WO2019041994A1 - 自补偿关节与提升装置 - Google Patents

自补偿关节与提升装置 Download PDF

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Publication number
WO2019041994A1
WO2019041994A1 PCT/CN2018/093063 CN2018093063W WO2019041994A1 WO 2019041994 A1 WO2019041994 A1 WO 2019041994A1 CN 2018093063 W CN2018093063 W CN 2018093063W WO 2019041994 A1 WO2019041994 A1 WO 2019041994A1
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WIPO (PCT)
Prior art keywords
arm
transmission wheel
flexure
self
linear motion
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PCT/CN2018/093063
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English (en)
French (fr)
Inventor
蔡昌荣
李满天
杨泽国
吴静远
贾王强
王鑫
蒋振宇
龚平
Original Assignee
深圳龙海特机器人科技有限公司
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Application filed by 深圳龙海特机器人科技有限公司 filed Critical 深圳龙海特机器人科技有限公司
Publication of WO2019041994A1 publication Critical patent/WO2019041994A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • This application belongs to the field of mechanical technology, and in particular, is a self-compensating joint and lifting device.
  • the joint is a key component of the robot and directly determines the freedom and flexibility of the robot.
  • the joint has a rotating axis that rotates relative to the human arm. In general, joints require better mobility and sensitivity.
  • the rigid drive joint uses a rigid structure such as a gear to input power, which has better motion sensitivity and accuracy, but the motion impact is more serious, and it is easy to cause jamming when motion interference occurs, causing damage to the mechanical structure.
  • the flexible drive joint is driven by a flexible rope to avoid the motion interference of the rigid drive structure and has better flexibility.
  • the disadvantages of low transmission sensitivity and easy bending deformation of the flexible rope are also brought into the flexible drive joint, which has a serious negative impact on the joint sensitivity and accuracy of the joint.
  • the present application provides a self-compensating joint and lifting device with automatic adjustment compensation capability to ensure sensitivity and accuracy during motion.
  • a self-compensating joint that includes:
  • a first arm having an articulated shaft at one end thereof;
  • a second arm hinged to the first arm by the hinge shaft, and a guiding device is disposed at an end of the second arm away from the hinge shaft;
  • a transmission wheel set rotatably held on the hinge shaft and having a first transmission wheel and a second transmission wheel respectively axially parallel to the hinge shaft, the first transmission wheel having a first tension surface
  • the second transmission wheel has a second tensioning surface, and the first tensioning surface and the second tensioning surface are enclosed to form a receiving portion;
  • a flexure member having one end coupled to the first arm and the other end tensioned to the guide and extending outwardly to form a free end, the free end configured to receive a driving force, the flexure being The driving force is tensioned on the first tensioning surface or the second tensioning surface, and is slidably held by the receiving portion;
  • a cam mechanism comprising a cam and a follower set, the cam being fixed to the hinge shaft, the follower set being fixedly coupled to the guiding device, the follower set being linearly reciprocally movable On the second arm, a linear motion direction of the follower set is arranged along an axial direction of the second arm.
  • the guiding device comprises a guiding wheel, the flexure is tensioned on the guiding wheel, and the free end of the flexure is located on a side of the guiding wheel away from the hinge shaft
  • the central axis of the guide wheel is axially perpendicular to the hinge axis.
  • the follower set includes a roller follower, a moving body and a linear motion seat, and the moving body is fixedly connected with the roller follower and the guiding device respectively.
  • the moving body is linearly reciprocally held on the linear motion seat, and the linear motion seat is fixedly coupled to the second arm.
  • At least one first rolling bearing and at least one second rolling bearing are disposed between the moving body and the linear motion seat, and the first rolling bearing is axially perpendicular to the second rolling bearing.
  • the follower set further includes an elastic member, the two ends of the elastic member respectively connecting the moving body and the linear motion seat, and the elastic force of the elastic element is along the moving body The direction of linear motion.
  • a second linear motion seat is disposed at an end of the second arm away from the hinge shaft, and the moving body and the guiding device are linearly reciprocally held in the second linear motion. On the seat.
  • the first transmission wheel and the second transmission wheel are arranged symmetrically about the hinge axis.
  • the first transmission wheel and the second transmission wheel comprise one of a sprocket, a pulley or a sheave
  • the flexure comprises a transmission chain, a transmission belt or a transmission wheel.
