CN116928288A - Self-weight balancing assembly, self-weight balancing device and self-weight balancing method - Google Patents

Abstract

The application relates to a self-weight balancing assembly, a self-weight balancing device and a self-weight balancing method, wherein the self-weight balancing assembly comprises a cylinder sleeve, a piston transmission part, a connecting part, a guide mechanism and a floating piston part; the cylinder sleeve is provided with an adjusting cavity, and compressed gas is input into the adjusting cavity; the floating piston part is accommodated in the adjusting cavity, the piston transmission part is arranged in the adjusting cavity and is in floating fit with the cylinder sleeve, and the piston transmission part is connected with the guide mechanism through the connecting part; the floating piston member adjusts the position of the piston transmission member under the action of the compressed gas so that the guide mechanism moves in the movement direction of the piston transmission member. The piston driving part moves along the moving direction through compressed gas, so that the guiding mechanism is driven to drive the load to move along the moving direction, the fluctuation range of the movement is small, the controllability is high, the adjustment is easy, the self-weight is light, the friction resistance is small, the cost is low, the low-friction self-weight balance is realized, and the self-weight balancing mechanism can be applied to any mechanism needing to balance the self-weight or the self-weight component.

Description

Self-weight balancing assembly, self-weight balancing device and self-weight balancing method

Technical Field

The application relates to the field of self-weight balance, in particular to a self-weight balance assembly, a self-weight balance device and a self-weight balance method.

Background

The self-weight balance weight mechanism generally uses a weight system as mechanism stress supplement, realizes a stable gravity environment, and can be used in an application environment with higher precision requirements.

Traditional deadweight balancing includes the following: mechanical springs such as conventional extension or compression springs, constant force springs, magnetic springs, nitrogen balancers, cylinders such as conventional cylinders or air bearing cylinders, mass weights, etc.

The Chinese patent with publication number CN112728045A discloses a gravity self-balancing exhaust device for a mechanical arm gear box, which comprises a base, a gravity balancing mechanism and an exhaust valve; the gravity balance mechanism comprises a connecting shaft, a bearing, an upper balance swing rod, a lower balance swing rod and a balancing weight, wherein the connecting shaft is fixedly connected with the base, the bearing is arranged outside the connecting shaft, the upper balance swing rod and the lower balance swing rod are respectively arranged on two sides of the bearing and are positioned on the same straight line, and the balancing weight is arranged at the bottom end of the lower balance swing rod; the exhaust valve is arranged at the top end of the upper balance swing rod and is elastically connected with the mechanical arm gear box through the exhaust pipe. The application ensures that the redundant pressure is discharged in time after the oil in the gear box is heated and expanded after the mechanical arm runs at high speed for a long time, solves the problem of gear oil leakage, and further ensures the quality of cut tobacco. The application adopts the dead weight balancing mode of the mass balancing weight.

The Chinese patent with the publication number of CN104526684A discloses a high-rigidity hybrid robot capable of realizing gravity self-balancing, which comprises a positioning head which can be rotationally connected to one side of a movable platform, a fixing frame which is positioned on the other side of the movable platform, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a fifth branched chain, wherein the first branched chain can horizontally rotate and penetrates through a through hole in the middle of the fixing frame, the tail end of the first branched chain is fixedly connected with the movable platform which is positioned on one side of the fixing frame, the top end of the first branched chain is positioned on the other side of the fixing frame, the second branched chain and the third branched chain respectively can horizontally rotate and penetrate through holes on two sides of the through hole in the middle of the fixing frame, the second branched chain and the third branched chain are symmetrically arranged on the left side and the right side of the first branched chain, the tail end of the second branched chain and the fifth branched chain are symmetrically arranged on the upper side and the lower side of the first branched chain, the tail end of the fourth branched chain and the fifth branched chain are symmetrically hinged on the upper side and lower sides of the movable platform, and the top end of the fourth branched chain is symmetrically arranged on the side and the side of the movable platform, and the top of the fifth branched chain is symmetrically. The application can realize gravity self-balancing and does not generate additional counter force. The application adopts the dead weight balance mode of the air cylinder.

The disadvantages of using mechanical springs, such as conventional tension springs or compression springs, are briefly described as follows: since the tensile spring force of the extension spring is equal to the spring initial tension plus the spring constant times the spring extension length, i.e., f=f+kχΔl1; wherein F is tensile elasticity, F is initial tension of the spring, K is elastic coefficient, and DeltaL 1 is tensile length of the spring; the compression spring has a compression spring force equal to the spring rate multiplied by the spring compression length, i.e. f=kxΔl2, where F is the tension spring force, K is the spring rate, Δl2 is the spring compression length, so that the tension spring force or the compression spring force of the spring is different when the spring is stretched or compressed to different positions, and therefore, it is impossible to realize that the motion mechanism completely balances all the dead weights of the motion part in the motion stroke, resulting in that the system cannot control precision and stability are relatively poor, the system cannot be used in mechanisms with low requirements, and the spring has a fatigue life problem, and the spring changes with the increase of the service time.

The disadvantages of using a constant force spring are briefly described as follows: on the one hand, the tension required by balance cannot be adjusted, the tension of the spring is determined once the spring is selected to be fixed, the tension cannot be adjusted, and if the gravity of the moving part of the mechanism is different from the tension of the spring, the spring cannot be used and the spring must be customized again; on the other hand, the service life of the constant force spring is short, and the constant force spring is greatly influenced by external factors, and the service life of the constant force spring is between thousands of times and ten thousands of times.

The use of a magnetic spring and nitrogen balancer has the disadvantage that the tension required for balancing cannot be adjusted, the spring tension is determined once the spring is selected, the adjustment cannot be made, and the spring cannot be used and must be re-customized if the weight of the moving part of the mechanism is different from the spring tension.

The disadvantage of using the common cylinder is that the accurate control of the force cannot be realized because of the large friction force between the piston and the cylinder body; the use of air bearing cylinders is prohibitively expensive and application-constrained.

The use of a mass balancing weight has the disadvantage of increasing the mass of the entire moving part, increasing the inertia of the system, reducing the dynamic movement performance, and additionally requiring a larger space.

Disclosure of Invention

Based on this, it is necessary to provide a weight balancing assembly, a weight balancing device, and a weight balancing method.

In one embodiment, a self-weight balancing assembly includes a cylinder liner, a piston driving member, a connecting member, a guide mechanism, and a floating piston member;

the cylinder sleeve is provided with an adjusting cavity which is used for inputting compressed gas;

the floating piston member is accommodated in the adjusting cavity, the piston transmission member is partially arranged in the adjusting cavity, the piston transmission member is in floating fit with the cylinder sleeve, and the piston transmission member is connected with the guide mechanism through the connecting member;

the floating piston member is used for adjusting the position of the piston transmission member under the action of the compressed gas so as to enable the guide mechanism to move along the movement direction of the piston transmission member.

The self-weight balancing assembly realizes the movement of the piston transmission part along the movement direction through compressed gas, thereby driving the guide mechanism to drive the load to move along the movement direction, and has the advantages of small fluctuation range of movement, high controllability, easy adjustment, light self weight, small friction resistance and low cost, realizes low friction self-weight balancing, and can be applied to any mechanism needing to balance self weight or self-weight component force.

In one embodiment, the deadweight assembly further comprises a support frame, and the cylinder liner is fixed on the support frame.

In other embodiments, the cylinder liner is adapted to be mounted in an external position.

In one embodiment, the deadweight assembly further comprises a support base, and the support frame is fixed on the support base.

In one embodiment, the guiding mechanism is slidably connected with the supporting frame, and the guiding mechanism is used for sliding on the supporting frame under the driving of the piston driving piece.

In one embodiment, the cylinder sleeve is integrally arranged with the support frame; and/or the number of the groups of groups,

the support frame is provided with a guide piece, and the guide mechanism is arranged on the guide piece in a sliding way.

In one embodiment, the floating piston member comprises a piston ball, a piston block, or a piston plate.

In one embodiment, the connecting piece is integrally provided with the guide mechanism; and/or the number of the groups of groups,

the piston transmission piece passes through the connecting piece and is tightly connected with the connecting piece; and/or the number of the groups of groups,

the extending direction of the guide mechanism, the moving direction of the piston transmission member and the extending direction of the piston transmission member are the same.

In one embodiment, the deadweight balance assembly further comprises a gas valve mounted on the cylinder liner and in communication with the adjustment chamber, the adjustment chamber being configured to input compressed gas through the gas valve.

In one embodiment, the deadweight balance assembly further comprises a pressure stabilizing adjusting valve and an air pipe;

the pressure stabilizing regulating valve is used for inputting compressed gas and regulating and controlling pressure, and is communicated with the regulating cavity through the air pipe.

In one embodiment, a self-weight balancing device includes a load to be balanced and any of the self-weight balancing assemblies of the embodiments, the load to be balanced being mounted on a guide mechanism of the self-weight balancing assembly.

