CN219255629U - Gravity balancing device and mechanical arm joint - Google Patents

Abstract

The utility model relates to a gravity balancing device and a mechanical arm joint. The device comprises a main body, a balance rope, a spring and a guide assembly; the main body is used for being rotationally connected with the rotating arm through a pitching shaft; one end of the balance rope is connected with the rotating arm, the other end of the balance rope is connected with the guide assembly, and the guide assembly is connected with the main body and comprises an inner cylinder and an outer cylinder which is sleeved on the inner cylinder in a sliding way; the spring is arranged outside the inner cylinder and/or inside the outer cylinder, and two ends of the spring are respectively connected with the inner cylinder and the outer cylinder so as to stretch along the extending direction of the spring when the inner cylinder and the outer cylinder relatively slide under the pulling of the balance rope. When the inner cylinder and the outer cylinder relatively slide under the pulling of the balance rope, the spring can stretch out and draw back, and the spring is arranged on the outer side of the inner cylinder and/or the inner side of the outer cylinder, so that the inner cylinder and the outer cylinder can play a certain supporting role on the inner side and the outer side of part of the spring, the unstable state in the spring deformation process can be controlled, the stable movement of the tail end of the spring along the extending direction of the spring is ensured, and the reliability of the device is improved.

Description

Gravity balancing device and mechanical arm joint

Technical Field

The utility model relates to the technical field of robots, in particular to a gravity balancing device and a mechanical arm joint.

Background

In the serial mechanical arm joints widely applied to the fields of industry, medical treatment, scientific research and the like, the gravity balancing device is a common module, and can balance the dead weight of the mechanical arm joint connecting rod by utilizing auxiliary force provided by an active driving mechanism, a counterweight or a spring, thereby reducing the load of a mechanical arm joint driving motor and improving the safety of the mechanical arm joint. In practical applications, a spring with a large length-diameter ratio is generally required to be used in the device, however, the spring is easy to destabilize in the deformation process, and the reliability of the device is low.

Disclosure of Invention

Based on this, it is necessary to provide a gravity balancing device against the technical problems that the existing device needs to use a spring with a large length-diameter ratio, however, the spring is easy to be unstable in the deformation process and the reliability of the device is low.

A gravity balancing device comprises a main body, a balancing rope, a spring and a guiding component;

the main body is used for being rotationally connected with the rotating arm through a pitching shaft; one end of the balance rope is connected with the rotating arm, the other end of the balance rope is connected with the guide assembly, and the guide assembly is connected with the main body and comprises an inner cylinder and an outer cylinder which is sleeved on the inner cylinder in a sliding manner;

The spring is arranged on the outer side of the inner cylinder and/or the inner side of the outer cylinder, and two ends of the spring are respectively connected with the inner cylinder and the outer cylinder, so that under the pulling of the balance rope, the inner cylinder part and the outer cylinder part stretch along the extending direction of the spring when sliding relatively, and the gravity of the rotating arm is balanced relative to the gravity moment generated by the pitching shaft.

In one embodiment, one of the outer cylinder and the inner cylinder is fixed relative to the main body, and is defined as a stationary cylinder portion fixed to the main body, and is defined as a movable cylinder portion sliding relative to the main body;

the guide assembly further comprises an adjusting piece, the adjusting piece is connected to the movable barrel portion, and one end, far away from the rotating arm, of the balance rope extends along the extending direction of the spring and is connected to the adjusting piece.

In one embodiment, when the inner cylinder is configured as the static cylinder part, the inner cylinder is connected to the main body, two ends of the spring are respectively connected to the ends of the inner cylinder and the outer cylinder, and the adjusting piece is connected to one end of the outer cylinder away from the inner cylinder.

In one embodiment, the gravity balancing device further comprises a guide cylinder sleeved on the inner cylinder, and the guide cylinder is connected with the outer cylinder in a sliding manner along the extending direction of the spring.

In one embodiment, when the outer cylinder is configured as the static cylinder part, the outer cylinder is connected to the main body, the inner cylinder is slidably connected with the outer cylinder, an annular limiting cavity is defined between the inner cylinder and the outer cylinder, the spring is located in the annular limiting cavity, and the adjusting piece is connected to one end of the inner cylinder.

In one embodiment, the adjustment member comprises a support block and a tensioning block; the supporting block is connected to the movable barrel part, the tensioning block is connected to the supporting block, the balance rope penetrates through the supporting block to be connected to the tensioning block, and the tensioning block can move relative to the supporting block along the extending direction of the spring so as to tension the balance rope.

In one embodiment, the adjusting member further includes a rotating block rotatably connected to the supporting block around the extending direction of the spring, and the rotating block is screwed to the tensioning block, the tensioning block is slidably connected to the supporting block along the extending direction of the spring, and the rotating block is configured to rotate relative to the supporting block so as to drive the tensioning block to move relative to the supporting block along the extending direction of the spring.

In one embodiment, the balancing rope comprises two pull ropes arranged at intervals, one ends of the two pull ropes are connected to the rotating arm, and the other ends of the two pull ropes extend along the extending direction of the spring and are connected with the adjusting piece.

In one embodiment, the adjusting member is provided with a wedge-shaped groove, inclined planes are respectively arranged on groove walls on two opposite sides of the wedge-shaped groove, the gravity balancing device further comprises two wedge-shaped blocks which are mutually abutted, the two wedge-shaped blocks are accommodated in the wedge-shaped groove, one sides of the two wedge-shaped blocks, which are opposite, are respectively attached to the two inclined planes, one end of the pull rope, which is far away from the rotating arm, extends into the wedge-shaped groove along the extending direction of the spring, and is respectively connected with the two wedge-shaped blocks, and the distance between the two inclined planes is gradually increased in the direction that the pull rope extends into the wedge-shaped groove, so that the two wedge-shaped blocks can relatively move under the pulling of the corresponding pull rope.

