CN207127911U - Self compensation joint and lifting device - Google Patents
Self compensation joint and lifting device Download PDFInfo
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- CN207127911U CN207127911U CN201721119352.4U CN201721119352U CN207127911U CN 207127911 U CN207127911 U CN 207127911U CN 201721119352 U CN201721119352 U CN 201721119352U CN 207127911 U CN207127911 U CN 207127911U
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- arm
- drive
- flexible element
- jointed shaft
- guider
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- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000000694 effects Effects 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 20
- 239000000725 suspension Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 241000222712 Kinetoplastida Species 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 230000035945 sensitivity Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
A kind of self compensation joint, including：The first arm and the second arm being hinged, the second arm are provided with guider；Driving wheel group, it has axially in parallel with the jointed shaft respectively the first drive and the second drive；Flexible element, its both ends connect the first arm and guider respectively, and flexible element is tensioned to the first drive or the second drive under driving force effect, and is slidably held between the first drive and the second drive；Cam mechanism, it includes cam and driven member group, and cam is fixed on the jointed shaft, and driven member group is fixedly connected with guider, and driven member group can be held in straight reciprocating motion on the second arm, and the linear movement direction of driven member group is along the axial arranged of the second arm.The utility model provides a kind of self compensation joint for automatically adjusting compensation change in displacement and lifting device, flexible element is kept straight tensioning, has good sensitivity and precision, and has less levels operation power, and does not occur to fold resilience.
Description
Technical field
The utility model belongs to field of mechanical technique, is a kind of self compensation joint and lifting device specifically.
Background technology
Joint is the critical component of robot, directly determines freedom of motion and the flexibility of robot.Joint has rotation
Rotating shaft, the relative rotary motion such as human arm.Usually, joint needs preferable kinematic dexterity and sensitivity.
Traditional joint makes rigidity driving joint turn into main type more by the way of rigidly driving.Rigidity driving
Joint has preferable autokinesis and accuracy, but elliptical gear is tighter using rigid structure input powers such as gears
Weight, occur to easily cause stuck during movement interference, mechanical structure is caused to damage.
Therefore, a kind of new soft drive mode is proposed.Soft drive joint is driven using flexible rope,
The movement interference of rigid driving structure is avoided, there is preferable pliability.Inevitably, the existing transmission of flexible rope is sensitive
The drawbacks such as low, easy bending deformation are spent, are also brought into the lump in soft drive joint, to autokinesis and the precision band in joint
Carry out serious negative effect.
Existing technology, the still difficult driving problems for solving flexible rope well.Particularly in hoisting machinery technical field,
This problem is more prominent.For example, in folding type arm, when folding arm rotary folding, what flexible element passed through on drive
Distance dramatically increases, and causes the center of gravity of weight significantly to rise.This phenomenon can cause levels operation power to sharply increase, aggravation operation
The operating burden of person.After operator looses one's grip, folding arm also occurs that resilience, cantilever is not folded in place, and accidental wound be present
Harmful potential threat.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of self compensation joint and lifting device, has
Compensation ability is automatically adjusted, ensures the sensitivity in motion and precision.
The purpose of this utility model is achieved through the following technical solutions：
A kind of self compensation joint, including：
First arm, its one end are provided with jointed shaft；
Second arm, it is articulated with first arm by the jointed shaft, second arm away from the jointed shaft one
End is provided with guider；
Driving wheel group, it is rotatably held on the jointed shaft, and with axially in parallel with the jointed shaft respectively
The first drive and the second drive, first drive have first tensioning face, second drive have second
Tensioning face, surrounded between the first tensioning face and the second tensioning face and form a receiving portion；
Flexible element, its one end are connected to first arm, and the other end is tensioned to the guider and stretched out and shape
Into free end, the free end is used to receive driving force, and the flexible element is tensioned to described first under the driving force effect
On tensioning face or the second tensioning face, and it is slidably held in described accommodation section；
Cam mechanism, it includes cam and driven member group, and the cam is fixed on the jointed shaft, the driven member group
Be fixedly connected with the guider, the driven member group can be held in straight reciprocating motion on second arm, it is described from
The linear movement direction of moving part group is axial arranged along second arm.
