CN108081310A - A kind of gravity balance device of mechanical arm - Google Patents
A kind of gravity balance device of mechanical arm Download PDFInfo
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- CN108081310A CN108081310A CN201611046867.6A CN201611046867A CN108081310A CN 108081310 A CN108081310 A CN 108081310A CN 201611046867 A CN201611046867 A CN 201611046867A CN 108081310 A CN108081310 A CN 108081310A
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- arm
- cylinder
- scroll spring
- mechanical arm
- balance device
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- 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
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Abstract
The invention discloses a kind of gravity balance device of mechanical arm, including the first arm, the second arm, scroll spring, the first cylinder and the second cylinder；Second arm can be rotated relative to the first arm；The most inside of scroll spring has inner end, and outermost has outer end；For first cylinder for fixing inner end, the second cylinder is used for fixed outer ends；First cylinder is moved with a movement in the first arm and the second arm, the second cylinder with another, and the first cylinder is coaxial around the shaft that the first arm rotates with the second arm.Present invention employs the designs of non-contact plane scroll spring, its is simple in structure, it is connected by outer end in spring with entire mechanism, long lifespan, reliability are high, can directly export linear torque, can in perfect matching lever arm rotary course as caused by itself weight torque, reduce the load of motor.In addition, can realize the rotation demand of lever arm 180 degree using the oppositely arranged balancing device of two groups of springs, the scope of activities of mechanical arm is significantly increased.
Description
Technical field
The present invention relates to mechanical arm field more particularly to a kind of gravity balance devices of mechanical arm.
Background technology
Mechanical arm is a kind of common automated machine device, in industrial manufacture, therapeutic treatment, entertainment service, military affairs, half
The fields such as conductor manufacture and space probation have extensive use.Mechanical arm usually has multiple degree of freedom, can accurately determine
Certain point of the position to three-dimensional (or two dimension) spatially carries out operation.In the active procedure of mechanical arm, the lever arm of joint around
Shaft rotation is one of most basic movement of mechanical arm.In this movement, since the gravity be subject to lever arm is influenced, shaft meeting
Very big torque is born, when lever arm will return to initial position, motor needs extra work to overcome the gravity torque of lever arm,
This not only needs more energy, also adds the load of motor, accelerates loss.Therefore it is usual at the turning joint of mechanical arm
Balancing device can be set to offset the gravity of lever arm.
The gravity balance device of the mechanical arm generally used have drawing wire spring, torsional mode wire spring, hydraulic cylinder/
Pneumatic linear actuator or counterweight balance these four balance methods.Drawing wire spring and torsional mode wire spring are all by one end and work
Swing arm is connected, and the other end is connected with fixed part, and when lever arm rotates, spring is stretched or twist compression, and then stores bullet
Property potential energy, when lever arm resets, spring release potential energy play the role of balancing activity arm gravity.Hydraulic cylinder/pneumatic linear actuator makes
Used time is then that one end is connected with lever arm, and the other end is connected with fixed part, it can be compressed when lever arm rotates, make inside
Highly pressurised liquid or gas discharge hydraulic pump or pulsometer, the hydraulic oil of high pressure or gas push hydraulic pressure when lever arm resets
Cylinder/pneumatic linear actuator supports lever arm, plays the role of balancing gravity.Counterweight balance is then using lever principle, is turned in lever arm
The opposite side configuration of axis and the clump weight of lever arm weight equivalents, make lever arm be in gravitational equilibrium always in rotation process
State.
More than four kinds of balance methods can act as the effect of balancing activity arm gravity, but still have in practical applications
The defects of respective.The bulk life time of drawing wire spring is relatively low, and is nonlinear to the output torque of lever arm, is unfavorable for
Practical application；The payload of torsional mode wire spring is relatively low, the light-weight load-up condition of lever arm is only can be used in, using model
It encloses too narrow；The structure of hydraulic cylinder/pneumatic linear actuator is complex, and the cost of early investment and later maintenance is very high；Counterweight balancing machine
Structure is due to adding clump weight so that the overall weight of system increases, so as to add energy consumption, the overall operation cost of system compared with
Height, and have higher intensity requirement to entire mechanism.