In one embodiment, two connection positions where the two pull ropes are connected with the rotating arm are arranged at intervals along the horizontal direction, and the two connection positions are overlapped in the axial direction of the pitching shaft.

In one embodiment, the gravity balancing device further comprises two coaxially arranged guide wheels, the two guide wheels are axially and rotatably connected to one end, far away from the rotating arm, of the main body, and the two pull ropes are located in partial areas between the rotating arm and the adjusting piece and are respectively wound on the wheel surfaces of the corresponding guide wheels.

In one embodiment, the radial dimensions of the two guide wheels are different, the axial direction of the guide wheels is perpendicular to the axial direction of the pitching shaft, the gravity balancing device further comprises two tensioning wheels connected to the main body, the two tensioning wheels are arranged at intervals along the axial direction of the guide wheels, and the two pull ropes are located in the gap between the rotating arm and the corresponding guide wheels.

In one embodiment, the two tensioning wheels are respectively a first tensioning wheel and a second tensioning wheel, the first tensioning wheel comprises a first wheel body and a second wheel body which are different in radial dimension, the second tensioning wheel comprises a third wheel body and a fourth wheel body which are different in radial dimension, a first channel for the pull rope to penetrate is formed between the third wheel body and the first wheel body, a second channel for the other pull rope to penetrate is formed between the fourth wheel body and the second wheel body, the first channel and the second channel are staggered in the axial direction of the guide wheel, and the two pull ropes are located in the corresponding area between the guide wheel and the tensioning wheel and extend along the extending direction of the spring.

The utility model also provides a mechanical arm joint which can solve at least one technical problem.

The mechanical arm joint comprises a rotating arm, a pitching shaft and the gravity balancing device, wherein the pitching shaft is rotationally connected with the main body, the rotating arm is connected with the pitching shaft, and the pitching shaft is used for driving the rotating arm to rotate.

The beneficial effects are that:

the gravity balancing device provided by the utility model comprises a main body, a balancing rope, a spring and a guide assembly; the main body is used for being rotationally connected with the rotating arm through a pitching shaft; one end of the balance rope is connected with the rotating arm, the other end of the balance rope is connected with the guide assembly, and the guide assembly is connected with the main body and comprises an inner cylinder and an outer cylinder which is sleeved on the inner cylinder in a sliding way; the spring is arranged outside the inner cylinder and/or inside the outer cylinder, and two ends of the spring are respectively connected with the inner cylinder and the outer cylinder, so that the inner cylinder and the outer cylinder stretch along the extending direction of the spring when sliding relatively under the pulling of the balance rope, and the gravity of the rotating arm is balanced against the gravity moment generated by the pitching shaft. In this application under the pulling of balanced rope, when inner tube and urceolus relative slip, because the both ends of spring are connected in inner tube and urceolus respectively for the spring can stretch out and draw back, and the inner tube outside and/or the inner tube is inboard are located to the spring, make inner tube and urceolus can play certain supporting role to the part inboard and the outside of spring, thereby can control the unstability state of spring deformation in-process, guarantee the stable motion of spring end along the extending direction of spring, thereby can play stable reverse pulling force to the stay cord, with the gravity that provides stable auxiliary force balanced rotating arm produces for the gravity moment of every single move axle, the reliability of improvement device.

The mechanical arm joint provided by the embodiment of the utility model comprises a rotating arm, a pitching shaft and the gravity balancing device, wherein the pitching shaft is rotationally connected with the main body, the rotating arm is connected with the pitching shaft, and the pitching shaft is used for driving the rotating arm to rotate. The mechanical arm joint can achieve at least one technical effect.

Drawings

FIG. 1 is a schematic view of a gravity balancing device according to an embodiment of the present utility model;

FIG. 2 is a first cross-sectional view of a portion of a gravity balance device according to an embodiment of the present utility model;

FIG. 3 is a second cross-sectional view of a portion of a gravity balance device according to an embodiment of the present utility model;

FIG. 4 is a cross-sectional view of a gravity balancing device according to another embodiment of the present utility model;

FIG. 5 is an exploded view of an adjustment member of a gravity balance device according to an embodiment of the present utility model;

FIG. 6 is an enlarged view of FIG. 2 at A;

FIG. 7 is a schematic view of a wedge block in a gravity balancing device according to an embodiment of the present utility model;

FIG. 8 is an enlarged view at B in FIG. 2;

fig. 9 is an enlarged view of fig. 1 at C.

Reference numerals:

100-a main body; 110-a housing; 120-lumen; 130-a mounting base; 200-balancing ropes; 210-a first pull cord; 220-a second pull cord; 230-a first terminal; 240-a second terminal; 310-spring; 320-pitch axis; 330-a rotating arm; 370-fixing member; 400-guiding assembly; 411-inner barrel; 412-a guide cylinder; 413-a stop collar; 414-a first limit groove; 415-step wall; 421-outer cylinder; 422-a first bearing; 500-adjusting piece; 510-supporting blocks; 511-a communication hole; 512-limit protrusions; 513-a second limit groove; 514-a protrusion; 520-tensioning block; 521-avoiding holes; 522-a clamping groove; 523-wedge grooves; 524-incline; 530-turning the block; 531-first boss; 540-a fixing ring; 541-a second boss; 550-wedge block; 553-a first mounting slot; 554-a second mounting slot; 600-guide wheels; 710—a first tensioning wheel; 711-a first wheel; 712-second wheel; 720-a second tensioning wheel; 721-third wheel; 722-a fourth wheel; 730-first channel; 740-a second channel; 750-grooves; 810-a second bearing; 820-a third bearing; 830-connecting buckle; 840-abutment plate.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model 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 utility model. The present utility model 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 utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