As the improvement of above-mentioned technical proposal, the guider includes directive wheel, and the flexible element is tensioned to described lead
To on wheel, the free end of the flexible element is located at side of the directive wheel away from the jointed shaft, the center of the directive wheel
Axle and the jointed shaft are axially vertical.
As the further improvement of above-mentioned technical proposal, the driven member group includes roller follower, movable body and straight line
Kinematic nest, the movable body are fixedly connected with the roller follower, the guider respectively, the movable body can straight line it is past
Multiple motion it is held on the linear motion seat, the linear motion seat is fixedly connected with second arm.
As the further improvement of above-mentioned technical proposal, at least one is provided between the movable body and the linear motion seat
Individual first rolling bearing and at least one second rolling bearing, first rolling bearing axially hang down with second rolling bearing
Directly.
As the further improvement of above-mentioned technical proposal, the driven member group also includes flexible member, the flexible member
Both ends connect the movable body and the linear motion seat respectively, the straight line of the elastic force of the flexible member along the movable body
The direction of motion.
As the further improvement of above-mentioned technical proposal, it is straight that the described one end of second arm away from the jointed shaft is provided with second
Line kinematic nest, the movable body can be held in straight reciprocating motion in the second straight line kinematic nest with the guider.
As the further improvement of above-mentioned technical proposal, first drive is with second drive on the hinge
Spindle is arranged symmetrically.
As the further improvement of above-mentioned technical proposal, first drive and second drive include sprocket wheel,
One kind in belt wheel or rope sheave, the flexible element include one kind in driving-chain, transmission belt or drive.
A kind of lifting device, including pole bracket, driving main frame, operation handle and above-described self compensation joint：
First arm is rotatably held on the pole bracket；
The free end of the flexible element, which is provided with, is used for suspended load suspension hook, the flexible element away from the free end one
End is wound on the driving main frame；
The operation handle is connected with the free end of the flexible element, and the driving force or control for receiving user's input refer to
Order；
The driving main frame is fixedly connected with first arm, for driving the flexible element folding and unfolding.
As the improvement of above-mentioned technical proposal, the pole bracket includes column or overhead traveling crane.
The beneficial effects of the utility model are：
(1) in the rotary course in self compensation joint, driven member group drives guider to move along a straight line under actuated by cams, makes
The distance between guider and driving wheel group are able to feedback compensation and keep constant, and flexible element is in guider and driving wheel group
Between keep straight tensioning, do not occur bending and deformation, the bang path of power keep stablizing it is constant, ensure the precision of motion process with
Sensitivity；
(2) when having the lifting device carrying heavy goods in self compensation joint, flexible element remains tensioning with guider, from
Straight stabilization is kept by end, the weight being connected with free end correspondingly keeps height of C.G. constant, in horizontal rotation is carried not
Fluctuating can occur to rock, and avoid the increase and folding arm resilience of levels operation power, there is good security and smoothness.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Accompanying drawing appended by cooperation, is described in detail below.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other related accompanying drawings according to these accompanying drawings.
Fig. 1 is first axonometric schematic diagram in the self compensation joint that the utility model embodiment 1 provides；
Fig. 2 is enlarged diagram at the A in self compensation joint in Fig. 1；
Fig. 3 is enlarged diagram at the B in self compensation joint in Fig. 1；
Fig. 4 is the cross section structure diagram in the self compensation joint that the utility model embodiment 1 provides；
Fig. 5 is second axonometric schematic diagram in the self compensation joint that the utility model embodiment 1 provides；
Fig. 6 is enlarged diagram at the C in self compensation joint in Fig. 5；
Fig. 7 is the axle geodesic structure schematic diagram for the lifting device that the utility model embodiment 1 provides.
Main element symbol description：
10000- lifting devices, 1000- self compensations joint, the arms of 0100- first, 0110- jointed shafts, the arms of 0200- second,
0210- guiders, 0300- driving wheel groups, 0310- gear frames, the drives of 0320- first, 0321- first are tensioned face, 0330-
Second drive, the tensionings of 0331- second face, 0400- flexible elements, 0410- free ends, 0500- cam mechanisms, 0510- cams,
0520- driven member groups, 0521- roller followers, 0522- movable bodies, 0523- linear motion seats, the motion of 0524- second straight lines
Seat, the rolling bearings of 0525- first, the rolling bearings of 0526- second, 0527- flexible members, 2000- pole brackets, 3000- drivings
Main frame, 4000- operation handles, 5000- suspension hooks.