Therefore, for more than technology the defects of, those skilled in the art, which want to obtain a kind of gravity of mechanical arm, to be put down
Weigh device, has higher service life, and the early investment of whole machine balancing device and later maintenance cost are relatively low, and entire dress
It puts with higher reliability.
The content of the invention
In view of the deficiencies in the prior art, the technical problems to be solved by the invention are a kind of new mechanical arm gravity of exploitation
Balancing device so that also there is higher reliability, the early investment of whole machine balancing device while having higher service life
It is relatively low with later maintenance cost.
To achieve the above object, the present invention provides a kind of gravity balance device of mechanical arm, specifically, the present invention provides
Technical solution it is as follows：
A kind of gravity balance device of mechanical arm, mechanical arm include the first arm and the second arm, and the second arm can be with respect to the first arm
It rotates；Gravity balance device includes scroll spring, the first cylinder and the second cylinder, and the most inside of scroll spring has inner end, most
Outside has outer end；For first cylinder for fixing inner end, the second cylinder is used for fixed outer ends；First cylinder is with the first arm and second
A movement in arm, the second cylinder is with another movement in the first arm and the second arm, and the first cylinder and the second arm are around first
The shaft that arm rotates is coaxial.
Preferably, scroll spring is two groups, and two groups of scroll springs are fixed on the first cylinder and the with opposite bending direction
On two cylinders so that the torque direction that two groups of scroll springs generate the second arm is opposite.
Preferably, two groups of scroll springs are arranged alternately.
Preferably, two groups of scroll springs are distributed in the same side of the first arm or opposite both sides.
Preferably, inner end is interior hook, and outer end is outer hook.
Preferably, scroll spring is non-contact plane scroll spring.
Preferably, the first cylinder is equipped with the groove portion for the interior hook that can accommodate scroll spring.
Preferably, the first cylinder is cylindric that groove portion is extended centrally out from the first cylinder to surface so that scroll spring
When being fixed on by interior hook on the first cylinder, scroll spring most inside and the reliable stress of the first cylinder.
Preferably, the second arm is rotatably fixed on the first arm.
Preferably, the first cylinder is threaded through the second arm in the shaft that the first arm rotates.
Preferably, the first cylinder is two, respectively positioned at the both sides of the first arm.
Preferably, the second cylinder is threaded through on its servo-actuated second arm or the first arm.
Preferably, the second cylinder is connected through a screw thread in the threaded hole being fixed on the second arm or the first arm.
Preferably, the middle part of the second cylinder has screw thread, and the length of screw thread is suitable with the length of threaded hole.
Preferably, the second cylinder is cylindric that diameter is less than or equal to the internal diameter of the outer hook of scroll spring.
A kind of installation method of the gravity balance device of mechanical arm, comprises the following steps：
The first step installs the first cylinder at the first arm of mechanical arm and the shaft of the second arm；
Second cylinder is mounted on the first arm or the second arm by second step, and the first cylinder is fixed by shaft and another arm
Connection；
Scroll spring is mounted on the first cylinder and the second cylinder by the 3rd step, wherein, the interior hook of scroll spring insertion the
In groove portion on one cylinder, the outer hook of scroll spring hooks the second cylinder.
Preferably, in second step, the second cylinder is connected through a screw thread on the first arm or the second arm.
Preferably, in the 3rd step, scroll spring is two groups, is fixed on opposite bending direction on the first cylinder so that
The torque direction that two groups of scroll springs generate the second arm is opposite.
Preferably, two groups of scroll springs are arranged alternately.
Preferably, the second cylinder is threaded through in the first arm or the second arm, and the first cylinder is threaded through in shaft, two groups of scrollwork bullets
Spring is distributed in the both sides of the first arm.
Mechanical arm gravity balance device provided by the invention employs the design of non-contact plane scroll spring, structure
Simply, it is connected by hook inside and outside spring with entire mechanism.Non-contact plane scroll spring effective service life in this mechanism
Tens million of Xun Huans can be reached, and it substantially decays in entire life cycle without torque, and reliability is high.
Non-contact plane scroll spring in balancing device can directly export linear torque in its operation interval, can be with
In perfect matching lever arm rotary course as caused by itself weight torque, reduce the load of motor.