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 utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher 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 below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, fig. 2, fig. 3 and fig. 4, fig. 1 is a schematic diagram of a gravity balancing device according to an embodiment of the present utility model; FIG. 2 is a first cross-sectional view of a portion of a gravity balance device according to an embodiment of the present utility model; FIG. 3 is a second cross-sectional view of a portion of a gravity balance device according to an embodiment of the present utility model; fig. 4 is a cross-sectional view of a gravity balancing device according to another embodiment of the present utility model. The gravity balancing device provided by one embodiment of the present utility model comprises a main body 100, a balancing rope 200, a spring 310 and a guiding component 400; the main body 100 is rotatably connected to the rotating arm 330 through the pitch axis 320; one end of the balance rope 200 is connected with the rotating arm 330, the other end is connected with the guide assembly 400, the guide assembly 400 is connected with the main body 100, and the balance rope comprises an inner cylinder 411 and an outer cylinder 421 which is sleeved on the inner cylinder 411 in a sliding way; the spring 310 is disposed outside the inner cylinder 411 and/or inside the outer cylinder 421, and both ends are respectively connected to the inner cylinder 411 and the outer cylinder 421, so that the inner cylinder 411 and the outer cylinder 421 stretch along the extending direction of the spring 310 when sliding relatively under the pulling of the balancing cord 200, so as to balance the gravity of the rotating arm 330 relative to the gravity moment generated by the pitching axis 320.

The gravity balancing device is applied to the mechanical arm joint. The mechanical arm joint comprises a rotating arm 330 and a pitching shaft 320, wherein the rotating arm 330 is connected to the pitching shaft 320, and the pitching shaft 320 is used for driving the rotating arm 330 to rotate. However, in the use of a robotic arm joint, the weight of the rotating arm 330 typically negatively affects the movement of the rotating arm 330. Therefore, in the design and use of the mechanical arm, the problem of balancing the gravity of the mechanical arm is generally required to be considered, so as to eliminate the negative influence caused by the gravity of the mechanical arm. The prior art generally uses an auxiliary force provided by the spring 310 with a large length-diameter ratio to the rotating arm 330 to balance the dead weight of the rotating arm 330 in the mechanical arm joint, but the spring 310 is easily unstable in the deformation process, so that the reliability of the device is low. In this regard, the present application proposes a gravity balancing device to solve the above technical problem.

Specifically, in this application, when the inner cylinder 411 and the outer cylinder 421 slide relatively under the pulling of the balancing rope 200, since the two ends of the spring 310 are respectively connected to the inner cylinder 411 and the outer cylinder 421, the spring 310 can stretch out and draw back, and the spring 310 is disposed at the outer side of the inner cylinder 411 and/or the inner side of the outer cylinder 421, so that the inner cylinder 411 and the outer cylinder 421 can play a certain supporting role on the inner side and the outer side of a part of the spring 310, thereby being capable of controlling the unstable state in the deformation process of the spring 310, ensuring the stable movement of the tail end of the spring 310 along the extending direction of the spring 310, and being capable of playing a stable reverse pulling force on the pulling rope, so as to provide a stable assisting force to balance the gravity of the rotating arm 330 relative to the gravity moment generated by the pitching shaft 320, and improving the reliability of the device. Preferably, the axial directions of the inner tube 411 and the outer tube 421 overlap.

In the initial state of the spring 310, the outer tube 421 is at least partially overlapped with the inner tube 411 in the extending direction of the spring 310, so that the spring 310 is disposed outside the inner tube 411 or inside the inner tube 411, or between the inner tube 411 and the outer tube 421.

It should be noted that, the radial dimension of the inner cylinder 411 is slightly smaller than the inner diameter R of the spring 310, may be 0.8R, and the radial dimension of the outer cylinder 421 is slightly larger than the outer diameter R of the spring 310, and may be 1.2R, so that when the inner diameter or the outer diameter of the spring 310 changes slightly due to the deformation process, the outer wall of the inner cylinder 411 and the inner wall of the outer cylinder 421 can not interfere with the deformation of the spring 310. The present embodiment is described with reference to the spring 310 extending in the vertical direction, and in other embodiments, the spring 310 may also extend in other directions.

Referring to fig. 2 and 4, in one embodiment, one of the outer cylinder 421 and the inner cylinder 411 is fixed relative to the main body 100, and is defined as a stationary cylinder portion fixed to the main body 100, and is defined as a movable cylinder portion sliding relative to the main body 100; the guide assembly 400 further includes an adjusting member 500, the adjusting member 500 being connected to the moving cylinder portion, and an end of the balance rope 200 remote from the rotating arm 330 extending in the extending direction of the spring 310 and being connected to the adjusting member 500.

Specifically, the balancing cord 200 is connected to the movable cylinder portion through the adjusting member 500, so that the rotating arm 330 can pull the pull cord when rotating under the driving of the pitch axis 320, thereby pulling the movable cylinder portion to slide relative to the static cylinder portion. In the radial direction of the pitch axis 320, the position where the pull cord is connected to the rotating arm 330 is spaced from the pitch axis 320, so that the pull cord can generate an auxiliary gravity moment on the rotating arm 330 when the rotating arm 330 rotates relative to the pitch axis 320.

Further, the main body 100 includes a housing 110 and a mounting seat 130, an inner cavity 120 is provided in the housing 110, the mounting seat 130 and the guide assembly 400 are disposed in the inner cavity 120, the mounting seat 130 is connected to one end of the housing 110 far away from the pitch axis 320, and one end of the balancing rope 200 far away from the rotating arm 330 bypasses the mounting seat 130 and extends along the vertical direction to be connected with the adjusting member 500.

Referring to fig. 1, 2 and 3, in one embodiment, when the inner cylinder 411 is configured as a static cylinder, the inner cylinder 411 is connected to the main body 100, two ends of the spring 310 are respectively connected to the ends of the inner cylinder 411 and the outer cylinder 421, and the adjusting member 500 is connected to one end of the outer cylinder 421 away from the inner cylinder 411.

