CN212672214U - Adjustable self-balancing stop-and-go joint - Google Patents
Adjustable self-balancing stop-and-go joint Download PDFInfo
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- CN212672214U CN212672214U CN201922431993.9U CN201922431993U CN212672214U CN 212672214 U CN212672214 U CN 212672214U CN 201922431993 U CN201922431993 U CN 201922431993U CN 212672214 U CN212672214 U CN 212672214U
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Abstract
The utility model relates to an adjustable self-balancing stop-and-go joint, which comprises two pivoted movable parts, a torque balancing mechanism and a damping adjusting mechanism; the torque balance mechanism comprises an elastic part arranged on the first movable part; the transmission part is respectively associated with the second movable part and the elastic part; when the two movable parts are driven to rotate by external force, the second movable part compresses the elastic part through the transmission part, and the elastic part generates a reaction force equivalent to the external force; the damping adjustment mechanism includes: the outer ring of the rotating part is connected with the first movable part; the first friction part is connected with the inner ring of the rotating part and the second movable part; the second friction part is arranged on the first movable part, and a friction interface is formed between the two friction parts; and the adjusting part is connected with the second friction part and is used for driving the two friction parts to approach or separate from each other so as to increase or decrease the friction damping of the two friction parts. The utility model discloses can balance great load moment of torsion, and have one-way or two-way balanced effect, compact structure simultaneously, the principle is simple, easily realizes.
Description
Technical Field
The utility model relates to a mechanical equipment specifically is about a self-balancing along with stopping joint with adjustable.
Background
In many mechanical devices, there are many occasions when it is desired that some kinematic joints, called stop-and-go joints, can be stopped following each other. At present, the common stop-and-go joints on the market are of manual type, electric type and manual and electric hybrid type.
When the load torque of the joint is small, the manual joint can simply and conveniently realize the follow-up stop; however, when the joint load is relatively large, the joint needs to be stopped at any time by means of the locking function of the electric joint, thereby multiplying the complexity of the joint.
Therefore, how to provide a joint with a larger power-assisting function so as to realize joint follow-up stop with larger load more simply and easily (such as even by manual mode or using a motor with smaller power and the like) is a significant research direction.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model aims at providing a self-balancing is along with stopping joint with adjustable, this joint can balance great load moment of torsion, and has one-way or two-way balanced effect, and the compact structure of this joint simultaneously, the principle is simple, easily realizes to very high practicality and reliability have.
In order to achieve the purpose, the utility model adopts the following technical proposal: an adjustable self-balancing stop-and-go joint comprises two pivoted movable parts, a torque balancing mechanism and a damping adjusting mechanism;
wherein the torque balancing mechanism comprises: an elastic part arranged on the first movable part; one end of the transmission part is associated with the second movable part, and the other end of the transmission part is associated with the elastic part; when the second movable part is driven to rotate relative to the first movable part by external force, the second movable part compresses the elastic part through the transmission part, and the elastic part generates reaction force equivalent to the external force so as to realize torque balance;
the damping adjustment mechanism includes: the rotating part is provided with an inner ring and an outer ring which can rotate relatively, and the outer ring of the rotating part is connected with the first movable part; a first friction part connected with the inner ring of the rotating part and the second movable part; the second friction part is axially movably and circumferentially non-rotatably arranged on the first movable part, and a friction interface is formed between the second friction part and the first friction part; and the adjusting part is connected with the second friction part and used for driving the second friction part to be close to or far away from the first friction part so as to increase or decrease the friction damping of a friction interface between the second friction part and the first friction part.
The adjustable self-balancing stop-and-go joint is characterized in that the rotation axes of the two movable parts are perpendicular to the first movable part and the second movable part.