  • a lifting device comprising a cantilever bracket, a drive main body, an operating handle and the self-compensating joint described above:
  • the first arm is rotatably retained on the cantilever bracket
  • the free end of the flexure is provided with a hook configured to suspend a load, and one end of the flexure away from the free end is wound on the driving host;
  • the operating handle is coupled to the free end of the flexure and configured to receive a driving force or a control command input by a user;
  • the drive host is fixedly coupled to the first arm and configured to drive the flexure to retract.
  • the cantilever bracket includes a column or a crane.
  • the follower group drives the guiding device linearly under the cam drive, so that the distance between the guiding device and the transmission wheel set is compensated and remains unchanged, and the flexible member is guided.
  • the device and the transmission wheel set are kept straight and tensioned, no bending deformation occurs, the force transmission path remains stable, and the accuracy and sensitivity of the motion process are ensured;
  • Embodiment 1 is a first axial view of a self-compensating joint provided by Embodiment 1 of the present application;
  • Figure 2 is an enlarged schematic view of A of the self-compensating joint of Figure 1;
  • Figure 3 is an enlarged schematic view of the B of the self-compensating joint of Figure 1;
  • Embodiment 4 is a cross-sectional structural view of a self-compensating joint provided by Embodiment 1 of the present application;
  • FIG. 5 is a second axial view of the self-compensating joint provided in Embodiment 1 of the present application.
  • Figure 6 is an enlarged schematic view of the C of the self-compensating joint of Figure 5;
  • FIG. 7 is a schematic view showing the axial measurement structure of the lifting device provided in Embodiment 1 of the present application.
  • the self-compensating joint 1000 includes a first arm 0100 , a second arm 0200 , a transmission wheel set 0300 , a flexure 0400 and a cam mechanism 0500 , which can be automatically adjusted and compensated during the rotation to make the flexure 0400 Always maintain a straight tension to ensure motion accuracy and sensitivity.
  • the structure of each part of the self-compensating joint 1000 will be described in detail below.
  • the first arm 0100 and the second arm 0200 have a relative rotational motion to achieve the main motion of the self-compensating joint 1000.
  • the rotational motion of the second arm 0200 on the first arm 0100 is the main form of motion.
  • the first arm 0100 has an articulated shaft 0110 at one end and the other end is configured to connect external components such as a robot body, a column or a crane.
  • the first arm 0100 is fixedly coupled to the hinge shaft 0110 to provide an integral motion characteristic.
  • the second arm 0200 is hinged to the first arm 0100 through the hinge shaft 0010, and is rotatable about the hinge shaft 0110.
  • the end of the second arm 0200 away from the hinge shaft 0110 is provided with a guiding device 0210 configured to guide the flexure 0400 so that the direction of action of the flexure 0400 is controllable, and the input power is accurately transmitted in a predetermined direction.
  • the guide 0210 can be implemented in a variety of configurations, such as guide holes or guide rails, etc., configured to receive the flexure 0400 and limit the flexure 0400.
  • the guide 0210 includes at least one guide wheel, the flexure 0400 is tensioned on the guide wheel, and the free end 0410 of the flexure 0400 is located on the side of the guide wheel away from the hinge axis 0110.
  • the central axis of the guide wheel is axially perpendicular to the hinge axis 0110.
  • the guide 0210 has a pair of guide wheels arranged in parallel.
  • the tensioning faces of the two guide wheels are relatively enclosed to form a receiving hole, and the flexure 0400 is slidably held in the receiving hole and is tensioned on one of the guiding wheels by the driving force.
  • the central axis of the guide wheel is axially parallel to the hinge axis 0110.
  • the transmission wheel set 0300 includes a transmission frame 0310, a first transmission wheel 0320 and a second transmission wheel 0330, and is configured to form a flexible transmission with the flexure 0400.
  • the drive frame 0310 is rotatably held on the hinge shaft 0110, and the first transmission wheel 0320 and the second transmission wheel 0330 are rotatably held on the carriage 0310, respectively.
  • the first transmission wheel 0320 is axially parallel to the second transmission wheel 0330 and is axially parallel to the hinge shaft 0110.
  • the first transmission wheel 0320 and the second transmission wheel 0330 are symmetrically arranged with respect to the hinge axis 0110.
  • the axial connection line of the first transmission wheel 0320 and the second transmission wheel 0330 in a plane perpendicular to the axial direction of the hinge shaft 0110 intersects perpendicularly to the central axis of the hinge shaft 0110 at its own midpoint.
  • the first transmission wheel 0320 has a first tension surface 0321
  • the second transmission wheel 0330 has a second tension surface 0331.