Specifically, the end of the inner cylinder 411 refers to the end of the inner cylinder 411 that is remote from the outer cylinder 421, and the end of the outer cylinder 421 refers to the end of the outer cylinder 421 that is remote from the inner cylinder 411. The inner cylinder 411 is connected to the mounting seat 130, and the adjusting member 500 is connected to the outer cylinder 421 at an end far away from the inner cylinder 411, so that the adjusting member 500 is close to the end of the spring 310, and the tension provided by the balancing rope 200 to the adjusting member 500 can be stably acted on the end of the spring 310, so that the end of the spring 310 can be stably moved along the extending direction of the spring 310 by pulling the adjusting member 500.

Wherein, under the pulling of the balancing cord 200, the inner cylinder 411 and the outer cylinder 421 are relatively close to compress the spring 310, so that more area on the spring 310 can be simultaneously supported by the inner cylinder 411 and the outer cylinder 421 during the compression of the spring 310, so that the spring 310 stably expands and contracts along the self-extending direction.

Further, the end of the inner cylinder 411 away from the outer cylinder 421 is sleeved with a limiting ring 413, the limiting ring 413 is provided with a first limiting groove 414 circumferentially arranged around the inner cylinder 411, and one end of the spring 310 away from the outer cylinder 421 is accommodated in the first limiting groove 414 to limit the movement of the spring 310 in directions other than the self extending direction.

Further, the adjusting member 500 is provided with a second limiting groove 513 corresponding to the first limiting groove 414, and an end portion of the spring 310 away from the inner cylinder 411 is accommodated in the second limiting groove 513 to limit the movement of the spring 310 in a direction other than the extending direction.

Referring to fig. 2 and 3, in one embodiment, the gravity balancing device further includes a guide cylinder 412 sleeved on the inner cylinder 411, and the guide cylinder 412 is slidably connected to the outer cylinder 421 along the extending direction of the spring 310.

Specifically, one end of the guide cylinder 412 is connected to the edge of the limiting ring 413, and the other end is sleeved on the outer cylinder 421, and is slidably connected to the outer cylinder 421 along the extending direction of the spring 310 through the guide cylinder 412, so as to play a role in guiding the movement of the outer cylinder 421 relative to the inner cylinder 411, and further enable the spring 310 to stably stretch along the extending direction thereof.

Further, the guide cylinder 412 is slidably connected to the outer cylinder 421 through a first bearing 422, and a step wall 415 is provided on an inner wall of the guide cylinder 412, where the step wall 415 is used to abut against a side of the first bearing 422 near the inner cylinder 411, so as to limit the movement of the first bearing 422 relative to the guide cylinder 412.

Referring to fig. 1 and 4, in one embodiment, when the outer cylinder 421 is configured as a static cylinder portion, the outer cylinder 421 is connected to the main body 100, the inner cylinder 411 and the outer cylinder 421 are slidably connected, and an annular limiting cavity is defined between the two, the spring 310 is located in the annular limiting cavity, and the adjusting member 500 is connected to one end of the inner cylinder.

Specifically, the outer cylinder 421 and the inner cylinder 411 are slidably coupled, thereby playing a guiding role in moving the inner cylinder 411 relative to the outer cylinder 421 in the extending direction of the spring 310. One end of the spring 310 is connected to one end of the inner cylinder 411, which is far away from the mounting seat 130, and the other end is connected to one end of the outer cylinder 421, which is close to the mounting seat 130, and the spring 310 is located in an annular limiting cavity defined between the outer cylinder 421 and the inner cylinder 411, so that the inner side and the outer side of the spring 310 are respectively supported by the inner cylinder 411 and the outer cylinder 421, and the spring 310 can stably stretch along the self extending direction, so that a stable reverse pulling force can be generated on the pull rope, a stable auxiliary force is provided to balance the gravity moment generated by the rotating arm 330 relative to the pitching shaft 320, and the reliability of the device is improved.

Wherein, under the pulling of the balancing cord 200, the inner cylinder 411 and the outer cylinder 421 are relatively far apart to compress the spring 310, thereby reducing the space required in the deformation process of the spring 310 and reducing the size of the device.

Further, the gravity balancing device further comprises a connecting buckle 830 connected to the wall of the inner cavity 120, and the connecting buckle 830 is used for fixing the outer cylinder 421 to realize that the outer cylinder 421 is configured as a static cylinder portion.

Further, when the outer cylinder 421 is configured as a static cylinder, the limiting ring 413 is sleeved at one end of the inner cylinder 411 away from the mounting seat 130, the inner wall of the outer cylinder 421 near the mounting seat 130 is provided with a protruding abutment plate 840, and the second limiting groove 513 is disposed on the abutment plate 840.

When the outer cylinder 421 is configured as a stationary cylinder, the inner and outer sides of the spring 310 are supported by the inner cylinder 411 and the outer cylinder 421, respectively, as compared to the manner in which the inner cylinder 411 is configured as a stationary cylinder, so that the supporting effect on the spring 310 is better, and the spring 310 can be more stably stretched in the extending direction. However, in the process that the inner cylinder 411 and the outer cylinder 421 are relatively far away, more space is occupied, and therefore, the static cylinder portion can be reasonably arranged according to the space size in the mechanical arm joint.

Referring to fig. 4, in one embodiment, when the outer cylinder 421 is configured as a static cylinder portion, an end of the outer cylinder 421 close to the mounting seat 130 is slidably connected to the inner cylinder 411 through the second bearing 810, and an end of the second bearing 810 close to the spring 310 abuts against the abutting plate 840; one end of the outer cylinder 421 far away from the mounting seat 130 is slidably connected to the inner cylinder 411 through a third bearing 820, and one end of the third bearing 820 near the inner cylinder 411 is abutted against a limiting ring 413.