The adjustable self-balancing stop-and-go joint preferably comprises: the mounting seat is mounted on the first movable part; the sliding piece is arranged on the mounting seat in a sliding mode and is connected with the second movable part through the transmission part; the elastic piece is arranged between the mounting seat and the sliding piece; when the second movable part is driven by external force to rotate relative to the first movable part, the second movable part drives the sliding part to compress the elastic part through the transmission part, and the elastic part generates a reaction force equivalent to the external force.
The adjustable self-balancing stop-and-go joint is characterized in that the mounting seat is of a groove shape, a guide post is arranged between two wing plates of the mounting seat, and the guide post penetrates through the sliding piece and forms a sliding pair with the sliding piece.
Preferably, the elastic part is a set of first compression springs, the sliding part is a sliding plate, the first compression springs are sleeved on the guide posts between the sliding plate and a wing plate on one side of the mounting seat, one ends of the first compression springs abut against the wing plate of the mounting seat, and the other ends of the first compression springs abut against one side of the sliding plate.
Preferably, the elastic part is two sets of first compression springs, the sliding part is two sliding plates arranged at intervals, the two sets of first compression springs are respectively sleeved on the guide posts between the two sliding plates and wing plates on two sides of the mounting seat, one ends of the two sets of first compression springs respectively abut against the wing plates on two sides of the mounting seat, and the other ends of the two sets of first compression springs respectively abut against one side of the two sliding plates.
The adjustable self-balancing stop-and-go joint, preferably, the rotation part is a crossed roller bearing, the transmission part is a gear transmission module, and the gear transmission module comprises: the driving gear is fixedly connected with the inner ring of the crossed roller bearing and the second movable part; and the follow-up gear is rotationally connected to the first movable part and is meshed with the driving gear.
The adjustable self-balancing stop-and-go joint is preferably characterized in that the transmission ratio of the driving gear to the follow-up gear is equal to 1, greater than 1 or less than 1.
Preferably, a shifting block is formed on the follow-up gear, the shifting block is located on the other side, which is not contacted with the first compression spring, of the sliding plate, and the shifting block is used for pushing the sliding plate to move towards the direction far away from the rotation axis of the follow-up gear when the follow-up gear rotates.
The adjustable self-balancing stop-and-go joint is preferably provided with at least one limiting block on the mounting seat corresponding to the shifting block to limit the displacement of the sliding plate.
The adjustable self-balancing stop-and-go joint preferably comprises: the retainer is fixedly connected with the outer rings of the first movable part and the rotating part at the same time; the guide piece is arranged in the retainer and can be screwed in or out along the axis of the damping adjusting mechanism; one end of the elastic piece abuts against the guide piece, and the other end of the elastic piece abuts against the first friction part.
The adjustable self-balancing stop-and-go joint is preferably characterized in that the elastic piece is a second compression spring.
The adjustable self-balancing stop-and-go joint is characterized in that preferably, the guide piece comprises a guide rod and a screw head integrally formed at one end of the guide rod, the periphery of the screw head is provided with external threads, the inner ring of the retainer is provided with internal threads matched with the external threads of the screw head, and the screw head is in threaded connection with the inside of the retainer; a spring positioning sleeve is formed between the guide rod and the screw head, the second compression spring is sleeved on the guide rod, one end of the second compression spring is located in the spring positioning sleeve, and the other end of the second compression spring abuts against the first friction part.
The adjustable self-balancing stop-and-go joint is characterized in that a first groove and a second groove are formed on two sides of one end of the first movable part respectively, the rotating part is located in the first groove, and the retainer, the second compression spring and the guide piece are located in the second groove; between first recess and the second recess be formed with the direction passageway on the first movable part, first friction portion is the inner circle friction ring, second friction portion is the outer lane friction ring, inner circle friction ring and outer lane friction ring are located in the direction passageway, the periphery of outer lane friction ring is formed with a plurality of dogtooths, be formed with in the direction passageway of first movable part with the outer profile matched with guide way of outer lane friction ring, the cooperation of outer lane friction ring is in the guide way, so that the guide way can restrict the circumferential motion of outer lane friction ring nevertheless does not restrict the outer lane friction ring is followed the removal of damping adjustment mechanism axis.