  • the first tension surface 0321 is opposite to the second tension surface 0331.
  • a first receiving surface is formed between the first tensioning surface 0321 and the second tensioning surface 0331.
  • the flexure 0400 forms a flexible transmission relationship with the drive wheel set 0300, and transmits the drive force to the drive wheel set 0300 to drive the drive wheel set 0300 to rotate.
  • One end of the flexure 0400 is coupled to the first arm 0100, and the other end is tensioned to the guide 0210 and extends outward to form a free end 0410.
  • the free end 0410 of the flexure 0400 is configured to receive a driving force.
  • the first arm 0100 can be provided with a drive wheel to facilitate winding of the flexure 0400.
  • the flexure 0400 is tensioned on the first tensioning surface 0321 or the second tensioning surface 0331 by the driving force. At the same time, the flexure 0400 is slidably retained in the receptacle. It should be understood that the sliding of the flexure 0400 is configured to drive an external load to linearly move or rotate.
  • the flexible transmission relationship is a common mechanical transmission, usually composed of two or more transmission wheels and a flexure 0400, through which the movement and power are transmitted between the transmission wheels.
  • the flexible transmission mainly has a belt drive, a chain drive and a rope drive, the drive wheels are respectively a pulley, a sprocket and a sheave, and the flexures 0400 are a transmission belt, a transmission chain and a transmission rope, respectively.
  • the first transmission wheel 0320 and the second transmission wheel 0330 include one of a sprocket, a pulley, or a sheave.
  • the guide wheel also includes one of a sprocket, a pulley or a sheave and corresponds to the type of flexure 0400.
  • the cam mechanism 0500 is configured to adjust the relative position between the guide 0210 and the drive wheel set 0300 such that the flexure 0400 remains flat and tensioned between the guide 0210 and the drive wheel set 0300.
  • the cam mechanism 0500 includes a cam 0510 and a follower set 0520.
  • the cam 0510 is fixedly coupled to the hinge shaft 0110, and the follower set 0520 is fixedly coupled to the guide 0210.
  • the follower group 0520 is linearly reciprocally held on the second arm 0200, and the linear motion direction of the follower group 0520 is arranged along the axial direction of the second arm 0200.
  • the relative displacement of the guide 0210 to the drive wheel set 0300 and the profile curve of the cam 0510 should have a uniform profile.
  • the follower set 0520 moves along the surface of the cam 0510.
  • the cam 0510 is fixedly attached to the hinge shaft 0110 while remaining stationary, and drives the follower set 0520 in a linear motion along the second arm 0200.
  • the follower set 0520 drives the guiding device 0210 to move linearly, and the displacement is the relative displacement inherent between the guiding device 0210 and the transmission wheel set 0300.
  • the position of the guiding device 0210 and the transmission wheel set 0300 remains unchanged, and the flexure 0400 is not deformed to maintain a straight tension, and the motion precision and sensitivity of the self-compensating joint 1000 are ensured.
  • the follower set 0520 can adopt various types of followers, such as a cusp follower or a flat bottom follower.
  • the follower set 0520 includes a roller follower 0521, a moving body 0522, and a linear motion seat 0523.
  • the roller follower 0521 and the cam 0510 form a cam connecting structure, and the moving body 0522 is fixedly connected with the roller follower 0521 and the guiding device 0210, respectively, and the moving body 0522 can be linearly reciprocally held on the linear moving seat 0523.
  • the linear motion seat 0523 is fixedly coupled to the second arm 0200.
  • the linear motion seat 0523 has a through hole and is sleeved on the moving body 0522, and the two have relative linear motion.
  • At least one first rolling bearing 0525 and at least one second rolling bearing 0526 are provided, and the first rolling bearing 0525 and the second rolling bearing 0526 are axially perpendicular.
  • the moving body 0522 is supported by the multi-directional, and the movement is relatively stable.
  • rolling bearings can be replaced by other rolling elements.
  • the follower set 0520 further includes an elastic member 0527.
  • the two ends of the elastic member 0527 are respectively connected with the moving body 0522 and the linear motion seat 0523, and the elastic force of the elastic member 0527 is along the linear motion direction of the moving body 0522.
  • the elastic member 0527 outputs an elastic force to the moving body 0522, so that the movement of the moving body 0522 is more stable, and the overshoot of the moving body 0522 is prevented.
  • the follower set 0520 has two resilient members 0527 that are disposed on either side of the linear motion mount 0523.