In one embodiment, a method of deadweight balancing includes the steps of:

s100, judging whether the dead weight is balanced, otherwise, executing the subsequent step 200;

s200, determining an unbalance direction;

s300, inputting compressed gas or releasing the compressed gas according to the unbalanced direction so as to adjust the load to be balanced to move along the moving direction through a piston transmission part; the process returns to step S100.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following descriptions are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural view of an embodiment of the deadweight balance assembly according to the present application.

Fig. 2 is a schematic structural view of another embodiment of the deadweight balance assembly according to the present application.

FIG. 3 is another schematic view of the embodiment of FIG. 2.

Fig. 4 is a schematic partial cross-sectional view of the embodiment shown in fig. 3.

Fig. 5 is an enlarged schematic view at a of the embodiment shown in fig. 4.

Fig. 6 is an enlarged schematic view of a portion of the embodiment shown in fig. 5.

Fig. 7 is a schematic structural view of another embodiment of the deadweight balance assembly according to the present application.

Fig. 8 is a schematic application diagram of the embodiment shown in fig. 7.

Fig. 9 is a flow chart of an embodiment of the deadweight balancing method according to the present application.

Reference numerals: the self-weight balancing assembly 100, a supporting frame 110, a guide member 111, a cylinder sleeve 120, an air valve 130, a piston transmission member 140, a movement direction 141, a connecting member 150, a guide mechanism 160, a supporting seat 170, a pressure stabilizing adjusting valve 180, an air pipe 190, an adjusting cavity 200, an air inlet end 210, an air outlet end 220, a floating piston member 300, compressed air 400 and a load 500 to be balanced.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and the like are used in the description of the present application for the purpose of illustration only and do not represent the only embodiment.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" on a second feature may be that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through intermedial media. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.

Unless defined otherwise, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in the description of the present application includes any and all combinations of one or more of the associated listed items.

The application discloses a self-weight balancing assembly, a self-weight balancing device and a self-weight balancing method, which comprise part of technical features or all of the technical features of the following embodiments; that is, the deadweight assembly or the deadweight balancing device includes a part of or all of the following structures. In one embodiment of the application, a self-weight balance assembly comprises a cylinder sleeve, a piston transmission member, a connecting member, a guide mechanism and a floating piston member; the cylinder sleeve is fixed on the support frame, and is provided with an adjusting cavity for inputting compressed gas 400; the floating piston member is accommodated in the adjusting cavity, the piston transmission member is partially arranged in the adjusting cavity and is in floating fit with the cylinder sleeve so as to seal the adjusting cavity, and the piston transmission member is connected with the guide mechanism through the connecting member; the floating piston member is used for adjusting the position of the piston transmission member under the action of the compressed gas 400 so as to enable the guide mechanism to move along the movement direction of the piston transmission member. The self-weight balancing assembly realizes the movement of the piston driving part along the movement direction through the compressed gas 400, thereby driving the guide mechanism to drive the load to move along the movement direction, and has the advantages of small fluctuation range of movement, high controllability, easy adjustment, light self weight, small friction resistance and low cost, realizes low friction self-weight balancing, and can be applied to any mechanism needing to balance self weight or self-weight component force. The weight balancing assembly, the weight balancing device and the weight balancing method will be described in detail with reference to fig. 1 to 9.

In one embodiment, as shown in fig. 1, a self-weight balancing assembly 100 includes a cylinder sleeve 120, a piston driving member 140, a connecting member 150, and a guiding mechanism 160, wherein the piston driving member 140 is partially disposed inside the cylinder sleeve 120, and the piston driving member 140 is connected to the guiding mechanism 160 through the connecting member 150. The piston driving member 140 is driven by the compressed gas in the cylinder sleeve 120 to drive the guiding mechanism 160 to move through the connecting member 150, so that for the mechanism needing to be self-balanced, i.e. the load to be balanced, may also be simply referred to as a load, for example, the load is a load that the self-balanced assembly 100 may also be referred to as a load that the Z-direction mechanism needs to bear; the guide mechanism 160 drives the load to move, so that the adjustment of the dead weight balance is realized.

In this embodiment, the deadweight balancing assembly 100 further includes a support frame 110, and the cylinder liner 120 is fixed on the support frame 110. In other embodiments, the cylinder liner 120 is configured to be mounted at an external location, i.e., the cylinder liner 120 may be mounted at an external location, and the support frame 110 may not be provided. By adopting the structural design of the support frame 110, the piston driving member 140 can be better matched to drive the guiding mechanism 160 to move through the connecting member 150, so that the accuracy and reliability of the movement direction are ensured.

In one embodiment, as shown in fig. 2, unlike the embodiment shown in fig. 1, the dead weight balancing assembly 100 further includes a supporting seat 170, and the supporting frame 110 is fixed to the supporting seat 170. In practical applications, the support 170 may be a frame, a support block, or a movable structure. Such a structural design may be used with a single support frame 110 to accommodate various loads of different sizes in cooperation with the support base 170 of different specifications.

In one embodiment, a self-weight balance assembly 100 is shown in fig. 3 and 4, and includes a cylinder sleeve 120, a piston driving member 140, a connecting member 150, a guiding mechanism 160, and a floating piston member 300; by moving the floating piston member 300 inside the cylinder jacket 120, the driving piston driving member 140 moves the connecting member 150 and the guiding mechanism 160, so that the load on the guiding mechanism 160, i.e. the load to be balanced, achieves a unidirectional movement, such as a Z-direction movement, including but not limited to a direction perpendicular to the ground plane, a direction parallel to the ground plane or other directions, such as the Z-direction being the illustrated movement direction 141 of the piston driving member 140. Based on this, the load includes a mechanism having a gravitational component in a vertical direction, a high-precision vertical Z-direction force control, a vertical Z-direction self-weight balancing mechanism, and the like, such as any mechanism that needs to balance self weight or self-weight components in a Z-axis movement mechanism of a new energy battery lamination device, a Z-axis movement mechanism of an optical coupling device, a high-precision force control attaching head mechanism of a silicon chip patch, and the like. It will be appreciated that a combination of a plurality of the weight balancing assemblies 100 may achieve weight balancing in a plurality of directions.

Referring to fig. 5 and 6, the piston driving member 140 is connected to the guide mechanism 160 through the connecting member 150; the floating piston member 300 is used for adjusting the position of the piston driving member 140 under the action of the compressed gas 400 so as to move the guide mechanism 160 along the movement direction 141 of the piston driving member 140; the cylinder sleeve 120 is provided with an adjusting cavity 200, and the adjusting cavity 200 is used for inputting compressed gas 400; further, in one embodiment, the floating piston member 300 is accommodated in the adjusting chamber 200 in a limited manner, that is, in a state where the piston driving member 140 is assembled, the floating piston member 300 cannot be separated from the adjusting chamber 200, that is, the floating piston member 300 can be separated from the adjusting chamber 200 only from the outlet of the cylinder sleeve 120. Further, in one embodiment, the floating piston member 300 has a gap with the wall of the adjusting chamber 200, i.e., the inner wall of the cylinder sleeve 120, so that the floating piston member 300 is in floating engagement with the cylinder sleeve 120, so as to avoid excessive compressed gas escaping in a state where the position of the piston driving member 140 is adjusted by the compressed gas 400. The compressed gas 400 is a gas in a compressed state, and the compressed gas 400 may be compressed air, compressed nitrogen, compressed helium, or the like. Ideally, the pressure of the compressed gas 400 is inversely proportional to the volume, so that the smaller the volume of the gas is compressed, the greater the pressure of the gas, and thus the lifting of the load, i.e., the self-weight balance, can be achieved by the compressed gas 400.

In various embodiments, the adjusting cavity 200 is disposed in cooperation with the floating piston member 300, the floating piston member 300 is accommodated in the adjusting cavity 200, the piston driving member 140 is partially disposed in the adjusting cavity 200, and the piston driving member 140 is in floating cooperation with the cylinder sleeve 120. Under the action of the compressed gas 400, the floating piston member 300 moves in one direction in the regulating chamber 200, and under the action of the load, the floating piston member 300 moves in the opposite direction in the regulating chamber 200, and when the two are balanced, the self-weight balance is achieved.