Embodiment
For the ease of understanding the utility model, self compensation joint and lifting device are carried out more below with reference to relevant drawings
Comprehensive description.The preferred embodiment of self compensation joint and lifting device is given in accompanying drawing.But self compensation joint and lifting
Device can be realized by many different forms, however it is not limited to embodiment described herein.On the contrary, provide these realities
The purpose for applying example is made to the disclosure of self compensation joint and lifting device more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.Herein in the used in the description of self compensation joint and lifting device
Term is intended merely to describe the purpose of specific embodiment, it is not intended that limitation the utility model.Term as used herein
" and/or " include the arbitrary and all combinations of one or more related Listed Items.
Embodiment 1
Referring to Fig. 1, self compensation joint 1000 includes the first arm 0100, the second arm 0200, driving wheel group 0300, flexible element
0400 with cam mechanism 0500, can be adjusted and compensate automatically in rotary course, flexible element 0400 is remained straight
Tensioning, ensure kinematic accuracy and sensitivity.Each portion's structure in self compensation joint 1000 is described in detail below.
Fig. 2 and Fig. 4 is please referred to, there is relative rotary motion between the first arm 0100 and the second arm 0200, and is realized
The main movement in self compensation joint 1000.Here, using the second arm 0200 in the rotary motion on the first arm 0100 as main fortune
Dynamic form.The one end of first arm 0100 is provided with jointed shaft 0110, and the other end is used to connect extraneous part, as machine human-shaped body, column,
Overhead traveling crane etc..In an exemplary embodiment, the first arm 0100 is fixedly connected with jointed shaft 0110, the two is had one
Kinetic characteristic.
Fig. 1 and Fig. 3 is please referred to, the second arm 0200 is articulated with the first arm 0100 by jointed shaft 0110, and can be around hinge
Spindle 0110 rotates.Second one end of arm 0200 away from jointed shaft 0110 is provided with guider 0210, for flexible element 0400
It is oriented to, makes the action direction of flexible element 0400 controllable, input power is along preset direction accurate transfer.
Guider 0210 can use various structures to realize, such as pilot hole, guide rail, for accommodating flexible element 0400
And flexible element 0400 is limited.Preferably, guider 0210 includes at least one directive wheel, and flexible element 0400 is tensioned to
On directive wheel, the free end 0410 of flexible element 0400 is located at side of the directive wheel away from jointed shaft 0110.Wherein, in directive wheel
Mandrel and jointed shaft 0110 are axially vertical.
In another embodiment, guider 0210 has a pair of directive wheels of parallel arrangement.Of two directive wheels
Relative surround in tight face forms receiving hole, and flexible element 0400 is slidably held in receiving hole, and is opened under the driving of driving force
Tightly on one of directive wheel.Wherein, the central shaft of directive wheel and jointed shaft 0110 are axially in parallel.
Fig. 2 and Fig. 5~6 are please referred to, driving wheel group 0300 includes gear frame 0310, the first drive 0320 and second
Drive 0330, for forming flexible driving with flexible element 0400.Gear frame 0310 is rotatably held on jointed shaft 0110,
First drive 0320 and the second drive 0330 are respectively rotatably held on gear frame 0310.First drive 0320 with
Second drive 0330 is axially in parallel, and axially in parallel with jointed shaft 0110.
Preferably, the first drive 0320 is arranged symmetrically with the second drive 0330 on jointed shaft 0110.In other words,
First drive 0320 and the second drive 0330 in the axle center connecting line in the plane axially vertical with jointed shaft 0110 from
Body midpoint intersects with the central axis of jointed shaft 0110.
Wherein, the first drive 0320 has the first tensioning face 0321, and the second drive 0330 has the second tensioning face
0331, the first tensioning face 0321 keeps relative with the second tensioning face 0331.And then first is tensioned the tensioning face of face 0321 and second
Surrounded between 0331 and form a receiving portion.