Referring to fig. 1, 2, 5 and 6, fig. 5 is an exploded view of an adjusting member 500 in a gravity balancing device according to an embodiment of the present utility model; fig. 6 is an enlarged view at a in fig. 2. In one embodiment, the adjuster 500 includes a support block 510 and a tensioning block 520; the supporting block 510 is connected to the outer cylinder 421, the tensioning block 520 is connected to the supporting block 510, the balancing rope 200 is connected to the tensioning block 520 through the supporting block 510, and the tensioning block 520 can move along the extension direction of the spring 310 with respect to the supporting block 510 to tension the balancing rope 200.

Specifically, when the inner cylinder 411 is configured as a static cylinder portion, the supporting block 510 is connected to the outer cylinder 421, and the first limiting groove 414 is disposed on the supporting block 510; when the outer tube 421 is arranged as a stationary tube portion, the support block 510 is connected to the inner tube 411. Since the tension block 520 can move along the extension direction of the spring 310 with respect to the support block 510, the tension force of the balance rope 200 in the initial state can be adjusted to adjust the pre-compression force of the spring 310 in the initial state, so that the rotation arm 330 can be subjected to the reverse assisting force provided by the spring 310 when it starts to rotate.

Referring to fig. 2, 5 and 6, in one embodiment, the adjusting member 500 further includes a rotating block 530, the rotating block 530 is rotatably connected to the supporting block 510 around the extending direction of the spring 310, and the rotating block 530 is screwed to the tensioning block 520, the tensioning block 520 is slidably connected to the supporting block 510 along the extending direction of the spring 310, and the rotating block 530 is configured to rotate relative to the supporting block 510 to drive the tensioning block 520 to move relative to the supporting block 510 along the extending direction of the spring 310.

Specifically, the tensioning block 520 is slidably connected to the supporting block 510 along the extending direction of the spring 310, so that when the rotating block 530 rotates relative to the supporting block 510, the tensioning block 520 can rotate relative to the rotating block 530 without moving synchronously, so that the tensioning block 520 moves along the extending direction of the spring 310 relative to the rotating block 530, thereby facilitating adjustment of the tension of the balancing rope 200 and reducing assembly errors.

Further, the adjusting member 500 further includes a fixing ring 540 connected to the supporting block 510, a second boss 541 is protruding on the annular wall of the fixing ring 540, a first boss 531 is protruding on the outer wall of the rotating block 530, and a limiting groove 750 surrounding the first boss 531 along the axial direction is formed between the second boss 541 and the supporting block 510, so that the rotating block 530 can only rotate relative to the supporting block 510, and the fixing ring 540 is convenient for the installation of the rotating block 530 relative to the supporting block 510.

Further, the supporting block 510 is provided with a communicating hole 511 extending along the extending direction of the spring 310, a limiting protrusion 512 is provided on the wall of the communicating hole 511, a clamping groove 522 is provided on the outer wall of the tensioning block 520 along the axial direction, the tensioning block 520 extends into the communicating hole 511, and the clamping groove 522 is clamped with the limiting protrusion 512 to limit the relative rotation of the tensioning block 520 to the supporting block 510.

Referring to fig. 1 and 2, in one embodiment, the balancing cord 200 includes two pull cords disposed at intervals, one end of each of the two pull cords is connected to the rotating arm 330, and the other end extends along the extending direction of the spring 310 and is connected to the adjusting member 500.

Specifically, the two pull ropes are arranged at intervals, so that when the adjusting piece 500 is pulled, the two pull ropes are not interfered with each other, and a safety function is achieved, namely, under the condition that one pull rope is broken, the other pull rope can still play a role of connection.

Referring to fig. 2, 5, 6 and 7, fig. 7 is a schematic view of a wedge block in a gravity balancing device according to an embodiment of the utility model. In one embodiment, the adjusting member 500 is provided with a wedge-shaped groove 523, inclined planes 524 are respectively arranged on two opposite side groove walls of the wedge-shaped groove 523, the adjusting member 500 further comprises two wedge-shaped blocks 550 which are mutually abutted, the two wedge-shaped blocks 550 are accommodated in the wedge-shaped groove 523, one sides of the two wedge-shaped blocks 550 opposite to each other are respectively attached to the inclined planes 524, one ends of the two pull ropes, which are far away from the rotating arm 330, extend into the wedge-shaped groove 523 along the extending direction of the springs 310 and are respectively connected with the two wedge-shaped blocks 550, and the distance between the two inclined planes 524 is gradually increased in the direction that the pull ropes extend into the wedge-shaped groove 523, so that the two wedge-shaped blocks 550 can relatively move under the pulling of the corresponding pull ropes.

Specifically, the wedge-shaped groove 523 is disposed on the tensioning block 520, and the tensioning block 520 is provided with a relief hole 521 communicated with the wedge-shaped groove 523 for the pull rope to pass through. For ease of description, the two wedge blocks 550 are defined as a first wedge block and a second wedge block, respectively, the two pull cords are defined as a first pull cord 210 and a second pull cord 220, respectively, the first pull cord 210 being connected to the first wedge block and the second pull cord 220 being connected to the second wedge block. When there is a difference in the lengths of the first and second pull cords 210 and 220, the first and second pull cords 210 and 220 are subjected to different tension forces. When the tension force applied to the first wedge block is greater than the tension force applied to the second wedge block, the first wedge block moves upward, the two wedge blocks 550 are abutted against each other, one opposite sides are respectively attached to the two inclined planes 524, and in the direction that the pull rope stretches into the wedge groove 523, the distance between the two inclined planes 524 is gradually increased, then the first wedge block can squeeze the second wedge block, the second wedge block can also be subjected to the extrusion force of the inclined plane 524 attached to the second wedge block, so that the second wedge block moves downward until the forces applied to the first wedge block and the second wedge block are equal, or the first wedge block and the second wedge block are staggered in the extending direction of the spring 310. When the tension applied to the second wedge block is greater than that applied to the first wedge block, the second wedge block moves upward, and the first wedge block moves downward, and the analysis process is similar to that described above, and is not repeated. Through the regulation to the tension of two stay ropes, can avoid one stay rope to receive too big tension to the life of stay rope has been improved.