The utility model discloses owing to take above technical scheme, it has following advantage: 1. the utility model discloses a torque balance mechanism both can have one-way balanced effect, also can have two-way balanced effect, its compact structure simultaneously, and the principle is simple, easily realizes to very high practicality and reliability have. 2. The utility model discloses a torque balance mechanism provides two parameters that can adjust simultaneously: the number of compression springs and the transmission ratio of the gear transmission module, so that a user can adjust the two parameters more freely to balance the torque caused by the load, and the range of the load capable of being balanced is greatly increased. 3. The utility model discloses an adjustable damping mechanism is owing to adopted crossed roller bearing, so the motion accuracy and the performance of this mechanism can obtain effectual assurance. 4. The utility model discloses an adjustable damping mechanism through adjust compression spring's compressive capacity can be convenient adjust inner circle friction ring and outer lane friction ring friction damping's size within a definite time. 5. The utility model discloses a compression spring can select for use the mould spring to can provide very big axial force, obtain realizing big damped output in the space of less volume. 6. The utility model discloses an adjustable damping mechanism adopts compression spring to compress tightly inner circle friction ring and outer lane friction ring, and under the condition of great compression capacity, the wearing and tearing of inner circle friction ring and outer lane friction ring are very little to the axial force influence, can ignore to can maintain friction damping size invariable basically, can guarantee simultaneously stability and the adjustable, the easy adjustability of damping size when damping is used for a long time.
Drawings
Fig. 1 is a schematic front view of an embodiment of the present invention;
fig. 2 is a schematic back structure diagram of the embodiment of the present invention;
fig. 3 is a schematic cross-sectional structure diagram of the embodiment of the present invention;
fig. 4 is a partial structural schematic diagram of the embodiment of the present invention;
fig. 5 is another partial structural schematic diagram of the embodiment of the present invention;
fig. 6 is a schematic structural view of the follower gear of the embodiment of the present invention;
fig. 7 is a schematic structural view of the first link according to the embodiment of the present invention;
fig. 8 is a schematic structural view of the damping adjustment mechanism according to the embodiment of the present invention;
fig. 9 is an exploded view of the damping adjustment mechanism of the embodiment of the present invention;
fig. 10 is a schematic view showing a state in which the second link according to the embodiment of the present invention is rotated counterclockwise;
fig. 11 is a schematic view of the second link according to the embodiment of the present invention in a state of rotating clockwise.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the invention.
As shown in fig. 1 to 3, the adjustable self-balancing stop-and-go joint provided by the present invention comprises a connecting rod 1, a connecting rod 2, a torque balancing mechanism and a damping adjusting mechanism. Specifically, one end of the link 2 is rotatably connected to the link 1, the rotation axes 10 of the link 1 and the link 2 are perpendicular to the link 1 and the link 2, and the other end of the link 2 has a load G (which is only an equivalent illustration). Typically, the link 1 is fixedly attached to a stationary carrier and the link 2 is rotatable relative to the link 1.
Wherein, the torque balance mechanism includes: an elastic part arranged on the connecting rod 1; one end of the gear transmission part is associated with the connecting rod 2, and the other end of the gear transmission part is associated with the elastic part; when the link 2 is driven to rotate relative to the link 1 by an external force, the link 2 compresses the elastic part through the gear transmission part, and the elastic part generates a reaction force corresponding to the external force to realize torque balance.
The adjustable damping mechanism includes: the outer ring of the crossed roller bearing 21 is fixedly connected with the connecting rod 1 through a bolt and a nut; an inner ring friction ring 22 (which can also be a friction block or a friction plate) is fixedly connected with the inner ring of the crossed roller bearing 21 and the connecting rod 2 through a bolt 27 and a nut 28; the outer ring friction ring 23 is axially movably and circumferentially non-rotatably arranged on the connecting rod 1, and a contact interface is formed between the outer ring friction ring 23 and the inner ring friction ring 22; and the adjusting part is connected with the outer ring friction ring 23 and is used for driving the outer ring friction ring 23 to approach or separate from the inner ring friction ring 22 along the axis of the adjustable damping mechanism so as to increase or decrease the friction damping of the contact interface between the outer ring friction ring 23 and the inner ring friction ring 22.