  • the elastic member 0527 can take a variety of forms, such as springs or elastic sheets.
  • the elastic member 0527 can be a tension spring or a compression spring depending on the position at which the elastic member 0527 is disposed.
  • the second arm 0200 is disposed at a distal end of the hinge shaft 0110 from the second linear motion seat 0524.
  • the moving body 0522 and the guiding device 0210 are linearly reciprocally held on the second linear motion seat 0524.
  • at least one first rolling bearing 0525 and at least one second rolling bearing 0526 are disposed between the moving body 0522/guide 0210 and the second linear motion seat 0524, and the first rolling bearing 0525 and the second rolling bearing 0526 are axially perpendicular.
  • a lifting device 10000 a cantilever bracket 2000, a driving host 3000, an operating handle 4000 and the self-compensating joint 1000 described above are configured to provide a horizontal movement without maintaining a height. Change the handling equipment to avoid the heavy load from shaking up and down, the handling process is stable, and it has good safety.
  • the cantilever bracket 2000 is configured to support other structures of the lifting device 10000 and is a structural base of the lifting device 10000.
  • the cantilever bracket 2000 comprises a upright or a crane.
  • the cantilever bracket 2000 is in the form of a column and is directly supported on the ground.
  • the cantilever bracket 2000 can also be in the form of a crane to form a gantry structure.
  • the lifting device 10000 has two kinds of rotational motions, that is, a rotational motion of the second arm 0200 with respect to the first arm 0100, and a rotational motion of the first arm 0100 with respect to the cantilever bracket 2000.
  • the free end 0410 of the flexure 0400 is provided with a hook 5000 configured to suspend the load.
  • One end of the flexure 0400 away from the free end 0410 is wound on the driving host 3000 and configured to transmit the gravity of the load to the driving host 3000.
  • the driving host 3000 is fixedly connected to the first arm 0100 and configured to drive the flexure 0400 to be retracted. In other words, the driving host 3000 outputs a corresponding lifting force according to the gravity of the load, balances the load gravity, and the load remains suspended in the air at rest. Further, the drive main unit 3000 drives the flexure 0400 to retract and lift or lower the load.