Referring to fig. 2 and 4, in one embodiment, the adjusting member 500 is connected to an end of the moving barrel portion away from the mounting base 130.

Specifically, when the inner cylinder 411 is configured as a static cylinder portion, the supporting block 510 is partially accommodated in the outer cylinder 421, and the rotating block 530 is disposed outside the outer cylinder 421; when the outer cylinder 421 is configured as a static cylinder part, the supporting block 510 is partially accommodated in the outer cylinder 421, and the third bearing 820 is sleeved on the supporting block 510. The adjusting member 500 is connected to the movable barrel portion at an end far from the mounting base 130, so as to facilitate the observation of the two wedge blocks 550. When the two wedge blocks 550 are staggered in the extension direction of the spring 310, the length of the pull cord can be manually adjusted to allow the two wedge blocks 550 to move relative to each other again so that the forces experienced by the first wedge block and the second wedge block are equal, i.e., the tension experienced by the two pull cords are equal.

Wherein, the end of the balancing rope 200 far away from the rotating arm 330 passes through the inner cylinder 411 along the extending direction of the spring 310 and is connected to the adjusting member 500, and the pulling rope can provide a stable pulling force to the extending direction of the spring 310 for the adjusting member 500, so that the moving cylinder can stably slide relative to the static cylinder along the extending direction of the spring 310.

Further, when the inner cylinder 411 is configured as a static cylinder, the adjusting member 500 has a protruding portion 514 protruding around the circumferential direction, and the protruding portion 514 is used for abutting against the edge of the outer cylinder 421, so that the adjusting member 500 is stably connected with the outer cylinder 421, and can drive the outer cylinder 421 to move synchronously.

Referring to fig. 6 and 7, in one embodiment, opposite sides of the two wedge blocks 550 each extend in the direction of extension of the spring 310.

Specifically, opposite sides of the two wedge blocks 550 are extended in the extending direction of the spring 310 and are abutted, so that interference with the relative movement of the two wedge blocks 550 can be reduced. Preferably, the opposite sides of the two wedge blocks 550 are smooth surfaces.

Referring to fig. 1, in one embodiment, two connection positions where two pull ropes are connected to the rotating arm 330 are spaced apart in a horizontal direction, and coincide in an axial direction of the pitch axis 320.

Specifically, the pitch axis 320 extends along the horizontal direction, so that in the rotation process of the rotating arm 330, two connection positions where the two pull ropes are connected with the rotating arm 330 are always on the same horizontal plane, and then the pull angles formed by the two pull ropes on the rotating arm 330 in the vertical direction are approximately the same, so that the auxiliary gravity moment applied by the two pull ropes on the rotating arm 330 is approximately the same, and Zhang Jingli received by the two pull ropes is approximately the same, so that the difference of tensioning forces received by the two pull ropes is reduced, and the service life of the two ropes is prolonged.

Referring to fig. 1, 2, 3 and 8, fig. 8 is an enlarged view of fig. 2B. In one embodiment, the gravity balancing device further includes two coaxially disposed guide wheels 600, where the two guide wheels 600 are axially and rotatably connected to one end of the main body 100 away from the rotating arm 330, and the partial areas of the two pull ropes between the rotating arm 330 and the adjusting member 500 are respectively wound on the wheel surfaces of the corresponding guide wheels 600.

Specifically, the axial direction of the guide wheel 600 is the same as the spacing direction of the two inclined planes 524, and the two pull ropes led out from the guide wheel 600 extend into the inner cylinder 411 along the extending direction of the spring 310 and are respectively connected with the two wedge blocks 550, so that the axial direction of the guide wheel 600 is perpendicular to the extending direction of the spring 310. The guide wheels 600 are rotatably connected to the mounting base 130, so that when the pull rope moves, the corresponding guide wheels 600 can be driven to rotate, and friction force is reduced. The two guide wheels 600 are arranged, so that the two pull ropes can be stably wound on the corresponding guide wheels 600 at intervals and extend into the inner cavity 120, are connected to the adjusting piece 500 at intervals, and avoid interference between the two pull ropes.

Referring to fig. 1 and 9, in one embodiment, the radial dimensions of the two guide wheels 600 are different, and the axial direction of the guide wheels 600 is perpendicular to the axial direction of the pitch axis 320, and the gravity balancing device further includes two tensioning wheels connected to the main body 100, where the two tensioning wheels are disposed at intervals along the axial direction of the guide wheels 600, and the partial areas of the two pull ropes between the rotating arms 330 and the corresponding guide wheels 600 are all disposed in the gaps between the two tensioning wheels.

Specifically, the axial direction of the tensioning wheel coincides with the axial direction of the pitching axis 320, and the radial dimensions of the two guide wheels 600 are different, so that the two pull ropes are staggered in the axial direction of the tensioning wheel, and thus the two pull ropes can pass through a gap between the two tensioning wheels at intervals. The tension pulley can limit the position of the pull rope, so that the position of the pull rope led out from the tension pulley can not be changed along with the rotation of the rotating arm 330, and the pull rope can stably pull the adjusting piece 500 to move. Wherein, the stay cord is connected with the rotating arm 330 through the fixing piece 370, and the distance between the fixing piece 370 and the tensioning wheel is always changing in the rotating process of the rotating arm 330, so that the length of the stay cord is always changing, and the adjusting piece 500 can be stably pulled, so that the spring 310 is deformed to provide an auxiliary force for the rotating arm 330 through the stay cord.

Further, when the gravity distance of the rotating arm 330 to the pitch axis 320 is 0, the length of the pull rope between the tensioning wheel and the rotating arm 330 is the shortest, that is, the gap between the fixing piece 370 and the two tensioning wheels coincides in the vertical direction, once the rotating arm 330 rotates, the distance between the fixing piece 370 and the two tensioning wheels must be increased, so that the length of the pull rope between the tensioning wheels and the rotating arm 330 is increased, and the pull rope can be further tensioned, so that the spring 310 deforms, and enough auxiliary gravity distance can be increased to the rotating arm 330.

It should be noted that, the two guide wheels 600 may be two wheels on one wheel, or may be two wheels that are axially overlapped.

Further, the end portions of the two pull ropes far away from the rotating arm 330 are respectively connected with two first terminals 230, a first mounting groove 553 for the first terminal 230 to penetrate is arranged on the first wedge block, a second mounting groove 554 for the other first terminal 230 to penetrate is arranged on the second wedge block, and the first mounting groove 553 and the second mounting groove 554 are staggered in the arrangement direction of the first wedge block and the second wedge block, so that the two pull ropes led out from the guide wheel 600 with different sizes to be connected with the wedge block 550 can respectively extend along the extending direction of the spring 310.

Referring to fig. 1, in one embodiment, the gravity balancing device further includes a second terminal 240, one ends of the two pull ropes away from the first terminal 230 are respectively connected to the two second terminals 240, a positioning hole is formed in the second terminal 240, a fixing member 370 is disposed on the connecting arm, and the two pull ropes are sleeved on the fixing member 370 through the positioning hole, so that the two pull ropes are connected to the rotating arm 330.

Referring to fig. 1 and 9, in one embodiment, the two tensioning wheels are a first tensioning wheel 710 and a second tensioning wheel 720 respectively, the first tensioning wheel 710 includes a first wheel body 711 and a second wheel body 712 with different radial dimensions, the second tensioning wheel 720 includes a third wheel body 721 and a fourth wheel body 722 with different radial dimensions, a first channel 730 for a pull rope to pass through is formed between the third wheel body 721 and the first wheel body 711, a second channel 740 for another pull rope to pass through is formed between the fourth wheel body 722 and the second wheel body 712, the first channel 730 and the second channel 740 are staggered in the axial direction of the guide wheel 600, and the region between the corresponding guide wheel 600 and tensioning wheel for two pull ropes extends along the extending direction of the spring 310.

Specifically, the extending direction of the spring 310 is perpendicular to the axial direction of the guide wheel 600, and the pull ropes led out from two sides of the guide wheel 600 extend along the extending direction of the spring 310, so that the pull ropes can be stably wound on the wheel surface of the guide wheel 600, and the pull ropes and the guide wheel 600 are prevented from falling off. The first channel 730 and the second channel 740 are staggered in the axial direction of the guide wheel 600 and the axial direction of the tensioning wheel, so that the two pull ropes respectively penetrate into the first channel 730 and the second channel 740 along the extending direction of the spring 310 and are tensioned. The guide wheel 600 further has a guide groove arranged around the circumferential direction, the pull ropes wound on the guide wheel 600 are accommodated in the guide groove, and the pull ropes led out from two sides of the guide wheel 600 are all arranged along the extending direction of the spring 310, so that friction between the pull ropes and the groove wall of the guide groove can be avoided, and the service life of the pull ropes is prolonged.

Further, the radial dimension of the first wheel body 711 is smaller than that of the second wheel body 712, the second wheel body 712 is disposed on one side of the first wheel body 711 near the housing 110, the radial dimension of the third wheel body 721 is smaller than that of the fourth wheel body 722, the fourth wheel body 722 is disposed on one side of the first wheel body 711 near the housing 110, the first channel 730 corresponds to the larger one of the two guide wheels 600, and the second channel 740 corresponds to the smaller one of the two guide wheels 600.

Further, grooves 750 are formed on the wheel surfaces of the first wheel 711, the second wheel 712, the third wheel 721 and the fourth wheel 722 around the circumference to limit the corresponding ropes from moving out of the first channel 730 and the second channel 740.

Referring to fig. 1, 2, 3, 4 and 9, the mechanical arm joint provided in an embodiment of the present utility model includes a rotating arm 330, a pitching axis 320 and the gravity balancing device described above, the pitching axis 320 is rotatably connected to the main body 100, the rotating arm 330 is connected to the pitching axis 320, and the pitching axis 320 is used for driving the rotating arm 330 to rotate. According to the mechanical arm joint, under the pulling of the balance rope 200, when the inner cylinder 411 and the outer cylinder 421 relatively slide, as the two ends of the spring 310 are respectively connected to the inner cylinder 411 and the outer cylinder 421, the spring 310 can stretch out and draw back, and the spring 310 is arranged on the outer side of the inner cylinder 411 and/or the inner side of the inner cylinder 411, so that the inner cylinder 411 and the outer cylinder 421 can play a certain supporting role on the inner side and the outer side of part of the spring 310, the unstable state of the spring 310 in the deformation process can be controlled, the stable movement of the tail end of the spring 310 along the extending direction of the spring 310 is ensured, and stable reverse pulling force can be generated on the pull rope, so that stable auxiliary force is provided to balance the gravity of the rotating arm 330 relative to the gravity moment generated by the pitching shaft 320, and the reliability of the mechanical arm joint is improved.

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 utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. 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 utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (14)

1. A gravity balancing device, which is characterized by comprising a main body (100), a balancing rope (200), a spring (310) and a guide component (400);

the main body (100) is used for being rotationally connected with the rotating arm (330) through the pitching shaft (320); one end of the balance rope (200) is connected with the rotating arm (330), the other end of the balance rope is connected with the guide assembly (400), the guide assembly (400) is connected with the main body (100), and the balance rope comprises an inner cylinder (411) and an outer cylinder (421) which is sleeved on the inner cylinder (411) in a sliding way;

The spring (310) is arranged outside the inner cylinder (411) and/or inside the outer cylinder (421), and two ends of the spring are respectively connected with the inner cylinder (411) and the outer cylinder (421), so that under the pulling of the balance rope (200), the inner cylinder (411) and the outer cylinder (421) relatively slide and stretch along the extending direction of the spring (310) to balance the gravity of the rotating arm (330) relative to the gravity moment generated by the pitching shaft (320).

2. The gravity balancing device according to claim 1, wherein one of the outer cylinder (421) and the inner cylinder (411) is fixed relative to the main body (100), is defined as a stationary cylinder portion fixed to the main body (100), and is defined as a movable cylinder portion sliding relative to the main body (100);

the guide assembly further comprises an adjusting piece (500), the adjusting piece (500) is connected to the movable barrel portion, and one end, far away from the rotating arm (330), of the balance rope (200) extends along the extending direction of the spring (310) and is connected to the adjusting piece (500).

3. The gravity balancing device according to claim 2, wherein when the inner cylinder (411) is configured as the stationary cylinder portion, the inner cylinder (411) is connected to the main body (100), both ends of the spring (310) are connected to the ends of the inner cylinder (411) and the outer cylinder (421), respectively, and the adjusting member (500) is connected to an end of the outer cylinder (421) remote from the inner cylinder (411).

4. A gravity balancing device according to claim 3, further comprising a guiding cylinder (412) sleeved on the inner cylinder (411), the guiding cylinder (412) being slidingly connected to the outer cylinder (421) along the extension direction of the spring (310).

5. The gravity balancing device according to claim 2, wherein when the outer cylinder (421) is configured as the static cylinder portion, the outer cylinder (421) is connected to the main body (100), the inner cylinder (411) and the outer cylinder (421) are slidingly connected, and an annular limiting cavity is defined therebetween, the spring (310) is located in the annular limiting cavity, and the adjusting member (500) is connected to one end of the inner cylinder.

6. The gravity balancing device according to any of the claims 2-5, wherein the adjustment member (500) comprises a support block (510) and a tensioning block (520); the supporting block (510) is connected to the movable barrel part, the tensioning block (520) is connected to the supporting block (510), the balance rope (200) passes through the supporting block (510) and is connected to the tensioning block (520), and the tensioning block (520) can move relative to the supporting block (510) along the extending direction of the spring (310) so as to tension the balance rope (200).

7. The gravity balancing device according to claim 6, wherein the adjusting member (500) further comprises a rotating block (530), the rotating block (530) is rotatably connected to the supporting block (510) around the extending direction of the spring (310), and the rotating block (530) is screw-connected to the tensioning block (520), the tensioning block (520) is slidably connected to the supporting block (510) along the extending direction of the spring (310), and the rotating block (530) is configured to rotate relative to the supporting block (510) to drive the tensioning block (520) to move relative to the supporting block (510) along the extending direction of the spring (310).

8. The gravity balancing device according to any of the claims 2-5, wherein the balancing string (200) comprises two strings arranged at intervals, one end of each string being connected to the rotating arm (330), and the other end extending in the extension direction of the spring (310) and being connected to the adjusting member (500).

9. The gravity balancing device according to claim 8, wherein the adjusting member (500) is provided with a wedge groove (523), two opposite side groove walls of the wedge groove (523) are respectively provided with inclined planes (524), the gravity balancing device further comprises two wedge blocks (550) which are mutually abutted, the two wedge blocks (550) are accommodated in the wedge groove (523), one sides of the two wedge blocks (550) opposite to each other are respectively attached to the two inclined planes (524), one ends of the two pull ropes, which are far away from the rotating arm (330), extend into the wedge groove (523) along the extending direction of the springs (310) and are respectively connected with the two wedge blocks (550), and the distance between the two inclined planes (524) is gradually increased in the direction that the pull ropes extend into the wedge groove (523), so that the two wedge blocks (550) can relatively move under the pulling of the corresponding pull ropes.

10. The gravity balancing device according to claim 8, wherein two connection positions of the two pull ropes to the rotating arm (330) are arranged at intervals in a horizontal direction and coincide with each other in an axial direction of the pitch axis (320).

11. The gravity balancing device according to claim 10, further comprising two coaxially arranged guide wheels (600), wherein the two guide wheels (600) are axially and rotatably connected to one end of the main body (100) away from the rotating arm (330), and the two pull ropes are located in partial areas between the rotating arm (330) and the adjusting member (500) and are respectively wound on the corresponding wheel surfaces of the guide wheels (600).

12. The gravity balancing device according to claim 11, wherein the radial dimensions of the two guide wheels (600) are different, and the axial direction of the guide wheels (600) is perpendicular to the axial direction of the pitch axis (320), the gravity balancing device further comprises two tensioning wheels connected to the main body (100), the two tensioning wheels are arranged at intervals along the axial direction of the guide wheels (600), and the two pull ropes are located in the gaps between the two tensioning wheels in the partial areas between the rotating arms (330) and the corresponding guide wheels (600).

13. The gravity balancing device according to claim 12, wherein the two tensioning wheels are a first tensioning wheel (710) and a second tensioning wheel (720), respectively, the first tensioning wheel (710) comprises a first wheel body (711) and a second wheel body (712) with different radial dimensions, the second tensioning wheel (720) comprises a third wheel body (721) and a fourth wheel body (722) with different radial dimensions, a first channel (730) for a pull rope to penetrate is formed between the third wheel body (721) and the first wheel body (711), a second channel (740) for another pull rope to penetrate is formed between the fourth wheel body (722) and the second wheel body (712), the first channel (730) and the second channel (740) are staggered in the axial direction of the guide wheel (600), and the area between the corresponding guide wheel (600) and the tensioning wheel extends along the extending direction of the spring (310).

14. A mechanical arm joint, comprising a rotating arm (330), a pitching axis (320) and a gravity balancing device according to any one of claims 1-13, wherein the pitching axis (320) is rotatably connected to the main body (100), the rotating arm (330) is connected to the pitching axis (320), and the pitching axis (320) is used for driving the rotating arm (330) to rotate.

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