The rotation demand of lever arm 180 degree can be realized using the oppositely arranged balancing device of two groups of springs, is greatly increased
The scope of activities of mechanical arm is added, while the set-up mode of two groups of springs can also cancel out each other and hang down caused by scroll spring countershaft
Directly in the torque influence of rotation direction, the damage of balancing device countershaft is reduced.
The mechanical arm gravity balance device of the present invention is relatively simple for the transformation of existing balanced controls, in existing balancing machine
The change in design installed additional on structure involved by scroll spring is few, and only increases corresponding connecting component, and the cost of whole system is very
It is low, and its later stage use, substantially without maintenance, the use cost in later stage is very low, can be in minimum structure design more
Change and be issued to maximum desired effect.
The method of the present invention and the technique effect of generation are described further below with reference to attached drawing, to be fully understood from
The purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the structure diagram for the scroll spring that the present invention uses
Fig. 2 is the equilibrium state schematic diagram of the first embodiment of the present invention
Fig. 3 is the rotary state schematic diagram of the first embodiment of the present invention
Fig. 4 is the equilibrium state schematic diagram of the second embodiment of the present invention
Fig. 5 is the rotary state schematic diagram of the second embodiment of the present invention
Fig. 6 is the structure diagram for the scroll spring being reversed
Fig. 7 is the equilibrium state schematic diagram of the third embodiment of the present invention
Fig. 8 is the rotary state schematic diagram of the third embodiment of the present invention
Fig. 9 is the equilibrium state schematic diagram of the fourth embodiment of the present invention
Figure 10 is the rotary state schematic diagram of the fourth embodiment of the present invention
Figure 11 is the equilibrium state schematic diagram of the fifth embodiment of the present invention
Figure 12 is the rotary state schematic diagram of the fifth embodiment of the present invention
Figure 13 is the equilibrium state schematic diagram of the sixth embodiment of the present invention
Figure 14 is the rotary state schematic diagram of the sixth embodiment of the present invention
Specific embodiment
The gravity balance device of the mechanical arm of the present invention is mainly reached in mechanical arm from vertical direction extremely using scroll spring
The effect of balancing mechanical arm gravity in horizontal direction rotation process, reaches mitigation motor load, reduces the purpose of energy consumption.According to machine
This working range of tool arm, the scroll spring that the present invention uses is preferably non-contact plane scroll spring, as shown in Figure 1.
Scroll spring 10 includes spring body 100, interior hook 110 and outer hook 120.Wherein spring body 100 is in free state and work shape
Under state, be at contactless state between layers, so as to avoid because its own between layers during the motion
Phase mutual friction is generated, the service life is caused to decline, using the balancing device of this spring, theoretically highest can reach for ten million rank longevity
Life and torque attenuation very small, such projected life and its mechanicalness of its own in corresponding life cycle
Entire gravity balance device can be supported complete non-maintaining in the life cycle of mechanical arm enough.The spring is in working condition
Under, the interior hook 110 and outer hook 120 of spring can generate opposite rotary motion under the effect of external force, the bullet during movement
Spring body 100 can store external work, and energy when return motion stored by it can be corresponding
It releases.
According to the characteristics of scroll spring and the actual demand of mechanical arm hunting range, the gravitational equilibrium of mechanical arm of the invention
Device can elaborate there are many set-up mode below for different performances.