In the above embodiment example, preferably, as shown in fig. 1, 4 and 5, the elastic portion includes: the spring mounting seat 15 is in a groove shape and is fixed on the connecting rod 1; the two sliding plates 14 are arranged on the spring mounting seat 15 in a sliding manner, a gap is reserved between the two sliding plates 14, and a gap is also reserved between the two sliding plates 14 and the two wing plates of the spring mounting seat 15; a guide post 17 fixed between the two wing plates of the spring mounting seat 14, the guide post 17 penetrating the two sliding plates 14 and forming a sliding pair therewith; and the two groups of compression springs 16 are respectively sleeved on the guide posts 17 between the two sliding plates 14 and the two wing plates of the spring mounting seat 15, one end of each compression spring 16 abuts against the wing plate of the spring mounting seat 15, and the other end of each compression spring 16 abuts against the sliding plate 14.
In the above embodiment, it is preferable that at least one limit block 151 is provided on the spring mounting seat 15 between the two sliding plates 14 to limit the displacement of the two sliding plates 14.
In the above embodiment example, preferably, as shown in fig. 1, 5 and 6, the gear transmission section includes: the driving gear 11 is fixedly connected with the inner ring of the crossed roller bearing 21 and the connecting rod 2; the follow-up gear 12 is rotationally connected to the connecting rod 1 through a pin shaft 13 and is meshed with the driving gear 11; in addition, a shifting block 121 is formed on the follower gear 12, the shifting block 121 extends into the gap between the two sliding plates 14, the shifting block 121 is used for pushing one of the sliding plates 14 to move in a direction away from the rotation axis of the follower gear 12 when the follower gear 12 rotates, and other parts of the follower gear 12 do not interfere with the sliding plate 14.
Therefore, when the connecting rod 2 rotates counterclockwise (as shown in fig. 10), the load G generates a counterclockwise torque on the inner ring of the crossed roller bearing 21, at this time, the follower gear 12 rotates clockwise under the action of the driving gear 11, so as to drive the shift block 121 of the follower gear 12 to move to the left, the shift block 121 pushes the left sliding plate 14 to press the left compression spring 16, the left compression spring 16 generates a resilience force to limit the left movement of the left sliding plate 14, and thereby, the effect of balancing the counterclockwise torque caused by the load G is achieved.
Similarly, when the connecting rod 2 rotates clockwise (as shown in fig. 11), the load G generates a clockwise torque on the inner ring of the crossed roller bearing 21, at this time, the follower gear 12 rotates counterclockwise under the action of the driving gear 11, so as to drive the dial 121 of the follower gear 12 to move to the right, the dial 121 pushes the right sliding plate 14 to press the right compression spring 16, the right compression spring 16 generates a resilience force to limit the right sliding plate 14 to move to the right, and thereby the effect of balancing the clockwise torque caused by the load G is achieved.
In the above embodiment, it is preferable that the number of the both-side compression springs 16 be adjusted as needed, thereby serving to balance loads G of different weights.
In the above embodiment, preferably, the number of teeth z1 of the driving gear 11 and the number of teeth z2 of the follower gear 12 may be the same or different, so as to achieve the purpose of speed increasing or speed reducing, and the number of teeth also affects the number and rigidity of the compression springs on both sides, specifically: when i is greater than 1, the gear transmission part belongs to a speed reduction mechanism, the rotating angle of the follow-up gear 12 is smaller than that of the driving gear 11, but in order to balance the torque on the driving gear 11, a larger reverse torque needs to be applied to the follow-up gear 12, and the required rebound force is increased; when i <1, the gear transmission part belongs to a speed increasing mechanism, the rotating angle of the driving gear 11 is smaller than that of the follow-up gear 12, and a smaller reverse torque needs to be applied to the follow-up gear 12 to balance the torque on the driving gear 11, so that the required resilience force is reduced at the moment, but the stroke is enlarged; when i is 1, the rotation speed of the driving gear 11 and the driven gear 12 is the same, and the required resilience force is unchanged.
