2022-11-15 | 2023-03-10 | 科弛医疗科技(北京)有限公司 | Manipulator and master-slave follow-up equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107738275A (en) | A kind of cam extension spring mechanism of mechanical arm gravity compensation | |
| CN106042006B (en) | Medical Robot's decelerator torque resistant structure | |
| CN103240737A (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN203257592U (en) | Pulling open degree testing device for mixed flow water turbine water distributor preassembling servomotor | |
| CN104897378B (en) | Swing fatigue experimental device | |
| CN106865394A (en) | A kind of fall arrest vertical lift | |
| US4653975A (en) | Robot with counterbalance mechanism having multiple attachment locations | |
| CN206814128U (en) | swing balance tension device | |
| CN107986182A (en) | A kind of electric block using planetary reduction gear | |
| CN203925436U (en) | A kind of tower shelf type oil pumping machine | |
| CN202936109U (en) | Pull rod type steel wire rope balancing device for crane | |
| CN209522508U (en) | A kind of arm tower crane mobile counterweight implementation mechanism | |
| CN208955858U (en) | The enameled wire tensile force adjustment structure of the coil winding machine of direct coiling in motor stator slot | |
| CN105019866B (en) | A kind of efficient direct-drive oil extractor with single action pulley and single fixed pulley | |
| CN207064565U (en) | A kind of belt pulley torsional balancer structure | |
| CN207090574U (en) | Paper-taking mechanism of printing machine and printer | |
| CN206266148U (en) | Light hoisting gear tool is with antiwind steel wire rope strand oscillator | |
| CN109678070A (en) | A kind of arm tower crane mobile counterweight implementation mechanism | |
| CN105648813B (en) | Twisting wire rope rotation payingoff mechanism | |
| CN107200278A (en) | The single arm support crane luffing horizontal displacement system of differential compensation | |
| CN205642809U (en) | Spring operating mechanism test simulation device | |
| CN102795557A (en) | Crane | |
| CN201538651U (en) | Torque removal device for wire rope in particular to shaft single-rope | |
| CN106329396A (en) | Damper installation tool | |
| CN102817258A (en) | Overturning device used for cabling machine for multiple-strand micro-rotation steel wire rope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180227 |
|
| RJ01 | Rejection of invention patent application after publication |