Embodiment one
The movement to 90 degree of swing sections of horizontal level is one-directionally rotated from vertical position for mechanical arm, can be used single
Group scroll spring is arranged in the same direction at mechanical arm shaft, and the gravity balance device of the mechanical arm of the present embodiment is with single scroll spring
Exemplified by, as shown in Figure 2.Wherein mechanical arm include the first arm 210 and the second arm 220, usual first arm 210 be it is fixed,
Alternatively referred to as fixed arm or fixed pedestal, the second arm 220 can be rotated relative to the first arm 210, in this embodiment by shaft
It is connected, can be freely rotated around the shaft with the first arm 210, therefore the second arm 220 is alternatively referred to as lever arm.The gravity of the present embodiment is put down
The device that weighs includes scroll spring 10, the first cylinder 30 and the second cylinder 40.Scroll spring 10 is solid by interior hook 110 and outer hook 120
It is scheduled on the first cylinder 30 and the second cylinder 40.First cylinder 30 is coaxial with shaft, is fixed on the first arm 210, and with can
Accommodate the groove portion 310 of the interior hook 110 of scroll spring 10.The groove portion 310 extends from the center of the first cylinder 30 to side, on surface
Place has opening.First cylinder 30 is generally cylindrical so that 10 innermost inner wall of scroll spring can be with the first cylinder 30
The reliable stress in side.The end of second cylinder 40 has screw thread, is connected through a screw thread the threaded hole being fixed on the second arm 220
In.Reach on the end of second cylinder 40 is suitable with the screw thread hole length on the second arm 220 so that the second cylinder 40 is twisted
When entering in the second arm 220, the end of the second cylinder 40 and another flush of the second arm 220.Second cylinder 40 to be cylindric,
Its diameter is less than or equal to the internal diameter of the outer hook 120 of scroll spring 10 so that outer hook 120 is after the second cylinder 40 is hooked, when the
When two arms 220 drive the rotation of scroll spring 10, outer 120 and second cylinder of hook, 40 stable connection is not easy to loosen.
In other embodiments, the first cylinder 30 can be also threaded through in the shaft of the first arm 210, fixed with the first arm 210
Connection.Second cylinder 40 can be fixed on by other connection modes such as riveting on the second arm 220 or with the one of the second arm 220
Shaping.In addition, the first cylinder 30 and the second cylinder 40 can not be also directly connected to the first arm 210 and the second arm 220, as long as first
30 and second cylinder 40 of cylinder moves respectively with the first arm 210 and the second arm 220.
As Fig. 3 shows the rotary state of the gravity balance device of the mechanical arm of the present embodiment.From the figure, it can be seen that work as
Second arm 220 from vertical position turn to horizontal level when, the second cylinder 40 drive scroll spring 10 outer hook 120 turn around the shaft
90 degree are moved.Since the first cylinder 30 is fixedly connected with the first arm 110, the scroll spring being fixed on the first cylinder 30
10 110 position of interior hook is constant.That is the spring body 100 of scroll spring 10 is forced to deformation, stores elastic potential energy.In the second arm
In 220 this rotation process, since the interior hook 110 of scroll spring 10 is fixed, outer hook 120 can be right by the second cylinder 40
Second arm 220 applies reversed power, and the angle rotated with the second arm 220 increases and increases, that is, plays the second arm 220 of balance
The effect of gravity so as to alleviate the load of motor, reduces energy consumption.
In the gravity balance device of the mechanical arm of the present embodiment, scroll spring 10 is arranged on the first cylinder 30 and the second column
On body 40.When the second arm 220 of mechanical arm is in vertical position, scroll spring 10 should set certain pretightning force so that outer
120 and second cylinder 40 of hook keeps connection.
Embodiment two
Present embodiments provide the set-up mode of another gravity balance device.It is as shown in figure 4, different from embodiment one
, the first cylinder 30 is fixed on the second arm 220 in the present embodiment, and with the interior hook 110 that can accommodate scroll spring 10
Groove portion 310.The end of second cylinder 40 has screw thread, is connected through a screw thread in the threaded hole being fixed on the first arm 210, is used for
Hook the outer hook 120 of scroll spring 10.At this point, the first cylinder 30 and the second arm 220 that are fixed on the second arm 220 are around the first arm
The shafts of 210 rotations are coaxial or in other embodiments, and the first cylinder 30 can be also threaded through in the shaft, with second
Arm 220 is fixedly connected, and is rotated together around the first arm 210.Fig. 5 shows the rotary state schematic diagram of the present embodiment, when the second arm
220 after the first arm 210 rotates 90 degree, and the second arm 220 drives the interior hook 110 of scroll spring 10 to have rotated by the first cylinder 30
90 degree.It is fixed since the outer hook 120 of scroll spring 10 is hooked on the second cylinder 40 on the first arm 210, therefore scrollwork bullet
The spring body 100 of spring 10 is forced to deformation, stores elastic potential energy.In this rotation process of the second arm 220, interior hook 110
Reversed power can be applied to the second arm 220 by the first cylinder 30, and the angle rotated with the second arm 220 increases and increases,
Play the role of balancing 220 gravity of the second arm, so as to alleviate the load of motor, reduce energy consumption.
