CN112497261B - Rotary joint with gravity balance and damping adjustable functions - Google Patents
Rotary joint with gravity balance and damping adjustable functions Download PDFInfo
- Publication number
- CN112497261B CN112497261B CN202011476544.7A CN202011476544A CN112497261B CN 112497261 B CN112497261 B CN 112497261B CN 202011476544 A CN202011476544 A CN 202011476544A CN 112497261 B CN112497261 B CN 112497261B
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- damping
- flange
- locking
- rotary
- adjusting
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- 238000013016 damping Methods 0.000 title claims abstract description 108
- 230000005484 gravity Effects 0.000 title claims abstract description 29
- 230000006835 compression Effects 0.000 claims abstract description 30
- 238000007906 compression Methods 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 229910002804 graphite Inorganic materials 0.000 claims description 6
- 239000010439 graphite Substances 0.000 claims description 6
- 230000003993 interaction Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention relates to a rotary joint with functions of gravity balance and damping adjustment, and belongs to the technical field of automatic equipment. The device comprises a base, a rotary supporting seat, a rotary main shaft, a compression flange, a gravity balancing device and a damping locking device; the base is provided with a rotary supporting seat, a rotary main shaft is arranged in the rotary supporting seat, and one end of the rotary main shaft is provided with a compression flange; a gravity balance device is arranged between the compression flange and the base; a damping locking device is arranged on one side of the compression flange, which is far away from the rotary main shaft; after the structure provided by the invention is adopted, in some manually operated swing arm scenes, the rotary joint mechanism can be more compact, the swing arm adjustment is more labor-saving and stable, and the positioning of the swing arm is more accurate.
Description
Technical Field
The invention relates to a rotary joint with functions of gravity balance and damping adjustment, and belongs to the technical field of automatic equipment.
Background
In the prior art, the turnover mechanism only has a single rotation function, and can not realize the functions of balancing gravity and adjusting damping. The man-machine interaction is time-consuming and labor-consuming, and the control force is not good, so the man-machine interaction method cannot adapt to the action of high-frequency man-machine interaction.
Disclosure of Invention
The invention aims to solve the technical problem of how to design a rotary joint with functions of gravity balance and damping adjustment, and provide a stable state for man-machine interaction of overturning actions so as to realize reliable high-frequency man-machine interaction overturning actions which accord with ergonomics.
In order to solve the problems, the technical scheme adopted by the invention is to provide a rotary joint with functions of gravity balance and damping adjustment; the device comprises a base, a rotary supporting seat, a rotary main shaft, a compression flange, a gravity balancing device and a damping locking device; the base is provided with a rotary supporting seat, a rotary main shaft is arranged in the rotary supporting seat, and one end of the rotary main shaft is provided with a compression flange; a gravity balance device is arranged between the compression flange and the base; and a damping locking device is arranged on one side of the compression flange, which is far away from the rotary main shaft.
Preferably, the base is provided with an ear plate, and the ear plate is provided with a rotary supporting seat; a rolling bearing is arranged between the rotary supporting seat and the rotary main shaft inside; the lug plate is provided with a limiting plate, and the compression flange is provided with a boss corresponding to the limiting plate.
Preferably, the gravity balancing device comprises an adjusting bolt, a flange boss, a tension spring and a spring pulling plate; a flange boss is arranged on one side of the compression flange, which is far away from the rotary main shaft, and a spring pull plate is arranged on the flange boss; an adjusting bolt is arranged on the base, and an extension spring is arranged between the adjusting bolt and the spring pulling plate.
Preferably, the damping locking device comprises a damping locking supporting seat, a damping adjusting flange, a locking adjusting flange, a damping mechanism and a locking mechanism; a damping locking supporting seat is arranged on the base corresponding to the end face of the compression flange; a flange boss is arranged between the damping locking support seat and the compression flange; a damping adjusting flange and a locking adjusting flange are arranged at one end of the damping locking supporting seat, which is far away from the compacting flange; a damping mechanism is arranged between the damping adjusting flange and the flange boss; a locking mechanism is arranged between the locking adjusting flange and the flange boss.
Preferably, the damping mechanism comprises a damping adjusting block, a disc spring and a damping rod; the damping adjusting flange is provided with a damping adjusting block, the damping adjusting block is connected with one end of a damping rod through a disc spring, and the other end of the damping rod is connected with a flange boss.