  • the operating handle 4000 is coupled to the free end 0410 of the flexure 0400 and is configured to receive a driving force or control command input by a user.
  • the operation handle 4000 may be an operation panel provided with a button, and the user inputs an instruction by clicking.
  • the operating handle 4000 can also be an inductive handle configured to sense the driving force input by the user, and feedback output control commands to the driving host 3000, so that the driving host 3000 feeds back the output lifting force.
  • the operating handle 4000 is slidably retained at the free end 0410, and when the flexure 0400 is retracted, the operating handle 4000 is always maintained at a height that is convenient for the user to operate.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

一种自补偿关节，包括：相互铰接的第一臂与第二臂，第二臂上设有导向装置；传动轮组，其具有分别与所述铰接轴轴向平行的第一传动轮及第二传动轮；挠性件，其两端分别连接第一臂与导向装置，挠性件在驱动力作用下张紧于第一传动轮或第二传动轮，并可滑动地保持于第一传动轮与第二传动轮之间；凸轮机构，其包括凸轮与从动件组，凸轮固连于所述铰接轴上，从动件组与导向装置固定连接，从动件组可直线往复运动地保持于第二臂上，从动件组的直线运动方向沿第二臂的轴向布置。本申请提供了一种可自动调节补偿位移变化的自补偿关节与提升装置，使挠性件保持平直张紧，具有良好的灵敏度与精度，并具有较小的水平操作力，且不发生折叠回弹。

Description

自补偿关节与提升装置
相关申请的交叉引用
本申请要求于2017年09月01日提交中国专利局的申请号为201710777591.7、名称为“自补偿关节与提升装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于机械技术领域，具体地来说，是一种自补偿关节与提升装置。
背景技术
关节是机器人的关键部件，直接决定机器人的运动自由度与灵活性。关节具有旋转轴，如人类手臂般相对旋转运动。一般地，关节需要较佳的运动灵活性与灵敏度。
传统的关节多采用刚性驱动的方式，使刚性驱动关节成为主要的类型。刚性驱动关节采用齿轮等刚性结构输入动力，具有较佳的运动灵敏度与准确性，但运动冲击比较严重，发生运动干涉时容易造成卡死，对机械结构造成损伤。
为此，一种新型的柔性驱动方式得以提出。柔性驱动关节采用柔性绳索进行驱动，避免刚性驱动结构的运动干涉，具有较佳的柔韧性。不可避免地，柔性绳索存在的传动灵敏度低和容易弯折变形等弊端，也一并被带入柔性驱动关节中，对关节的运动灵敏度与精度带来严重的负面影响。
现有的技术，尚难很好地解决柔性绳索的驱动问题。特别是在起重机械技术领域，这一问题更为突出。例如，在折臂型吊臂中，当折臂旋转折叠时，挠性件在传动轮上通过的路程显著增加，导致重物的重心显著上升。这一现象会造成水平操作力急剧增加，加剧操作者的操作负担。当操作者松手后，折臂还会发生回弹，使悬臂无法折叠到位，且存在意外伤害的潜在威胁。
发明内容
为了克服现有技术的不足，本申请提供了一种自补偿关节与提升装置，具有自动调节补偿能力，保证运动中的灵敏度与精度。
本申请的目的通过以下技术方案来实现：
一种自补偿关节，包括：
第一臂，其一端设有铰接轴；
第二臂，其通过所述铰接轴铰接于所述第一臂，所述第二臂远离所述铰接轴的一端设有导向装置；
传动轮组，其可旋转地保持于所述铰接轴上，并具有分别与所述铰接轴轴向平行的第 一传动轮及第二传动轮，所述第一传动轮具有第一张紧面，所述第二传动轮具有第二张紧面，所述第一张紧面与所述第二张紧面之间包围而成一容纳部；
挠性件，其一端连接于所述第一臂，另一端张紧于所述导向装置并向外延伸而形成自由端，所述自由端配置成接收驱动力，所述挠性件在所述驱动力作用下张紧于所述第一张紧面或所述第二张紧面上，并可滑动地保持于所述容纳部；