Embodiment three
The embodiment of the present invention one and embodiment two are set in the same direction using single group scroll spring, realize mechanical arm from vertical
Position one-directionally rotates the movement to 90 degree of swing sections of horizontal level.But when mechanical arm needs to swing section fortune in 180 degree
When dynamic, the setting of such single group scroll spring can not be completed.Because when the second arm 220 of mechanical arm is to scroll spring 10
Outer hook 120 opposite side rotate when, scroll spring 10 cannot with the rotational angle of the second arm 220 increase and bigger be provided
Opposition, and when 220 rotational angle of the second arm is excessive, the outer hook 120 of scroll spring 10 is also possible to and 40 pine of the second cylinder
It is de-, the risk of gravity balance device is deviate from so as to cause scroll spring 10.
In order to make mechanical arm that there is the slewing area of bigger, meet mechanical arm and turn to opposite side from the horizontal level of one side
Horizontal level actual needs, the present invention also can be used two groups of oppositely arranged modes of scroll spring be fixed on mechanical arm turn
At axis.It is this it is oppositely arranged refer to scroll spring 101,102 spring body it is coaxial, but bending direction is opposite (see Fig. 6).Accordingly
, the internal and external hook direction of scroll spring 101,102 is also opposite.
In this case, using the vertical state of lever arm as initial point, the two groups of scroll springs installed on the contrary must be provided with
Identical installation pretightening force not less than 90 degree, to ensure that lever arm is swung in its desired 180 degree in section, this two groups of scrollworks
The inside and outside hook of spring will not generate the phenomenon that being separated with corresponding first cylinder and the second cylinder.Ensure lever arm perpendicular simultaneously
During straight state, two groups of scroll springs can just reach balance to the torque that lever arm generates.When lever arm from vertical state toward appoint
One side anticipate when rotating, the scroll spring of one of direction installation is kept and the first cylinder and the by the preload set by itself
Two cylinders are connected, and the spring of another direction installation is then responsible for storage elastic potential energy, and to lever arm generation and gravity
The torque of opposite direction plays the effect of balancing activity arm gravity, and vice versa.
As shown in fig. 7, the gravity balance device of the mechanical arm of the present embodiment is said so that two scroll springs are oppositely arranged as an example
The set-up mode of the bright gravity balance device.Wherein gravity balance device includes scroll spring 101,102, the first cylinder 30 and the
Two cylinders 40.The mounting means of the gravity balance device of the present embodiment is identical with embodiment one, and difference lies in the present embodiment to include
Two scroll springs 101,102, the two scroll springs are oppositely arranged in the same side of mechanical arm, i.e. scroll spring 101 and 102
It is all located at the one side of the second arm 220.Fig. 8 shows the rotary state of the present embodiment, when the second arm 220 is turned to from vertical position
During horizontal level, the first cylinder 30 is fixed on the first arm 210 and remains stationary as, and the second cylinder 40 rotates together with the second arm 220
Axis rotates, and scroll spring 101 gradually loosens at this time, and the torque that the second arm 220 generates is reduced；Scroll spring 102 gradually reduces,
The torque that second arm 220 generates is increased, and it is opposite with the torque that 220 gravity of the second arm generates.Therefore 101 He of scroll spring
The whole torque to the generation of the second arm 220 of 102 compositions gradually increases with the angle that the second arm 220 rotates, and plays balance weight
The effect of power effect.
Example IV
As shown in figure 9, the present embodiment illustrates the gravity balance device equally by taking two scroll springs are oppositely arranged as an example
Another set-up mode.In the present embodiment, the first cylinder 30 is fixedly connected through shaft and with the first arm 210, the second cylinder
40 are threaded through in the second arm 220, and the middle part of the second cylinder 40 has the screw thread being fixedly connected with the threaded hole of the second arm 220.Whirlpool
Coil spring 101 and 102 is located in the both sides of mechanical arm respectively, oppositely arranged to be fixed on the first cylinder 30 and the second cylinder 40.