Preferably, the locking mechanism comprises a positioning flange and a locking rod; a positioning flange is arranged between the damping locking support seat and the flange boss, and a positioning hole is formed in the positioning flange; the locking adjusting flange is provided with a locking rod, one end of the locking rod is provided with a knob for rotating the locking rod to enable the locking rod to advance and retreat, and the other end of the locking rod is connected with a positioning hole of the positioning flange.
Preferably, a limiting ring is sleeved on the locking rod, and a graphite copper sleeve is sleeved between the rod body of the locking rod and the damping locking support seat.
Compared with the prior art, the invention has the following beneficial effects:
after the structure provided by the invention is adopted, in some manually operated swing arm scenes, the rotary joint mechanism can be more compact, the swing arm adjustment is more labor-saving and stable, and the positioning of the swing arm is more accurate.
Drawings
FIG. 1 is a schematic diagram of the component structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the components of the present invention;
reference numerals: 1. a base; 2. a rotary supporting seat; 3. a rotary main shaft; 4. a limiting plate; 5. an adjusting bolt; 6. a flange boss; 7. a tension spring; 8. a spring pull plate; 9. positioning a flange; 10. damping locking supporting seat; 11. damping adjusting flange; 12. a damping adjustment block; 13. locking the adjusting flange; 14. a locking lever; 15. a disc spring; 16. a limiting ring; 17. deep groove ball bearings; 18. a damping rod; 19. compressing the flange; 20. a graphite copper sleeve; 21. a cylindrical bearing base; 22. ear plate.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments accompanied with the accompanying drawings are described in detail as follows:
1-2, the present invention provides a rotary joint with gravity balancing and damping adjustable functions; the device comprises a base 1, a rotary supporting seat 2, a rotary main shaft 3, a compression flange 19, a gravity balancing device and a damping locking device; the base 1 is provided with a rotary support seat 2, a rotary main shaft 3 is arranged in the rotary support seat 2, one end of the rotary main shaft 3 is provided with a compression flange 19, and the other end of the rotary main shaft 3 is provided with a cylindrical bearing base 21; a gravity balance device is arranged between the compression flange 19 and the base 1; the side of the compression flange 19 remote from the swivel spindle 3 is provided with a damping locking device. The base 1 is provided with an ear plate 22, and the ear plate 22 is provided with a rotary supporting seat 2; a deep groove ball bearing 17 is arranged between the rotary support seat 2 and the rotary main shaft 3 inside; the lug plate 22 is provided with a limiting plate 4, and the compression flange 19 is provided with a boss corresponding to the limiting plate 4. The gravity balancing device comprises an adjusting bolt 5, a flange boss 6, a tension spring 7 and a spring pull plate 8; a flange boss 6 is arranged on one side of the compression flange 19 far away from the rotary main shaft 3, and a spring pull plate 8 is arranged on the flange boss 6; an adjusting bolt 5 is arranged on the base 1, and an extension spring 7 is arranged between the adjusting bolt 5 and a spring pulling plate 8. The damping locking device comprises a damping locking supporting seat 10, a damping adjusting flange 11, a locking adjusting flange 13, a damping mechanism and a locking mechanism; a damping locking supporting seat 10 is arranged on the base 1 corresponding to the end face of the compression flange 19; a flange boss 6 is arranged between the damping locking support seat 10 and the compression flange 19; a damping adjusting flange 11 and a locking adjusting flange 13 are arranged at one end of the damping locking supporting seat 10 far away from the compacting flange 19; a damping mechanism is arranged between the damping adjusting flange 11 and the flange boss 6; a locking mechanism is arranged between the locking adjusting flange 13 and the flange boss 6. The damping mechanism comprises a damping adjusting block 12, a disc spring 15 and a damping rod 18; the damping adjusting flange 11 is provided with a damping adjusting block 12, the damping adjusting block 12 is connected with one end of a damping rod 18 through a disc spring 15, and the other end of the damping rod 18 is connected with the flange boss 6. The locking mechanism comprises a positioning flange 9 and a locking rod 14; a positioning flange 9 is arranged between the damping locking support seat 10 and the flange boss 6, and a positioning hole is arranged on the positioning flange 9; the locking adjusting flange 13 is provided with a locking rod 14, one end of the locking rod 14 is provided with a knob for rotating the locking rod 14 to enable the locking rod 14 to advance and retreat, and the other end of the locking rod 14 is connected with a positioning hole of the positioning flange 9. The stop lever 14 is sleeved with a stop collar 16, and a graphite copper sleeve 20 is sleeved between the lever body of the stop lever 14 and the damping locking support seat 10.