凸轮机构，其包括凸轮与从动件组，所述凸轮固连于所述铰接轴上，所述从动件组与所述导向装置固定连接，所述从动件组可直线往复运动地保持于所述第二臂上，所述从动件组的直线运动方向沿所述第二臂的轴向布置。
作为上述技术方案的改进，所述导向装置包括导向轮，所述挠性件张紧于所述导向轮上，所述挠性件的自由端位于所述导向轮远离所述铰接轴的一侧，所述导向轮的中心轴与所述铰接轴轴向垂直。
作为上述技术方案的进一步改进，所述从动件组包括滚子从动件、运动体与直线运动座，所述运动体分别与所述滚子从动件、所述导向装置固定连接，所述运动体可直线往复运动地保持于所述直线运动座上，所述直线运动座与所述第二臂固定连接。
作为上述技术方案的进一步改进，所述运动体与所述直线运动座之间设有至少一个第一滚动轴承与至少一个第二滚动轴承，所述第一滚动轴承与所述第二滚动轴承轴向垂直。
作为上述技术方案的进一步改进，所述从动件组还包括弹性元件，所述弹性元件两端分别连接所述运动体与所述直线运动座，所述弹性元件的弹性力沿所述运动体的直线运动方向。
作为上述技术方案的进一步改进，所述第二臂远离所述铰接轴的一端设有第二直线运动座，所述运动体与所述导向装置可直线往复运动地保持于所述第二直线运动座上。
作为上述技术方案的进一步改进，所述第一传动轮与所述第二传动轮关于所述铰接轴对称地布置。
作为上述技术方案的进一步改进，所述第一传动轮与所述第二传动轮包括链轮、带轮或绳轮中的一种，所述挠性件包括传动链、传动带或传动轮中的一种。
一种提升装置，包括悬臂支架、驱动主机、操作手柄与以上所述的自补偿关节：
所述第一臂可旋转地保持于所述悬臂支架上；
所述挠性件的自由端设有配置成悬挂负载的吊钩，所述挠性件远离所述自由端的一端缠绕于所述驱动主机上；
所述操作手柄与所述挠性件的自由端连接，配置成接收用户输入的驱动力或控制指令；
所述驱动主机与所述第一臂固定连接，配置成驱动所述挠性件收放。
作为上述技术方案的改进，所述悬臂支架包括立柱或天车。
本申请的有益效果是：
(1)在自补偿关节的旋转过程中，从动件组在凸轮驱动下驱动导向装置直线运动，使导向装置与传动轮组之间的距离得以反馈补偿而保持不变，挠性件在导向装置与传动轮组之间保持平直张紧，不发生弯曲变形，力的传递路径保持稳定不变，保证运动过程的精度与灵敏度；
(2)具有自补偿关节的提升装置搬运重物时，挠性件与导向装置始终保持张紧，自由端保持平直稳定，与自由端连接的重物相应地保持重心高度不变，于水平旋转搬运中不会发生起伏摇晃，并避免水平操作力的增加与折臂回弹，具有良好的安全性与平稳度。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单的介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本申请实施例1提供的自补偿关节的第一轴测示意图；
图2是图1中自补偿关节的A处放大示意图；
图3是图1中自补偿关节的B处放大示意图；
图4是本申请实施例1提供的自补偿关节的剖视结构示意图；
图5是本申请实施例1提供的自补偿关节的第二轴测示意图；
图6是图5中自补偿关节的C处放大示意图；
图7是本申请实施例1提供的提升装置的轴测结构示意图。
主要元件符号说明：
10000-提升装置，1000-自补偿关节，0100-第一臂，0110-铰接轴，0200-第二臂，0210-导向装置，0300-传动轮组，0310-传动架，0320-第一传动轮，0321-第一张紧面，0330-第二传动轮，0331-第二张紧面，0400-挠性件，0410-自由端，0500-凸轮机构，0510-凸轮，0520-从动件组，0521-滚子从动件，0522-运动体，0523-直线运动座，0524-第二直线运动座，0525-第一滚动轴承，0526-第二滚动轴承，0527-弹性元件，2000-悬臂支架，3000-驱动主机，4000-操作手柄，5000-吊钩。
具体实施方式
为了便于理解本申请，下面将参照相关附图对自补偿关节与提升装置进行更全面的描 述。附图中给出了自补偿关节与提升装置的优选实施例。但是，自补偿关节与提升装置可以通过许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对自补偿关节与提升装置的公开内容更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件时，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件时，它可以是直接连接到另一个元件或者可能同时存在居中元件。相反，当元件被称作“直接在”另一元件“上”时，不存在中间元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在自补偿关节与提升装置的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
实施例1
请参阅图1，自补偿关节1000包括第一臂0100、第二臂0200、传动轮组0300、挠性件0400与凸轮机构0500，在旋转过程中可自动进行调节与补偿，使挠性件0400始终保持平直张紧，保证运动精度与灵敏度。以下对自补偿关节1000的各部结构进行详细介绍。