In this embodiment, further, the adjusting chamber 200 is provided with an air inlet end 210 and an air outlet end 220, the adjusting chamber 200 is used for inputting compressed air 400 from the air inlet end 210, and the piston driving member 140 is in floating fit with the cylinder sleeve 120 from the air outlet end 220. To ensure low friction deadweight balance, further, in one embodiment, the piston driving member 140 has a gap from the outlet of the cylinder liner 120, that is, the piston driving member 140 has a gap from the outlet end 220 of the adjusting chamber 200, the piston driving member 140 does not seal the outlet end 220, which is different from the rapid high frequency reciprocating motion of other piston structures in order to match the design of the floating piston member 300, the floating piston member 300 moves slowly, and for one operation of a load, the floating piston member 300 moves generally in one direction, and since the piston driving member 140 does not seal the outlet end 220, part of the compressed gas 400 passes through the gap between the floating piston member 300 and the inner wall of the adjusting chamber 120, and passes out of the adjusting chamber 200 through the outlet end 220 of the adjusting chamber 200, so that the movement of the floating piston member 300 in the adjusting chamber 200 is not hindered, thereby achieving the effect of low friction deadweight balance. It can be appreciated that, because the clearance between the floating piston 300 and the inner wall of the cylinder sleeve 120 is very small, the compressed gas 400 escaping out of the adjusting chamber 200 through the air outlet end 220 of the adjusting chamber 200 is relatively less, the pressure of the compressed gas 400 is not greatly affected, and meanwhile, the compressed gas 400 can be continuously input to achieve the deadweight balance, so that the effect of the deadweight balance is not affected while the friction is reduced.

In one embodiment, the floating piston member 300 comprises a piston ball, a piston block, or a piston plate. Further, in one embodiment, the shape of the piston ball is a sphere, a flat sphere, or a cylinder, and the sphere is preferable. Further, in one embodiment, the outer diameter of the floating piston member 300 is smaller than the inner diameter of the cylinder liner 120 by 0.05 mm, i.e., the maximum value of the gap between the floating piston member 300 and the inner wall of the cylinder liner 120 is smaller than 0.05 mm; in one embodiment, the outer diameter of the floating piston member 300 is 0.02 mm smaller than the inner diameter of the cylinder liner 120; in one embodiment, the floating piston member 300 has an outer diameter that is 0.01mm less than the inner diameter of the cylinder liner 120. Such a structural design is beneficial to matching the compressed gas 400 to escape out of the adjusting cavity 200 through the air outlet end 220 of the adjusting cavity 200, so as to realize the self-weight balancing effect with low friction; on the other hand, it is advantageous to prevent the compressed gas 400 from escaping to the outside of the regulating chamber 200 in a large amount, thereby ensuring the effect of the dead weight balance.

Further, in one embodiment, the cylinder sleeve 120 is provided with a piston ring, the cylinder sleeve 120 is slidably connected with the piston driving member 140 through the piston ring, and the piston driving member 140 can slide along the piston ring to realize floating fit between the piston driving member 140 and the cylinder sleeve 120, further, in one embodiment, the cylinder sleeve 120 is slidably connected with the piston driving member 140 through the piston ring in a bearing manner, so that low friction connection between the piston driving member 140 and the cylinder sleeve 120 is realized. The low friction connection mode is one of important applications of the embodiments of the present application, and the self-weight balancing assembly 100 of the present application realizes the movement of the piston driving member 140 along the movement direction 141 by the compressed gas 400, has small friction resistance and small fluctuation range of movement in the whole process, realizes low friction self-weight balancing, and can be applied to any mechanism needing to balance self weight or self-weight force components.

In one embodiment, as shown in fig. 7, the guiding mechanism 160 is slidably connected to the supporting frame 110, and the guiding mechanism 160 is configured to slide on the supporting frame 110 under the driving of the piston driving member 140. In one embodiment, the support frame 110 is provided with a guide 111, and the guide mechanism 160 is slidably disposed on the guide 111. Further, in one embodiment, the guide 111 is a sliding rail, a sliding chute, or a sliding track. The structural design is beneficial to sharing the stress for the piston transmission member 140 from the whole structure, avoids influencing the normal service life of the piston transmission member 140 due to overload of the load, and ensures that the load effectively and accurately moves along the movement direction 141 under the drive of the guide mechanism 160.

In order to ensure the accuracy of the dead weight balance, in one embodiment, as shown in fig. 7, the extending direction of the guide mechanism 160, the moving direction 141 of the piston driving member 140, and the extending direction of the piston driving member 140 are the same.

In one embodiment, the cylinder sleeve 120 is integrally provided with the support frame 110; in one embodiment, the cylinder sleeve 120 is integrally provided with the support frame 110; and the support frame 110 is provided with a guide 111, and the guide mechanism 160 is slidably arranged on the guide 111. The rest of the embodiments are analogized and will not be described in detail. In one embodiment, as shown in fig. 7, the cylinder sleeve 120 is integrally disposed with a part of the structure of the support frame 110; in one embodiment, the support frame 110 has a body and a guide 111, the guide 160 is detachably mounted on the body, for example, the guide 160 is screw-mounted on the body, and the cylinder sleeve 120 is integrally disposed with the body. In other embodiments, the body is integrally provided with the guide 111, and the cylinder sleeve 120 is integrally provided with the integral structure of the support frame 110. The structure design has the advantages of simple structure, easy production, stable structure and long service life.

In one embodiment, as shown in fig. 7, the connector 150 has a 7-shape; in one embodiment, the piston driver 140 passes through the connector 150 and is tightly coupled to the connector 150. In one embodiment, the connector 150 is integrally provided with the guide 160. Further, in one embodiment, the piston driving member 140, the connecting member 150 and the guiding mechanism 160 are integrally provided, or the connecting member 150 and the guiding mechanism 160 are integrally provided as a portion of the piston driving member 140 located outside the piston cylinder 250. The structure design has the advantages of simple structure and easy production.

In one embodiment, as shown in fig. 7, the dead weight balance assembly 100 further includes a gas valve 130, wherein the gas valve 130 is mounted on the cylinder sleeve 120 and is in communication with the adjusting chamber 200, and the adjusting chamber 200 is used for inputting compressed gas 400 through the gas valve 130. In one embodiment, the deadweight assembly 100 further includes a regulator valve 180 and an air tube 190; the regulator valve 180 is used for inputting compressed gas 400 and performing pressure regulation, and the regulator valve 180 is communicated with the regulating cavity 200 through the air pipe 190. In this embodiment, one end of the air pipe 190 is connected to the pressure stabilizing adjustment valve 180, and the other end is connected to the air valve 130. The pressure stabilizing adjusting valve 180 is used for adjusting and controlling the volume of the compressed gas 400 input into the adjusting cavity 200 according to the pressure or the pressure of the compressed gas 400 in the adjusting cavity 200, so as to drive the guiding mechanism 160 to drive the load to move along the moving direction 141, and the pressure stabilizing adjusting valve has the advantages of small fluctuation range, high controllability, easy adjustment and the like in the moving process.

In the following, with reference to fig. 1 to 9, the self-weight balancing assembly 100 is illustrated, wherein the floating piston member 300 is exemplified by a piston ball, and the moving direction 141 is exemplified by a Z direction, so the guiding mechanism 160 may also be referred to as a Z direction guiding mechanism, and the cylinder liner 120 is illustrated as being disposed on the supporting frame 110, but the cylinder liner 120 is not necessarily disposed on the supporting frame 110, but may be mounted on other structures, so long as the moving direction of the guiding mechanism 160 is fixed and controlled. The load, such as a Z-direction load, may have different structures for different devices, and may be mounted on the guide mechanism 160, or the support frame 110 or the support base 170 may be mounted on other devices.

In one embodiment, the cylinder liner 120 is secured to the support frame 110 or the cylinder liner 120 is machined directly into a component, such as a body, of the support frame 110, or other embodiments may secure the cylinder liner 120 to the guide 160 or the cylinder liner 120 is machined directly into a component of the guide 160; the piston ball is placed into the cylinder sleeve 120 and the piston driver 140 is fixed to the guide 160 or the piston ball is directly supported on a certain part of the guide 160.

In one embodiment, a gap of 0.01mm is maintained between the inner diameter of the cylinder sleeve 120 and the piston ball, when the compressed gas 400 enters the cylinder sleeve 120, the compressed gas 400, namely, high-pressure gas is arranged below the piston ball, and when the high-pressure gas is communicated with the gap of 0.01mm, a pressure difference is required, so that the air pressure between the upper part and the lower part of the piston ball is caused to be the pressure difference, and the air pressure between the upper part and the lower part of the piston ball is controlled to be the pressure difference through F=delta P multiplied by pi R ² The upward thrust of the piston ball is obtained to realize the self weight of the moving part of the balance guide mechanism 160 on the piston transmission member 140, and the pressure difference deltap between the upper and lower air pressures of the piston ball is changed by adjusting the output air pressure of the pressure stabilizing adjusting valve 180 to realize the balance self weight adjustment.

When the compressed gas 400 passes through the periphery of the piston ball, the gas flow speed at the small side of the gap is higher, the gas flow speed at the large side of the gap is lower, the gas pressure at the large side of the gap is lower, the piston ball is adjusted towards the large direction of the gap under the action of the gas pressure difference, finally, the gap between the cylinder sleeve 120 and the piston ball is equal, a gas film is formed at the gap to reduce the friction force between the cylinder sleeve 120 and the piston ball, the low friction force is realized, the friction force can be controlled to be less than 1gf through testing, when the contact surface of the piston transmission member 140 and the piston ball deviates from the cylinder sleeve 120 by 0.1 degree, if the dead weight of the Z-direction movement mechanism is 20Kg, and the friction coefficient between the piston ball and the cylinder sleeve 120 is controlled to be 0.03, the friction force resistance is increased by about 1.1gf when the point contact occurs between the piston ball and the cylinder sleeve 120, and the total resistance is controlled to be about 2gf.