Examples
The invention aims to provide a rotary joint device with functions of gravity balance and damping adjustment, which comprises the following components: the damping locking device comprises a base 1, wherein a rotary supporting seat 2 and a damping locking supporting seat 10 are arranged on the base 1; the locking rod 14 penetrates through the lower part of the damping locking support seat 10; the locking adjusting flange 13 is arranged at the lower part of the damping locking supporting seat 10 and is connected with the locking rod 14 through threads; the damping rod 18 is arranged at the upper part of the damping locking support seat 10; the damping adjusting flange 11 is arranged at the upper part of the damping locking supporting seat 10; the damping adjusting block 12 is arranged on the damping adjusting flange 11, and the damping size of the damping rod 18 is controlled through the threaded adjusting disc spring 15; the rotary support seat 2 consists of two lug plates 22 and a cylindrical bearing base 21, and is connected to the base 1 through the lug plates 22; the rotary main shaft 3 is arranged in the rotary support seat 2; the pressing flange 19 is fixed on one side of the rotary main shaft 3; the limiting plate 4 is arranged on the lug plate 22 at one side of the rotary supporting seat 2; one end of the flange boss 6 is connected to the compression flange 19, and the other end is contacted with the damping rod 18; one end of an extension spring 7 is connected to the base 1 through an adjusting bolt 5, and the other end of the extension spring is connected to the flange boss 6 through a spring pulling plate 8; the positioning flange 9 is arranged at one side of the flange boss 6.
In this embodiment, one end of the locking rod 14 is connected to the locking adjustment flange 13 through threads, the other end is connected to the graphite copper sleeve 20 through a pin shaft, and the graphite copper sleeve 20 and the locking adjustment flange 13 are connected to the damping locking support base 10 through bolts. The locking rod 14 is provided with a limiting ring 16, and the end part of the locking rod 14 is a conical head which is matched with a conical hole on the positioning flange 9.
A disc spring 15 is arranged between the damping rod 18 and the damping adjusting flange 11. Ensuring self-compensation of the damping rod 18. The spring pull plate 8 and the adjusting bolt 5 are connected through the tension spring 7; the edge of the compression flange 19 is provided with a boss which is combined with the limiting plate 4 to form limiting. The rotary main shaft 3 is arranged inside the rotary support seat 2, and deep groove ball bearings 17 are arranged between the rotary main shaft 3 and the rotary support seat 2.
The device of the invention balances the gravity of the swing arms through the tension spring, and the rotary main shaft is provided with the connecting flange through the rotary damping of the damping rod adjusting system, so that the device can be connected with various swing arms.
When the swing arm moves upwards, the tension spring 7 contracts to balance the gravity of the swing arm until the boss of the pressing flange 19 touches the limiting plate 4, the swing arm can be known to be in place, the locking rod 14 is rotated, and the accurate positioning of the swing arm is formed through the cooperation of the conical head of the locking rod 14 and the conical hole of the positioning flange 9.
When the swing arm moves downwards, the locking rod 14 is screwed out outwards firstly until the limiting ring 16 touches the damping locking support seat 10, then the swing arm is put down, the tension spring 7 stretches and balances the gravity of the swing arm, and the swing arm can be stably placed in place through the action of the damping rod 18, and the locking rod 14 is rotated, so that the swing arm is positioned.
While the invention has been described with respect to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Equivalent embodiments of the present invention will be apparent to those skilled in the art having the benefit of the teachings disclosed herein, when considered in the light of the foregoing disclosure, and without departing from the spirit and scope of the invention; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present invention still fall within the scope of the technical solution of the present invention.
Claims (6)
1. A rotary joint with gravity balance and damping adjustable function, which is characterized in that: the device comprises a base, a rotary supporting seat, a rotary main shaft, a compression flange, a gravity balancing device and a damping locking device; the base is provided with a rotary supporting seat, a rotary main shaft is arranged in the rotary supporting seat, and one end of the rotary main shaft is provided with a compression flange; a gravity balance device is arranged between the compression flange and the base; a damping locking device is arranged on one side of the compression flange, which is far away from the rotary main shaft;
the damping locking device comprises a damping locking supporting seat, a damping adjusting flange, a locking adjusting flange, a damping mechanism and a locking mechanism; a damping locking supporting seat is arranged on the base corresponding to the end face of the compression flange; a flange boss is arranged between the damping locking support seat and the compression flange; a damping adjusting flange and a locking adjusting flange are arranged at one end of the damping locking supporting seat, which is far away from the compacting flange; a damping mechanism is arranged between the damping adjusting flange and the flange boss; a locking mechanism is arranged between the locking adjusting flange and the flange boss.