请结合参阅图2及图4，第一臂0100与第二臂0200之间具有相对旋转运动，而实现自补偿关节1000的主要运动。在此，以第二臂0200于第一臂0100上的旋转运动为主要的运动形式。第一臂0100一端设有铰接轴0110，另一端配置成连接外界部件，如机器人形体、立柱或天车等。在一个示范性的实施例中，第一臂0100与铰接轴0110固定连接，使二者具有一体的运动特性。
请结合参阅图1及图3，第二臂0200通过铰接轴0110铰接于第一臂0100，而可绕铰接轴0110旋转。第二臂0200远离铰接轴0110的一端设有导向装置0210，配置成对挠性件0400导向，使挠性件0400的作用方向可控，输入动力沿预设方向精确传递。
导向装置0210可采用多种结构实现，如导向孔或导向轨道等，配置成容纳挠性件0400并对挠性件0400进行限制。优选地，导向装置0210包括至少一个导向轮，挠性件0400张紧于导向轮上，挠性件0400的自由端0410位于导向轮远离铰接轴0110的一侧。其中，导向轮的中心轴与铰接轴0110轴向垂直。
在另一个实施例中，导向装置0210具有平行布置的一对导向轮。两个导向轮的张紧面相对包围而成容纳孔，挠性件0400可滑动地保持于容纳孔内，并在驱动力的驱动下张紧于其中一个导向轮上。其中，导向轮的中心轴与铰接轴0110轴向平行。
请结合参阅图2与图5～6，传动轮组0300包括传动架0310、第一传动轮0320与第二传动轮0330，配置成与挠性件0400形成挠性传动。传动架0310可旋转地保持于铰接轴0110上，第一传动轮0320与第二传动轮0330分别可旋转地保持于传动架0310上。第一传动轮0320与第二传动轮0330轴向平行，并与铰接轴0110轴向平行。
优选地，第一传动轮0320与第二传动轮0330关于铰接轴0110对称地布置。换言之，第一传动轮0320与第二传动轮0330于与铰接轴0110轴向垂直的平面内的轴心连接线在自身中点处与铰接轴0110的中心轴垂直相交。
其中，第一传动轮0320具有第一张紧面0321，第二传动轮0330具有第二张紧面0331，第一张紧面0321与第二张紧面0331保持相对。进而，第一张紧面0321与第二张紧面0331之间包围而成一容纳部。
如前所述，挠性件0400与传动轮组0300形成挠性传动关系，而将驱动力传递至传动轮组0300，驱动传动轮组0300旋转。挠性件0400一端连接于第一臂0100，另一端张紧于导向装置0210并向外延伸而形成自由端0410。其中，挠性件0400的自由端0410配置成接收驱动力。在一个示范性的实施例中，第一臂0100可设置传动轮，便于挠性件0400进行缠绕收卷。
在驱动力作用下，挠性件0400张紧于第一张紧面0321或第二张紧面0331上。同时，挠性件0400可滑动地保持于容纳部。应当理解，挠性件0400的滑动配置成驱动外部负载线性运动或旋转。
其中，挠性传动关系，是一种常见的机械传动，通常由两个或多个传动轮与挠性件0400组成，通过挠性件0400在传动轮之间传递运动与动力。根据挠性件0400的类型，挠性传动主要有带传动、链传动和绳传动，传动轮分别为带轮、链轮和绳轮，挠性件0400分别为传动带、传动链和传动绳。换言之，第一传动轮0320与第二传动轮0330包括链轮、带轮或绳轮中的一种。相应地，导向轮亦包括链轮、带轮或绳轮中的一种，并与挠性件0400的类型对应。
凸轮机构0500配置成调节导向装置0210与传动轮组0300之间的相对位置，使挠性件0400于导向装置0210与传动轮组0300之间始终保持平直张紧。凸轮机构0500包括凸轮0510与从动件组0520，凸轮0510固连于铰接轴0110上，从动件组0520与导向装置0210固定连接。从动件组0520可直线往复运动地保持于第二臂0200上，从动件组0520的直线运动方向沿第二臂0200的轴向布置。
在第二臂0200的旋转过程中，导向装置0210与传动轮组0300不可避免地发生相对移动，使挠性件0400发生受压弯曲或受拉伸张，于挠性件0400上发生形变位移，挠性件0400不再保持平直张紧。其中，导向装置0210与传动轮组0300的相对位移的变化规律，直接 决定凸轮0510的轮廓曲线。
换言之，导向装置0210与传动轮组0300的相对位移与凸轮0510的轮廓曲线应具有一致的变化曲线。当第二臂0200旋转时，从动件组0520随之于凸轮0510表面运动。凸轮0510固连于铰接轴0110上而保持静止，并反向驱动从动件组0520沿第二臂0200直线运动。在此过程中，从动件组0520带动导向装置0210直线运动，位移量即为导向装置0210与传动轮组0300之间固有的相对位移。经此补偿后，导向装置0210与传动轮组0300位置保持不变，挠性件0400不致发生变形而保持平直张紧，自补偿关节1000的运动精度与灵敏度得以保证。
其中，从动件组0520可采用多种从动件，如尖顶从动件或平底从动件等类型。优选地，从动件组0520包括滚子从动件0521、运动体0522与直线运动座0523。其中，滚子从动件0521与凸轮0510组成凸轮连接结构，运动体0522分别与滚子从动件0521、导向装置0210固定连接，运动体0522可直线往复运动地保持于直线运动座0523上，直线运动座0523与第二臂0200固定连接。在一个示范性的实施例中，直线运动座0523具有通孔而套设于运动体0522上，二者具有相对的直线运动。