As it was previously stated, flexible element 0400 forms flexible driving relation with driving wheel group 0300, and transfer a driving force to biography
Driving wheel group 0300, driving driving wheel group 0300 rotate.The one end of flexible element 0400 is connected to the first arm 0100, and the other end, which is tensioned to, leads
To device 0210 and stretch out and form free end 0410.Wherein, the free end 0410 of flexible element 0400 is used to receive and driven
Power.In an exemplary embodiment, drive can be set in the first arm 0100, is easy to flexible element 0400 to be wound winding.
Under driving force effect, flexible element 0400 is tensioned on the first tensioning face 0321 or the second tensioning face 0331.Meanwhile
Flexible element 0400 is slidably held in receiving portion.It should be appreciated that the slip of flexible element 0400 is used to drive external loading linear
Motion or rotation.
Wherein, flexible driving relation, it is a kind of common machine driving, generally by two or more drives and flexible element
0400 composition, motion and power are transmitted by flexible element 0400 between drive.According to the type of flexible element 0400, flexibility passes
Dynamic mainly to have V belt translation, Chain conveyer and rope drive, drive is respectively belt wheel, sprocket wheel and rope sheave, and flexible element 0400 is respectively to pass
Dynamic band, driving-chain and transmission rope.In other words, the first drive 0320 and the second drive 0330 include sprocket wheel, belt wheel or rope sheave
In one kind.Correspondingly, directive wheel also includes one kind in sprocket wheel, belt wheel or rope sheave, and corresponding with the type of flexible element 0400.
The relative position that cam mechanism 0500 is used between adjusting guide device 0210 and driving wheel group 0300, makes flexible element
0400 remains straight tensioning between guider 0210 and driving wheel group 0300.Cam mechanism 0500 includes cam 0510
With driven member group 0520, cam 0510 is fixed on jointed shaft 0110, and driven member group 0520 is fixedly connected with guider 0210.
Driven member group 0520 can be held in straight reciprocating motion on the second arm 0200, and the linear movement direction of driven member group 0520 is along
Two arms 0200 it is axial arranged.
In the rotary course of the second arm 0200, guider 0210 inevitably occurs relatively with driving wheel group 0300
It is mobile, make that bend by pressure occurs for flexible element 0400 or tension is upheld, in deforming upon displacement, flexible element 0400 on flexible element 0400
No longer keep straight tensioning.Wherein, guider 0210 and the changing rule of the relative displacement of driving wheel group 0300, are directly determined
The contour curve of cam 0510.
In other words, guider 0210 should have with the relative displacement of driving wheel group 0300 and the contour curve of cam 0510
Consistent change curve.When the second arm 0200 rotates, driven member group 0520 is followed at the apparent motion of cam 0510.Cam 0510
It is fixed on jointed shaft 0110 and remains stationary, and reverse drive driven member group 0520 moves along a straight line along the second arm 0200.Herein
During, driven member group 0520 drives guider 0210 to move along a straight line, and displacement is guider 0210 and driving wheel group
Intrinsic relative displacement between 0300.After this compensation, guider 0210 keeps constant with the position of driving wheel group 0300, flexible
Part 0400 will not be deformed and keep straight tensioning, and kinematic accuracy and the sensitivity in self compensation joint 1000 are ensured.
Wherein, driven member group 0520 can use a variety of driven members, such as knife-edge follower, flat-face follower type.It is preferred that
Ground, driven member group 0520 include roller follower 0521, movable body 0522 and linear motion seat 0523.Wherein, roller follower
0521 forms cam attachment structure with cam 0510, and movable body 0522 is solid with roller follower 0521, guider 0210 respectively
Fixed connection, movable body 0522 can be held in straight reciprocating motion on linear motion seat 0523, and move along a straight line seat 0523 and second
Arm 0200 is fixedly connected.In an exemplary embodiment, linear motion seat 0523 has through hole and is sheathed on movable body
On 0522, the two has relative linear motion.
Preferably, movable body 0522 and linear motion seat 0523 between be provided with least one first rolling bearing 0525 with extremely
Few second rolling bearing 0526, the first rolling bearing 0525 and the second rolling bearing 0526 are axially vertical.Under such configuration,
There is rolling movement, motion is smooth and efficiency is higher between movable body 0522 and linear motion seat 0523.Meanwhile movable body 0522
It is more steady by multidirectional supporting, motion.Wherein, rolling bearing is still substituted with other rolling elements.
Preferably, driven member group 0520 also includes flexible member 0527, and the both ends of flexible member 0527 connect movable body respectively
0522 with linear motion seat 0523, the linear movement direction of the elastic force of flexible member 0527 along movable body 0522.In movable body
0522 with linear motion seat 0523 relative motion in, flexible member 0527 to movable body 0522 export elastic acting force, make fortune
The motion of kinetoplast 0522 is more steady, and avoids movable body 0522 from overshooting.
In an exemplary embodiment, driven member group 0520 has two flexible members 0527, is divided into straight line fortune
The both sides of dynamic seat 0523.Flexible member 0527 can take various forms, such as spring, flexure strip.According to flexible member 0527
Set location, flexible member 0527 can use extension spring or compression spring.
Please refer to Fig. 3, it is preferable that second one end of arm 0200 away from jointed shaft 0110 is provided with second straight line kinematic nest
0524, movable body 0522 can be held in straight reciprocating motion in second straight line kinematic nest 0524 with guider 0210.Enter one
Step is preferred, and at least one first axis of rolling is provided between the guider 0210 of movable body 0522/ and second straight line kinematic nest 0524
0525 and at least one second rolling bearing 0526 are held, the first rolling bearing 0525 and the second rolling bearing 0526 are axially vertical.
Fig. 7 is please referred to, introduces a kind of lifting device 10000, including pole bracket 2000, driving main frame in this together
3000th, operation handle 4000 and above-described self compensation joint 1000, highly kept not when one kind moves horizontally for providing
The haulage equipment of change, avoid loading and rocked above and below weight generation, handling process is steady, has good security.
Wherein, pole bracket 2000 is used for the other structures for supporting lifting device 10000, is the knot of lifting device 10000
Structure matrix.Preferably, pole bracket 2000 includes column or overhead traveling crane.In the present embodiment, pole bracket 2000 uses column-type
Formula, it is supported directly upon ground.In another embodiment, pole bracket 2000 can also use overhead traveling crane form, form planer-type knot
Structure.
The one end of first arm 0100 away from jointed shaft 0110 is be hinged with pole bracket 2000, makes the first arm 0100 rotatably
It is held on pole bracket 2000.In this, lifting device 10000 has two kinds of rotary motions, i.e. the second arm 0200 relative first
The rotary motion of arm 0100, and the rotary motion of the opposing cantilevers support 2000 of the first arm 0100.
The free end 0410 of flexible element 0400 is provided with suspension hook 5000, is loaded for hanging.Flexible element 0400 is away from free end
0410 one ends wound in driving main frame 3000 on, for by the weight transfer of load in driving main frame 3000.Drive main frame
3000 are fixedly connected with the first arm 0100, for driving the folding and unfolding of flexible element 0400.In other words, main frame 3000 is driven according to load
Gravity, corresponding lifting force is exported, obtain balance with load gravity, hang in the sky to load remains stationary.And then drive main frame
The 3000 driving folding and unfoldings of flexible element 0400, are lifted or are declined to load.
Operation handle 4000 is connected with the free end 0410 of flexible element 0400, for receiving driving force or the control of user's input
System instruction.In other words, operation handle 4000 can be provided with the guidance panel of button, and user by click instruct defeated
Enter.Operation handle 4000 can also sense handle, and for sensing the driving force of user's input, feedback output control is instructed to driving
Main frame 3000, make the feedback output lifting force of driving main frame 3000.Especially, operation handle 4000 is slidably held in free end
0410, when 0400 folding and unfolding of flexible element, operation handle 4000 is remained in user-friendly height.
When the second 0200 relative first 0100 rotary folding of arm of arm, the center of gravity for hanging on the load of suspension hook 5000 keeps high
Spend constant, avoid increasing extra obstruction power with hindering torque, levels operation power is remained at ideal low numerical value
Scope.Meanwhile avoid hindering power to cause resilience torque, the second arm 0200 that resilience will not occur after folding because extra, realize self-complementary
Repay the real folding in joint 1000.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the scope of the utility model.It should be pointed out that the ordinary skill for this area
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the scope of protection of the utility model should be determined by the appended claims.