2. A rotary joint with gravity balance and damping adjustment function according to claim 1, characterized in that: the base is provided with an ear plate, and the ear plate is provided with a rotary supporting seat; a bearing is arranged between the rotary supporting seat and the rotary main shaft inside; the lug plate is provided with a limiting plate, and the compression flange is provided with a boss corresponding to the limiting plate.
3. A rotary joint with gravity balance and damping adjustment function according to claim 1, characterized in that: the gravity balancing device comprises an adjusting bolt, a flange boss, an extension spring and a spring pulling plate; a flange boss is arranged on one side of the compression flange, which is far away from the rotary main shaft, and a spring pull plate is arranged on the flange boss; an adjusting bolt is arranged on the base, and an extension spring is arranged between the adjusting bolt and the spring pulling plate.
4. A rotary joint with gravity balance and damping adjustment function according to claim 1, characterized in that: the damping mechanism comprises a damping adjusting block, a disc spring and a damping rod; the damping adjusting flange is provided with a damping adjusting block, the damping adjusting block is connected with one end of a damping rod through a disc spring, and the other end of the damping rod is connected with a flange boss.
5. A rotary joint with gravity balance and damping adjustment function according to claim 4, wherein: the locking mechanism comprises a positioning flange and a locking rod; a positioning flange is arranged between the damping locking support seat and the flange boss, and a positioning hole is formed in the positioning flange; the locking adjusting flange is provided with a locking rod, one end of the locking rod is provided with a knob for rotating the locking rod to enable the locking rod to advance and retreat, and the other end of the locking rod is connected with a positioning hole of the positioning flange.
6. A rotary joint with gravity balance and damping adjustment function according to claim 5, characterized in that: and a limiting ring is sleeved on the locking rod, and a graphite copper sleeve is sleeved between the rod body of the locking rod and the damping locking support seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011476544.7A CN112497261B (en) | 2020-12-15 | 2020-12-15 | Rotary joint with gravity balance and damping adjustable functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011476544.7A CN112497261B (en) | 2020-12-15 | 2020-12-15 | Rotary joint with gravity balance and damping adjustable functions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112497261A CN112497261A (en) | 2021-03-16 |
| CN112497261B true CN112497261B (en) | 2023-12-22 |
Family
ID=74973556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011476544.7A Active CN112497261B (en) | 2020-12-15 | 2020-12-15 | Rotary joint with gravity balance and damping adjustable functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112497261B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104875833A (en) * | 2015-06-26 | 2015-09-02 | 朱子毅 | Locking device for folding joint |
| CN106584511A (en) * | 2016-12-30 | 2017-04-26 | 哈尔滨思哲睿智能医疗设备有限公司 | Gravity balance device used for pitching joint |
| DE102018121806A1 (en) * | 2018-09-06 | 2020-03-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Articulation device for a robot and robot |
| CN111376310A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Multi-degree-of-freedom damping type mechanical arm |
| CN214446506U (en) * | 2020-12-15 | 2021-10-22 | 上海机器人产业技术研究院有限公司 | Rotary joint with gravity balance and damping adjustable functions |
-
2020
- 2020-12-15 CN CN202011476544.7A patent/CN112497261B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104875833A (en) * | 2015-06-26 | 2015-09-02 | 朱子毅 | Locking device for folding joint |
| CN106584511A (en) * | 2016-12-30 | 2017-04-26 | 哈尔滨思哲睿智能医疗设备有限公司 | Gravity balance device used for pitching joint |
| DE102018121806A1 (en) * | 2018-09-06 | 2020-03-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Articulation device for a robot and robot |
| CN111376310A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Multi-degree-of-freedom damping type mechanical arm |
| CN214446506U (en) * | 2020-12-15 | 2021-10-22 | 上海机器人产业技术研究院有限公司 | Rotary joint with gravity balance and damping adjustable functions |
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| Publication number | Publication date |
|---|---|
| CN112497261A (en) | 2021-03-16 |
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