The gravity balance device of the present embodiment is identical with the balancing device operation principle in embodiment three, and can realize identical function,
Figure 10 gives the rotary state schematic diagram of the present embodiment.
In other examples, there are two the first cylinder 30 and the second cylinder 40 may also be each, it is oppositely disposed at the
The both sides of one arm 210 and the second arm 220 are respectively used to fixed scroll spring 101 and 102.
The embodiment of the present invention three and example IV can also be respectively with embodiment two set-up mode combined, i.e. the second cylinder
40 are arranged on the first arm 210, remain stationary as, and the first cylinder 30 is arranged on the second arm 220, with 220 turns of the second arm
It is dynamic.So as to obtain embodiment five and embodiment six, equilibrium state and rotary state are as illustrated in figs. 11-14.It should be noted that
Although embodiment three to six is all so that two scroll springs are oppositely arranged as an example, two groups of multiple scroll springs equally can be with
With a variety of set-up modes superposition installation described in embodiment on the robotic arm, the torque of bigger is provided for mechanical arm, balance is lived
The larger mechanical arm of swing arm weight.
The inner end of scroll spring and outer end are interior hook and outer hook in an embodiment of the present invention, for the first cylinder and the
Two cylinders are fixed, it should be noted that in other embodiments, can also use other common modes that are fixedly connected makes scrollwork
The inner end and outer end of spring are fixed on the first cylinder and the second cylinder.
The preferred embodiment of the present invention described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made work, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (20)
1. a kind of gravity balance device of mechanical arm, it is characterised in that：
The mechanical arm includes the first arm and the second arm, and second arm can be rotated relative to first arm；
The gravity balance device includes scroll spring, the first cylinder and the second cylinder, and the most inside of the scroll spring has
Inner end, outermost have outer end；For first cylinder for fixing the inner end, second cylinder is described outer for fixing
End；
First cylinder is with a movement in first arm and second arm, and second cylinder is with first arm
With another movement in second arm, first cylinder is same around the shaft that first arm rotates with second arm
Axis.
2. the gravity balance device of mechanical arm as described in claim 1, which is characterized in that the scroll spring be two groups, two
The group scroll spring is fixed on opposite bending direction on first cylinder and second cylinder so that described two groups
The torque direction that scroll spring generates second arm is opposite.
3. the gravity balance device of mechanical arm as claimed in claim 2, which is characterized in that scroll spring described in two groups is alternately set
It puts.
4. the gravity balance device of mechanical arm as claimed in claim 2, which is characterized in that scroll spring described in two groups is distributed in
The same side or opposite both sides of first arm.
5. the gravity balance device of mechanical arm as described in claim 1, which is characterized in that the inner end is interior hook, described outer
It holds as outer hook.
6. the gravity balance device of mechanical arm as described in claim 1, which is characterized in that the scroll spring is contactless
Plane scroll spring.
7. the gravity balance device of mechanical arm as claimed in claim 5, which is characterized in that first cylinder, which is equipped with, to be held
Receive the scroll spring the interior hook groove portion.
8. the gravity balance device of mechanical arm as claimed in claim 7, which is characterized in that first cylinder to be cylindric,
The groove portion is extended centrally out from first cylinder to surface so that the scroll spring is fixed on institute by the interior hook
When stating on the first cylinder, the scroll spring most inside and the reliable stress of the first cylinder.
9. the gravity balance device of mechanical arm as described in claim 1, which is characterized in that second arm is rotatably fixed
On first arm.
10. the gravity balance device of mechanical arm as described in claim 1, which is characterized in that first cylinder is threaded through institute
The second arm is stated in the shaft that first arm rotates.
11. the gravity balance device of mechanical arm as claimed in claim 2, which is characterized in that first cylinder is two, point
Not Wei Yu the first arm both sides.
12. the gravity balance device of mechanical arm as claimed in claim 9, which is characterized in that second cylinder is threaded through it
On servo-actuated second arm or first arm.
13. the gravity balance device of mechanical arm as claimed in claim 12, which is characterized in that second cylinder passes through screw thread
It is fastened in the threaded hole on second arm or first arm.
14. the gravity balance device of mechanical arm as claimed in claim 13, which is characterized in that the middle part tool of second cylinder
There is screw thread, the length of the screw thread is suitable with the length of the threaded hole.
15. the gravity balance device of mechanical arm as claimed in claim 12, which is characterized in that second cylinder is cylinder
Shape, diameter are less than or equal to the internal diameter of the outer hook of the scroll spring.
16. a kind of installation method of the gravity balance device of mechanical arm, which is characterized in that comprise the following steps：
The first step installs the first cylinder at the first arm of mechanical arm and the shaft of the second arm；
Second cylinder is mounted on the first arm or the second arm by second step, and the first cylinder is fixedly connected by shaft with another arm；
Scroll spring is mounted on the first cylinder and the second cylinder by the 3rd step, wherein, the interior hook of scroll spring is embedded in the first column
In groove portion on body, the outer hook of scroll spring hooks the second cylinder.
17. the remodeling method of mechanical arm as claimed in claim 16, which is characterized in that in the second step, the second cylinder leads to
Threaded connection is crossed on the first arm or the second arm.
18. the remodeling method of mechanical arm as claimed in claim 16, which is characterized in that in the 3rd step, scroll spring is
It two groups, is fixed on opposite bending direction on the first cylinder so that the torque direction that two groups of scroll springs generate the second arm
On the contrary.
19. the remodeling method of mechanical arm as claimed in claim 18, which is characterized in that two groups of scroll springs are arranged alternately.
20. the remodeling method of mechanical arm as claimed in claim 18, which is characterized in that the second cylinder is threaded through the first arm or
In two arms, the first cylinder is threaded through in shaft, and two groups of scroll springs are distributed in the both sides of the first arm.
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| CN201611046867.6A CN108081310A (en) | 2016-11-23 | 2016-11-23 | A kind of gravity balance device of mechanical arm |
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| CN109397277A (en) * | 2018-10-22 | 2019-03-01 | 邹务丰 | A kind of mechanical arm energy and labour saving mechanism |
| CN110181505A (en) * | 2019-04-22 | 2019-08-30 | 珠海格力智能装备有限公司 | The method and robot that the speed reducer of robot determines |
| JP2020028969A (en) * | 2018-08-15 | 2020-02-27 | ナブテスコ株式会社 | Rotation holding device, and robot |
| 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 |
| CN111941435A (en) * | 2020-08-11 | 2020-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional carrying robot |
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| 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 |
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| CN108578178B (en) * | 2018-06-27 | 2023-10-13 | 杭州风行医疗器械有限公司 | Intelligent rehabilitation system for lower limbs of children |
| CN108578178A (en) * | 2018-06-27 | 2018-09-28 | 杭州风行医疗器械有限公司 | A kind of lower limbs of children intelligent rehabilitation system |
| JP2020028969A (en) * | 2018-08-15 | 2020-02-27 | ナブテスコ株式会社 | Rotation holding device, and robot |
| JP7399645B2 (en) | 2018-08-15 | 2023-12-18 | ナブテスコ株式会社 | Rotating holding device and robot |
| CN109397277B (en) * | 2018-10-22 | 2022-05-06 | 北京卡雷尔机器人技术有限公司 | Energy-saving and labor-saving mechanism for mechanical arm |
| CN109397277A (en) * | 2018-10-22 | 2019-03-01 | 邹务丰 | A kind of mechanical arm energy and labour saving mechanism |
| TWI725349B (en) * | 2018-10-26 | 2021-04-21 | 緯創資通股份有限公司 | Overload protection mechanism and image detection device |
| CN110181505A (en) * | 2019-04-22 | 2019-08-30 | 珠海格力智能装备有限公司 | The method and robot that the speed reducer of robot determines |
| 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 |
| CN111388273B (en) * | 2020-03-24 | 2021-04-27 | 吉林大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN111388273A (en) * | 2020-03-24 | 2020-07-10 | 吉林大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN111941435A (en) * | 2020-08-11 | 2020-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional carrying 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 |
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Application publication date: 20180529 |