Of course, it will be understood by those skilled in the art that only one sliding plate 14 and one set of compression springs 16 may be provided in the above embodiment, and the shifting block 121 on the follower gear 12 is located on the other side of the sliding plate 14 not contacting the compression springs 16, thereby forming a torque balancing mechanism with unidirectional assistance.
In the above embodiment, preferably, as shown in fig. 3, 8 and 9, the adjusting portion includes: the retainer 24 is fixedly connected with the connecting rod 1 and the outer ring of the crossed roller bearing 21 through a bolt 29 and a nut 30; the guide screw 26 mainly comprises a guide rod and a screw head integrally formed at one end of the guide rod, the periphery of the screw head is provided with external threads, the inner ring of the retainer 24 is provided with internal threads matched with the external threads of the screw head, the screw head is in threaded connection with the interior of the retainer 24, and a spring positioning sleeve is formed between the guide rod and the screw head; and one end of the compression spring 25 is positioned in the spring positioning sleeve, and the other end of the compression spring 25 abuts against the inner ring friction ring 22. Thus, when the guide screw is rotated to move (i.e., screw) inward along the axis of the adjustable damping mechanism, the compression amount of the compression spring 25 is increased, so that greater frictional damping is generated between the outer-ring friction ring 23 and the inner-ring friction ring 22 to restrict relative rotation between the inner and outer rings of the crossed roller bearing 21, and further restrict relative rotation between the connecting rod 1 and the connecting rod 2 connected to the inner and outer rings of the crossed roller bearing 21, respectively; conversely, when the guide screw 26 is rotated to move (i.e., unscrew) outward along the axis of the adjustable damping mechanism, the amount of compression of the compression spring 25 is reduced, thereby reducing the frictional damping between the outer-ring friction ring 23 and the inner-ring friction ring 22 to facilitate relative rotation between the inner and outer rings of the cross roller bearing 21, and thus the connecting rod 1 and the connecting rod 2 connected to the inner and outer rings of the cross roller bearing 21, respectively.
In the above embodiment, preferably, as shown in fig. 2, 5 and 7, a groove 101 and a groove 102 are formed on both sides of one end of the connecting rod 1, respectively, the cross roller bearing 21 is located in the groove 101, and the cage 24, the compression spring 25 and the guide screw 26 are located in the groove 102; a guide channel is formed on the connecting rod 1 between the groove 101 and the groove 102, the inner ring friction ring 22 and the outer ring friction ring 23 are positioned in the guide channel, a plurality of convex teeth are formed on the periphery of the outer ring friction ring 23, a guide groove matched with the outer contour of the outer ring friction ring 23 is formed in the guide channel of the connecting rod 1, and the outer ring friction ring 23 is matched in the guide groove, so that the guide groove can limit the circumferential movement of the outer ring friction ring 23 but does not limit the movement of the outer ring friction ring 23 along the axis of the damping adjusting mechanism.
Above-mentioned each embodiment only is used for explaining the utility model discloses, wherein structure, connected mode and the preparation technology etc. of each part all can change to some extent, all are in the utility model discloses equal transform and improvement of going on technical scheme's the basis all should not exclude outside the protection scope of the utility model.