Claims (10)
- A kind of 1. self compensation joint, it is characterised in that including：First arm, its one end are provided with jointed shaft；Second arm, it is articulated with first arm by the jointed shaft, and the described one end of second arm away from the jointed shaft is set There is guider；Driving wheel group, it is rotatably held on the jointed shaft, and with respectively axially in parallel with the jointed shaft the One drive and the second drive, first drive have the first tensioning face, and second drive has the second tensioning Face, surrounded between the first tensioning face and the second tensioning face and form a receiving portion；Flexible element, its one end are connected to first arm, and the other end is tensioned to the guider and stretches out and formed certainly By holding, the free end is used to receive driving force, and the flexible element is tensioned to first tensioning under the driving force effect On face or the second tensioning face, and it is slidably held in described accommodation section；Cam mechanism, it includes cam and driven member group, and the cam is fixed on the jointed shaft, the driven member group and institute State guider to be fixedly connected, the driven member group can be held in straight reciprocating motion on second arm, the driven member The linear movement direction of group is along the axial arranged of second arm.
- 2. self compensation joint according to claim 1, it is characterised in that the guider includes directive wheel, described to scratch Property part is tensioned on the directive wheel, and the free end of the flexible element is located at side of the directive wheel away from the jointed shaft, The central shaft of the directive wheel and the jointed shaft are axially vertical.
- 3. self compensation joint according to claim 1, it is characterised in that the driven member group includes roller follower, fortune Kinetoplast is fixedly connected with the roller follower, the guider respectively with linear motion seat, the movable body, the motion Body can be held in straight reciprocating motion on the linear motion seat, and the linear motion seat is fixedly connected with second arm.
- 4. self compensation joint according to claim 3, it is characterised in that between the movable body and the linear motion seat Provided with least one first rolling bearing and at least one second rolling bearing, first rolling bearing rolls with described second Bearing is axially vertical.
- 5. self compensation joint according to claim 3, it is characterised in that the driven member group also includes flexible member, institute State flexible member both ends and connect the movable body and the linear motion seat respectively, the elastic force of the flexible member is along the fortune The linear movement direction effect of kinetoplast.
- 6. self compensation joint according to claim 3, it is characterised in that the described one end of second arm away from the jointed shaft Provided with second straight line kinematic nest, the movable body can be held in straight reciprocating motion the second straight line with the guider In kinematic nest.
- 7. self compensation joint according to claim 1, it is characterised in that first drive and second drive It is arranged symmetrically on the jointed shaft.
- 8. self compensation joint according to claim 1, it is characterised in that first drive and second drive Including one kind in sprocket wheel, belt wheel or rope sheave, the flexible element includes one kind in driving-chain, transmission belt or drive.
- 9. a kind of lifting device, it is characterised in that any including pole bracket, driving main frame, operation handle and claim 1-8 Self compensation joint described in：First arm is rotatably held on the pole bracket；The free end of the flexible element, which is provided with, is used for suspended load suspension hook, and the one end of the flexible element away from the free end twines It is around on the driving main frame；The operation handle is connected with the free end of the flexible element, for receiving the driving force or control instruction of user's input；The driving main frame is fixedly connected with first arm, for driving the flexible element folding and unfolding.
- 10. lifting device according to claim 9, it is characterised in that the pole bracket includes column or overhead traveling crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119352.4U CN207127911U (en) | 2017-09-01 | 2017-09-01 | Self compensation joint and lifting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119352.4U CN207127911U (en) | 2017-09-01 | 2017-09-01 | Self compensation joint and lifting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207127911U true CN207127911U (en) | 2018-03-23 |
Family
ID=61637434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721119352.4U Expired - Fee Related CN207127911U (en) | 2017-09-01 | 2017-09-01 | Self compensation joint and lifting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207127911U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336260A (en) * | 2017-09-01 | 2017-11-10 | 深圳龙海特机器人科技有限公司 | Self compensation joint and lifting device |
-
2017
- 2017-09-01 CN CN201721119352.4U patent/CN207127911U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336260A (en) * | 2017-09-01 | 2017-11-10 | 深圳龙海特机器人科技有限公司 | Self compensation joint and lifting device |
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