In this embodiment, gf is a gravity unit, and chinese is a unit for measuring gravity, and represents the force generated by gravity applied to an object with a mass of 1 gram, i.e. gf represents that the weight applied to the object is proportional to its mass, and gf can also be used to calculate the friction and other forces applied to the object.

By such a design, a pressure difference is generated at the upper and lower parts of the piston ball and an air film is formed around the piston ball by the compressed air 400, for example, the compressed air is introduced into the cylinder sleeve 120, and simultaneously a free minute frictional resistance is formed between the piston ball and the inner wall of the cylinder sleeve 120, and the piston ball generates an upward thrust by the compressed air 400, which is balanced by the weight of the moving part of the piston driving member 140 to which the guide mechanism 160 is coupled, and the balance weight is adjusted by adjusting the pressure stabilizing adjusting valve 180, so that the weight balancing effect is easily achieved.

In one embodiment, a self-weight balancing device is shown in fig. 8, and includes a load 500 to be balanced and the self-weight balancing assembly 100 according to any embodiment, where the load 500 to be balanced is mounted on the guiding mechanism 160 of the self-weight balancing assembly 100. Under the action of the guide mechanism 160, the load 500 to be balanced has a characteristic of moving along with the movement of the guide mechanism 160, so that the self-weight balance adjustment of the load 500 to be balanced can be realized along the movement direction of the guide mechanism 160, that is, the movement direction 141.

In one embodiment, the self-weight balancing device comprises a load 500 to be balanced and a self-weight balancing assembly 100, wherein the self-weight balancing assembly 100 comprises a cylinder sleeve 120, a piston transmission member 140, a connecting member 150, a guide mechanism 160 and a floating piston member 300; the load to be balanced 500 is mounted on the guide mechanism 160; the cylinder sleeve 120 is provided with an adjusting cavity 200, and the adjusting cavity 200 is used for inputting compressed gas 400; the floating piston member 300 is accommodated in the adjusting cavity 200, the piston transmission member 140 is partially disposed in the adjusting cavity 200, the piston transmission member 140 is in floating fit with the cylinder sleeve 120, and the piston transmission member 140 is connected with the guiding mechanism 160 through the connecting member 150; the floating piston member 300 is configured to adjust the position of the piston driving member 140 under the action of the compressed gas 400, so that the guiding mechanism 160 moves along the moving direction 141 of the piston driving member 140, thereby driving the load 500 to be balanced to move along the moving direction 141, and further realizing the self-weight balance of the load 500 to be balanced along the moving direction 141 in cooperation with the compressed gas 400. The rest of the embodiments are analogized and will not be described in detail. The piston transmission member 140 is moved along the movement direction 141 by the compressed gas 400, so that the guide mechanism 160 is driven to drive the load to move along the movement direction 141, the fluctuation range of the movement is small, the controllability is high, the adjustment is easy, the self-weight is light, the friction resistance is small, the cost is low, the low-friction self-weight balance is realized, and the self-weight balance mechanism can be applied to any mechanism needing to balance the self-weight or the self-weight component force.

In one embodiment, a method of balancing dead weight is shown in fig. 9, comprising the steps of: s100, judging whether the dead weight is balanced, otherwise, executing the subsequent step 200; s200, determining an unbalance direction; s300, inputting compressed gas 400 or releasing the compressed gas 400 according to the unbalanced direction so as to adjust the load 500 to be balanced to move along the movement direction 141 through the piston transmission member 140; the process returns to step S100. Specifically, with reference to fig. 5, if the unbalanced direction is downward, the input compressed gas 400 is increased to move the piston driving member 140 upward in the moving direction 141; conversely, the imbalance direction is upward to release the compressed gas 400 or to reduce the input of the compressed gas 400, so that the piston drive 140 moves downward in the movement direction 141, thereby achieving the weight balance of the load 500 to be balanced. In one embodiment, the self-weight balancing method is implemented based on the self-weight balancing assembly 100 of any embodiment, that is, the self-weight balancing method is implemented using the self-weight balancing assembly 100 of any embodiment.

In one embodiment, the deadweight balancing method may be implemented by using a computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program when executed by a processor implements the steps of the deadweight balancing method of any embodiment, that is, implements the steps of the deadweight balancing method of any embodiment. Those skilled in the art will appreciate that implementing all or part of the above described embodiment methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory, ROM, magnetic tape, floppy disk, flash Memory, optical Memory, etc. Volatile memory can include random access memory Random Access Memory, RAM, or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms such as static random access memory Static Random Access Memory, SRAM or dynamic random access memory Dynamic Random Access Memory, DRAM, or the like.

Compared with the background art, the self-weight balancing assembly, the self-weight balancing device and the self-weight balancing method solve the problems that the balance force fluctuation is large and cannot be adjusted in the mechanical spring, the magnetic spring and the nitrogen balancer; on the other hand, the problems that the friction resistance is large and the tiny balance force control cannot be realized by using a common cylinder are solved; on the other hand, the problems that the air bearing cylinder is expensive and limited by application are solved; on the other hand, the problem that the weight balancing block needs to be balanced when the structure of the weight balancing block is complex and the space is large and the dead weight is changed is solved.

It should be noted that other embodiments of the present application further include a self-weight balancing unit, a self-weight balancing device, and a self-weight balancing method that are formed by combining the technical features of the above embodiments.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be determined from the following claims.

Claims (10)

1. The dead weight balance assembly (100) is characterized by comprising a cylinder sleeve (120), a piston transmission member (140), a connecting piece (150), a guide mechanism (160) and a floating piston member (300);

the cylinder sleeve (120) is provided with an adjusting cavity (200), and the adjusting cavity (200) is used for inputting compressed gas (400);

the floating piston member (300) is accommodated in the adjusting cavity (200), the piston transmission member (140) is partially arranged in the adjusting cavity (200), the piston transmission member (140) is in floating fit with the cylinder sleeve (120), and the piston transmission member (140) is connected with the guide mechanism (160) through the connecting member (150);

the floating piston member (300) is used for adjusting the position of the piston transmission member (140) under the action of the compressed gas (400) so as to enable the guide mechanism (160) to move along the movement direction (141) of the piston transmission member (140).

2. The deadweight assembly (100) of claim 1, wherein the deadweight assembly (100) further comprises a support bracket (110), the cylinder liner (120) being secured to the support bracket (110).

3. The weight balance assembly (100) of claim 2, wherein the guide mechanism (160) is slidably connected to the support frame (110), and the guide mechanism (160) is configured to slide on the support frame (110) under the drive of the piston driving member (140).

4. The deadweight assembly (100) of claim 3, wherein the cylinder liner (120) is integrally provided with the support bracket (110); and/or the number of the groups of groups,

the support frame (110) is provided with a guide (111), and the guide mechanism (160) is slidably arranged on the guide (111).

5. The deadweight assembly (100) of claim 1, wherein the floating piston member (300) comprises a piston ball, a piston block, or a piston plate.

6. The deadweight assembly (100) of claim 1, wherein the connector (150) is integrally provided with the guide mechanism (160); and/or the number of the groups of groups,

the piston transmission member (140) passes through the connecting member (150) and is tightly connected with the connecting member (150); and/or the number of the groups of groups,

the extending direction of the guide mechanism (160), the moving direction (141) of the piston transmission member (140) and the extending direction of the piston transmission member (140) are the same.

7. The deadweight assembly (100) of claim 1, wherein the deadweight assembly (100) further comprises a gas valve (130), the gas valve (130) being mounted on the cylinder liner (120) and in communication with the adjustment chamber (200), the adjustment chamber (200) being configured to input compressed gas (400) through the gas valve (130).

8. The deadweight assembly (100) of any one of claims 1 to 7, further comprising a regulator valve (180) and an air tube (190);

the pressure stabilizing and regulating valve (180) is used for inputting compressed gas (400) and regulating and controlling pressure, and the pressure stabilizing and regulating valve (180) is communicated with the regulating cavity (200) through the air pipe (190).

9. A deadweight balancing device, characterized by comprising a load (500) to be balanced and a deadweight balancing assembly (100) according to any one of claims 1 to 8, the load (500) to be balanced being mounted on a guiding mechanism (160) of the deadweight balancing assembly (100).

10. A method of balancing dead weight comprising the steps of:

s100, judging whether the dead weight is balanced, otherwise, executing the subsequent step 200;

s200, determining an unbalance direction;

s300, inputting compressed gas (400) or releasing the compressed gas (400) according to the unbalanced direction so as to adjust the movement of the load (500) to be balanced along the movement direction (141) through the piston transmission member (140); the process returns to step S100.