Claims (14)
1. An adjustable self-balancing stop-and-go joint is characterized by comprising a first movable part (1) and a second movable part (2) which are pivoted, a torque balancing mechanism and a damping adjusting mechanism;
wherein the torque balancing mechanism comprises:
an elastic part arranged on the first movable part (1);
one end of the transmission part is associated with the second movable part (2), and the other end of the transmission part is associated with the elastic part;
when the second movable part (2) is driven to rotate relative to the first movable part (1) by external force, the second movable part (2) compresses the elastic part through the transmission part, and the elastic part generates reaction force equivalent to the external force so as to realize torque balance;
the damping adjustment mechanism includes:
a rotating part (21) which is provided with an inner ring and an outer ring which can rotate relatively, wherein the outer ring of the rotating part (21) is connected with the first movable part (1);
a first friction part (22) connected to the inner ring of the rotating part (21) and the second movable part (2);
a second friction part (23) which is axially movable and circumferentially non-rotatably arranged on the first movable part (1), wherein a friction interface is formed between the second friction part (23) and the first friction part (22);
and the adjusting part is connected with the second friction part (23) and is used for driving the second friction part (23) to be close to or far away from the first friction part (22) so as to increase or decrease the friction damping of the friction interface between the second friction part (23) and the first friction part (22).
2. The adjustable self-balancing stop-and-go joint according to claim 1, characterized in that the rotation axis of the mobile parts (1,2) is perpendicular to both the first mobile part (1) and the second mobile part (2).
3. The adjustable self-balancing stop-and-go joint according to claim 1 or 2, wherein the elastic portion comprises:
a mounting seat (15) mounted on the first movable portion (1);
a sliding part (14) which is arranged on the mounting seat (15) in a sliding manner, wherein the sliding part (14) is associated with the second movable part (2) through the transmission part;
a first elastic member disposed between the mount (15) and the slider (14);
when the second movable part (2) is driven by external force to rotate relative to the first movable part (1), the second movable part (2) drives the sliding part (14) to compress the first elastic part through the transmission part, and the first elastic part generates reaction force equivalent to the external force.
4. The adjustable self-balancing stop-and-go joint according to claim 3, wherein the mounting seat (15) is of a groove shape, and a guide post (17) is arranged between two wing plates of the mounting seat (15), and the guide post (17) penetrates through the sliding member (14) and forms a sliding pair with the sliding member.
5. The adjustable self-balancing stop-and-go joint according to claim 4, wherein the first elastic member is a set of first compression springs (16), the sliding member (14) is a sliding plate, the first compression springs are sleeved on the guide posts (17) between the sliding plate and a wing plate at one side of the mounting seat (15), one end of the first compression springs abuts against the wing plate of the mounting seat (15), and the other end of the first compression springs abuts against one side of the sliding plate.
6. The adjustable self-balancing stop-and-go joint according to claim 4, wherein the first elastic member comprises two sets of first compression springs (16), the sliding member (14) comprises two sliding plates disposed at an interval, the two sets of first compression springs are respectively sleeved on the guide posts (17) between the two sliding plates and the two side wing plates of the mounting base (15), one ends of the two sets of first compression springs respectively abut against the two side wing plates of the mounting base (15), and the other ends of the two sets of first compression springs respectively abut against one side of the two sliding plates.
7. The adjustable self-balancing stop-and-go joint according to claim 5, wherein the rotation part (21) is a crossed roller bearing, the transmission part is a gear transmission module, the gear transmission module comprises:
the driving gear (11) is fixedly connected with the inner ring of the crossed roller bearing and the second movable part (2);
and the follow-up gear (12) is rotationally connected to the first movable part (1) and is meshed with the driving gear (11).
8. The adjustable self-balancing stop-and-go joint according to claim 6, wherein the rotation part (21) is a crossed roller bearing, the transmission part is a gear transmission module, the gear transmission module comprises:
the driving gear (11) is fixedly connected with the inner ring of the crossed roller bearing and the second movable part (2);
and the follow-up gear (12) is rotationally connected to the first movable part (1) and is meshed with the driving gear (11).
9. The adjustable self-balancing stop-and-go joint according to claim 7 or 8, wherein the transmission ratio of the driving gear (11) to the follower gear (12) is equal to 1, greater than 1 or less than 1.
10. The adjustable self-balancing follow-up stop joint according to claim 7 or 8, wherein the follow-up gear (12) is formed with a shifting block (121), and the shifting block (121) is located on the other side of the sliding plate, which is not in contact with the first compression spring, and the shifting block (121) is used for pushing the sliding plate to move in a direction away from the rotation axis of the follow-up gear (12) when the follow-up gear (12) rotates.
11. The adjustable self-balancing stop-and-go joint according to claim 10, wherein at least one limiting block (151) is provided on the mounting seat (15) corresponding to the position of the shifting block (121) to limit the displacement of the sliding plate.
12. The adjustable self-balancing stop-and-go joint according to claim 1,2, 4, 5, 6, 7 or 8, wherein the adjustment part comprises:
the retainer (24) is fixedly connected with the outer rings of the first movable part (1) and the rotating part (21) at the same time;
a guide (26) disposed within the cage (24) and being rotatable in and out along an axis of the damping adjustment mechanism;
a second elastic member, one end of which abuts against the guide member (26) and the other end of which abuts against the first friction portion (22);
the second elastic piece is a second compression spring (25).
13. The adjustable self-balancing stop-and-go joint according to claim 12, wherein the guide member (26) comprises a guide rod and a screw head integrally formed at one end of the guide rod, the screw head has an external thread on its outer circumference, the inner ring of the cage (24) has an internal thread matching with the external thread of the screw head, and the screw head is screwed in the cage (24); a spring positioning sleeve is formed between the guide rod and the screw head, the second compression spring is sleeved on the guide rod, one end of the second compression spring is located in the spring positioning sleeve, and the other end of the second compression spring abuts against the first friction part (22).
14. The adjustable self-balancing stop-and-go joint according to claim 12, wherein a first groove (101) and a second groove (102) are formed on both sides of one end of the first movable part (1), the rotating part (21) is located in the first groove (101), and the retainer (24), the second compression spring (25) and the guide (26) are located in the second groove (102);
between first recess (101) and second recess (102) be formed with the direction passageway on first movable part (1), first friction portion (22) are inner circle friction ring, second friction portion (23) are outer lane friction ring, inner circle friction ring and outer lane friction ring are located in the direction passageway, the periphery of outer lane friction ring is formed with a plurality of dogtooths, be formed with in the direction passageway of first movable part (1) with the outside profile matched with guide way of outer lane friction ring, outer lane friction ring cooperation is in the guide way, so that the guide way can restrict the circumferential motion of outer lane friction ring does not restrict the outer lane friction ring is along the removal of damping adjustment mechanism axis.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922431993.9U CN212672214U (en) | 2019-12-30 | 2019-12-30 | Adjustable self-balancing stop-and-go joint |
| EP20909879.7A EP4086047A4 (en) | 2019-12-30 | 2020-12-21 | Torque balance device, self-balancing joint, and surgical robot |
| CN202080089153.1A CN114945449B (en) | 2019-12-30 | 2020-12-21 | Torque balancing device, self-balancing joint, and surgical robot |
| US17/790,477 US20230042160A1 (en) | 2019-12-30 | 2020-12-21 | Torque balancing device, self-balancing joint, and surgical robot |
| PCT/CN2020/138009 WO2021136003A1 (en) | 2019-12-30 | 2020-12-21 | Torque balance device, self-balancing joint, and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922431993.9U CN212672214U (en) | 2019-12-30 | 2019-12-30 | Adjustable self-balancing stop-and-go joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212672214U true CN212672214U (en) | 2021-03-09 |
Family
ID=74811630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922431993.9U Active CN212672214U (en) | 2019-12-30 | 2019-12-30 | Adjustable self-balancing stop-and-go joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212672214U (en) |
-
2019
- 2019-12-30 CN CN201922431993.9U patent/CN212672214U/en active Active
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |