CN206373931U - A kind of gravity balance device for pitching joint - Google Patents
A kind of gravity balance device for pitching joint Download PDFInfo
- Publication number
- CN206373931U CN206373931U CN201621479624.7U CN201621479624U CN206373931U CN 206373931 U CN206373931 U CN 206373931U CN 201621479624 U CN201621479624 U CN 201621479624U CN 206373931 U CN206373931 U CN 206373931U
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- pitching
- joint
- column
- pitching joint
- gas spring
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Abstract
The utility model discloses a kind of gravity balance device for pitching joint, including：Pitching joint unit, it includes a pitching socket joint with accommodating cavity and a pitching joint, and the pitching joint is arranged in the accommodating cavity of the pitching socket joint by pitch axes；Principal arm connecting seat, it is connected by the pitch axis with the pitching joint；Column, its one end activity is arranged in the pitching socket joint；And gas spring, its one end is hinged with the column, the other end is hinged with the pitching joint；Wherein, the column vertically makees straight reciprocating motion under the driving of the gas spring.The utility model, with simple in construction, is occupied little space by setting a gas spring to realize the gravitational equilibrium in pitching joint between column and pitching joint, the good advantage of using effect.
Description
Technical field：
The utility model is related to robotic technology field, the gravitational equilibrium dress in more specifically to a kind of pitching joint
Put.
Background technology：
The problem of poised state of robot is one critically important, because the center of gravity of articulated robot human arm is not by it
Rotating shaft, robot arm is when around its joint motions, and the center of gravity of its arm can be with the position of arm motion, speed, acceleration
Change and change, thus produce relative to joint be in nonlinear change gravity torque, the gravity power of nonlinear change
Square is unfavorable for control of the articulated driving equipment to joint.
In actual applications, counterweight gravity balance device or spring gravity bascule can be typically used to reduce arm weight
The non-linear effects of force square, but counterweight gravity balance device or spring gravity bascule are present that volume is big, weight weight is asked
Topic.
The content of the invention：
The purpose of this utility model aiming at prior art deficiency, and provide a kind of gravity for pitching joint put down
Weigh device, and it between column and pitching joint by setting a gas spring to realize the gravitational equilibrium in pitching joint, with knot
Structure is simple, occupies little space, the good advantage of using effect.
Technology solution of the present utility model is as follows：A kind of gravity balance device for pitching joint, including：Pitching
Joint unit, it includes a pitching socket joint with accommodating cavity and a pitching joint, and the pitching joint is turned by pitch axis
Dynamic is arranged in the accommodating cavity of the pitching socket joint；Principal arm connecting seat, it passes through the pitch axis and the pitching joint
Connection；Column, its one end activity is arranged in the pitching socket joint；And gas spring, its one end mutually cuts with scissors with the column
Connect, the other end is hinged with the pitching joint；Wherein, the column is vertically made straight under the driving of the gas spring
Line is moved back and forth.
As the preferred of above-mentioned technical proposal, the column is hollow structure, and the hollow intracavitary of the column bottom is set
There is one second bearing pin, the cylinder body of the gas spring is hinged by second bearing pin and the column.
As the preferred of above-mentioned technical proposal, form and set on a hinged seat, the hinged seat on the pitching joint
There is one first bearing pin, the piston rod of the gas spring is hinged by first bearing pin with the pitching joint.
As the preferred of above-mentioned technical proposal, the pitching socket joint forms one with one end that the column is engaged and led
To portion.
As the preferred of above-mentioned technical proposal, the guide part vertically extends.
The beneficial effects of the utility model are：It is so main by setting a gas spring between column and pitching joint
The gravity that arm is acted on principal arm connecting seat can balance each other with the pressure of gas spring, so as to realize that the gravity in pitching joint is put down
Weighing apparatus；One end of gas spring is hinged with column, the other end and pitching joint are hinged, simple in construction, easy for installation, is occupied little space；
In addition, gas spring can realize constant force effect, gravitational equilibrium effect is good.
Brief description of the drawings：
The following drawings is only intended to, in doing the utility model schematic illustration and explanation, not limit model of the present utility model
Enclose.Wherein：
Fig. 1 is the structural representation of the utility model gravity balance device.
In figure, 10, pitching joint unit；11st, pitching socket joint；111st, guide part；12nd, pitching joint；121st, hinged seat；
122nd, the first bearing pin；20th, pitch axis；30th, principal arm connecting seat；40th, gas spring；50th, column；51st, the second bearing pin.
Embodiment：
Embodiment：Embodiment of the present utility model, those skilled in the art are illustrated by particular specific embodiment below
Other advantages of the present utility model and effect can be understood easily by content disclosed in the present specification.
As shown in Figure 1, a kind of gravity balance device for pitching joint, including：Pitching joint unit 10, pitch axis
20th, principal arm connecting seat 30, gas spring 40 and column 50.The pitching joint unit 10 includes a pitching joint with accommodating cavity
The pitching joint 12 of seat 11 and one, the pitching joint 12 is arranged on the pitching socket joint 11 by what the pitch axis 20 was rotated
Accommodating cavity in；The principal arm connecting seat 30 is connected by the pitch axis 20 with the pitching joint 12；The column 50
One end is movably arranged in the pitching socket joint 11；One end of the gas spring 40 is hinged with the column 50, the other end
It is hinged with the pitching joint 12；Wherein, the column 50 vertically makees straight line under the driving of the gas spring 40
Move back and forth.
The column 50 is hollow structure, and the hollow intracavitary of the bottom of column 50 is provided with one second bearing pin 51, described
The cylinder body of gas spring 40 is hinged by second bearing pin 51 with the column 50.A hinge is formed on the pitching joint 12
One first bearing pin 122 is provided with joint chair 121, the hinged seat 121, the piston rod of the gas spring 40 is sold by described first
Axle 122 is hinged with the pitching joint 12.One end that the pitching socket joint 11 is engaged with the column 50 forms one
Guide part 111, the guide part 111 vertically extends.Gas spring 40 in the utility model belongs to existing structure, can be with
Obtained by buying.
Operation principle：It is so main by setting the gas spring 40 between the column 50 and the pitching joint 12
The gravity that arm is acted on the principal arm connecting seat 30 can balance each other with the pressure of the gas spring 40, so as to realize described bow
Face upward the gravitational equilibrium in joint 12；One end of the gas spring 40 and the column 50 are hinged, the other end and the pitching joint 12
It is hinged, it is simple in construction, it is easy for installation, occupy little space；In addition, the gas spring 40 has movement velocity relatively slow, dynamic
Power changes little, manageable advantage, the elastic curve with near-linear, and can realize constant force effect, therefore, described to bow
The gravitational equilibrium effect for facing upward joint 12 is good.
The embodiment is used to illustrative the utility model, not for limitation the utility model.Any this area
Technical staff can modify without prejudice under spirit and scope of the present utility model to the embodiment, therefore this practicality
New rights protection scope, should be as listed by claim of the present utility model.
Claims (5)
1. a kind of gravity balance device for pitching joint, it is characterised in that including：
Pitching joint unit (10), it includes a pitching socket joint (11) with accommodating cavity and a pitching joint (12), described
Pitching joint (12) is arranged in the accommodating cavity of the pitching socket joint (11) by what pitch axis (20) was rotated；
Principal arm connecting seat (30), it is connected by the pitch axis (20) with the pitching joint (12)；
Column (50), its one end activity is arranged in the pitching socket joint (11)；And
Gas spring (40), its one end is hinged with the column (50), the other end is hinged with the pitching joint (12)；
Wherein, the column (50) vertically makees straight reciprocating motion under the driving of the gas spring (40).
2. the gravity balance device according to claim 1 for pitching joint, it is characterised in that：The column (50) is
Hollow structure, the hollow intracavitary of column (50) bottom is provided with one second bearing pin (51), the cylinder body of the gas spring (40)
It is hinged by second bearing pin (51) and the column (50).
3. the gravity balance device according to claim 1 for pitching joint, it is characterised in that：The pitching joint
(12) formed on and be provided with one first bearing pin (122), the gas spring on a hinged seat (121), the hinged seat (121)
(40) piston rod is hinged by first bearing pin (122) with the pitching joint (12).
4. the gravity balance device according to claim 1 for pitching joint, it is characterised in that：The pitching socket joint
(11) one end being engaged with the column (50) forms a guide part (111).
5. the gravity balance device according to claim 4 for pitching joint, it is characterised in that：The guide part
(111) vertically extend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621479624.7U CN206373931U (en) | 2016-12-30 | 2016-12-30 | A kind of gravity balance device for pitching joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621479624.7U CN206373931U (en) | 2016-12-30 | 2016-12-30 | A kind of gravity balance device for pitching joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206373931U true CN206373931U (en) | 2017-08-04 |
Family
ID=59407722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621479624.7U Active CN206373931U (en) | 2016-12-30 | 2016-12-30 | A kind of gravity balance device for pitching joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206373931U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2016
- 2016-12-30 CN CN201621479624.7U patent/CN206373931U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |