SU369096A1 - MECHANISM OF ROTARY ARM EQUALIZATION - Google Patents

Description

 one

The invention relates to the field of mechanical engineering, more precisely, to balancing mechanisms used in manipulators, lifting mechanisms, and similar devices.

Known mechanisms for balancing the levers are primarily designed for manipulators and contain a crank attached to the lever, the finger of which interacts with the slot of the link, connected to the specified finger by the compression spring.

In accordance with the invention, the mechanism is made with a finger of the crank and sequential axes of the slide and lever axes, which are sequentially located on the common vertical, and the distance between the indicated axes is equal to the crank arm.

This embodiment of the mechanism provides an increase in the degree of balancing the weight of the lever.

FIG. 1 shows schematically a balancing mechanism, an end view; in fig. 2 - the same, side view.

The lever / carries the load 2 and is mounted on the shaft 3, on the end of which crank 4 is also fixed. The finger 5 of the latter interacts with the groove of the bushings 6, mounted on the bearings 7. The finger 5 and the rocker arm 6 are interconnected by a spring 8. ,

the lever 1 and the finger 5 of the crank 4 are located on the circumferential vertical, with the crank shoulder 4 being equal to the distance between the axis of turning the lever / and the wings 6. When the lever is rotated, the crank 4, which carries along the curtain 6 and the curved Fig. 2).

In this case, the longitudinal axis S will always pass through the axis of the elevation of the slide 6. As a result of rotation on crank 4, a moment occurs

(one)

M, Ph,

where P is the force of compression of the spring 5;

h is the shoulder of force application of the spring 8.

In turn, the force of the spring, which is in its initial position in the unloaded state, will be

P C2I sin -,

(2)

&

constant stiffness of the spring 8; crank shoulder 4

angle of the lever /

and h lcosa., (3)

M ,, P.h: lCslna.

(four)

thirty

The moment on the lever axis / of the weight of the load 2 is also expressed by a sinusoidal dependence

7W G-rsina,

where G is the weight of the load 2

g-shoulder lever.

Thus, Mfe: My: z const, i.e., by selecting the appropriate indicators of the system, an accurate balance of the weight of the lever / will be provided.

The invention The mechanism for balancing the pivot arm, mainly for manipulators, contains a crank fastened to the lever, the finger of which interacts with the groove of the scenes connected to the specified finger by a compression spring, characterized in that the mechanism is arranged in series with the purpose of increasing the balance of the lever weight. on the common vertical with a finger crank and axes of rotation of the link and the lever.