优选地，运动体0522与直线运动座0523之间设有至少一个第一滚动轴承0525与至少一个第二滚动轴承0526，第一滚动轴承0525与第二滚动轴承0526轴向垂直。在此结构下，运动体0522与直线运动座0523之间具有滚动运动，运动顺畅而效率较高。同时，运动体0522受到多向支承，运动较为平稳。其中，滚动轴承尚可以其他滚动体予以替代。
优选地，从动件组0520还包括弹性元件0527，弹性元件0527两端分别连接运动体0522与直线运动座0523，弹性元件0527的弹性力沿运动体0522的直线运动方向。在运动体0522与直线运动座0523的相对运动中，弹性元件0527对运动体0522输出弹性作用力，使运动体0522的运动更为平稳，并避免运动体0522发生过冲。
在一个示范性的实施例中，从动件组0520具有两个弹性元件0527，分设于直线运动座0523的两侧。弹性元件0527可采用多种形式，如弹簧或弹性片等。根据弹性元件0527的设置位置，弹性元件0527可采用拉伸弹簧或压缩弹簧。
请结合参阅图3，优选地，第二臂0200远离铰接轴0110的一端设有第二直线运动座0524，运动体0522与导向装置0210可直线往复运动地保持于第二直线运动座0524上。进一步优选，运动体0522/导向装置0210与第二直线运动座0524之间设有至少一个第一滚动轴承0525与至少一个第二滚动轴承0526，第一滚动轴承0525与第二滚动轴承0526轴向垂直。
请结合参阅图7，在此一并介绍一种提升装置10000，包括悬臂支架2000、驱动主机3000、操作手柄4000与以上所述的自补偿关节1000，配置成提供一种水平移动时高度保 持不变的搬运设备，避免负载重物发生上下摇晃，搬运过程平稳，具有良好的安全性。
其中，悬臂支架2000配置成支撑提升装置10000的其他结构，是提升装置10000的结构基体。优选地，悬臂支架2000包括立柱或天车。在本实施例中，悬臂支架2000采用立柱形式，直接支撑于地面。在另一个实施例中，悬臂支架2000还可采用天车形式，形成龙门式结构。
第一臂0100远离铰接轴0110的一端与悬臂支架2000铰接，使第一臂0100可旋转地保持于悬臂支架2000上。于此，提升装置10000具有两种旋转运动，即第二臂0200相对第一臂0100的旋转运动，以及第一臂0100相对悬臂支架2000的旋转运动。
挠性件0400的自由端0410设有吊钩5000，配置成悬挂负载。挠性件0400远离自由端0410的一端缠绕于驱动主机3000上，配置成将负载的重力传递于驱动主机3000上。驱动主机3000与第一臂0100固定连接，配置成驱动挠性件0400收放。换言之，驱动主机3000根据负载的重力，输出相应的提升力，与负载重力取得平衡，负载保持静止地悬于空中。进而，驱动主机3000驱动挠性件0400收放，对负载进行提升或下降。
操作手柄4000与挠性件0400的自由端0410连接，配置成接收用户输入的驱动力或控制指令。换言之，操作手柄4000可以是设有按键的操作面板，用户通过点击而进行指令输入。操作手柄4000也可以是感应手柄，配置成感应用户输入的驱动力，反馈输出控制指令至驱动主机3000，使驱动主机3000反馈输出提升力。特别地，操作手柄4000可滑动地保持于自由端0410，当挠性件0400收放时，操作手柄4000始终保持于便于用户操作的高度。
当第二臂0200相对第一臂0100旋转折叠时，悬挂于吊钩5000的负载的重心保持高度不变，避免增加额外的阻碍力与阻碍力矩，使水平操作力始终保持在较为理想的低数值范围。同时，避免因额外阻碍力引起回弹力矩，第二臂0200折叠后不会发生回弹，实现自补偿关节1000的真正折叠。
在这里示出和描述的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制，因此，示例性实施例的其他示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种自补偿关节，其特征在于，包括：
    第一臂，其一端设有铰接轴；
    第二臂，其通过所述铰接轴铰接于所述第一臂，所述第二臂远离所述铰接轴的一端设有导向装置；
    传动轮组，其可旋转地保持于所述铰接轴上，并具有分别与所述铰接轴轴向平行的第一传动轮及第二传动轮，所述第一传动轮具有第一张紧面，所述第二传动轮具有第二张紧面，所述第一张紧面与所述第二张紧面之间包围而成一容纳部；
    挠性件，其一端连接于所述第一臂，另一端张紧于所述导向装置并向外延伸而形成自由端，所述自由端配置成接收驱动力，所述挠性件在所述驱动力作用下张紧于所述第一张紧面或所述第二张紧面上，并可滑动地保持于所述容纳部；
    凸轮机构，其包括凸轮与从动件组，所述凸轮固连于所述铰接轴上，所述从动件组与所述导向装置固定连接，所述从动件组可直线往复运动地保持于所述第二臂上，所述从动件组的直线运动方向沿所述第二臂的轴向布置。
  2. 根据权利要求1所述的自补偿关节，其特征在于，所述导向装置包括导向轮，所述挠性件张紧于所述导向轮上，所述挠性件的自由端位于所述导向轮远离所述铰接轴的一侧，所述导向轮的中心轴与所述铰接轴轴向垂直。
  3. 根据权利要求1所述的自补偿关节，其特征在于，所述从动件组包括滚子从动件、运动体与直线运动座，所述运动体分别与所述滚子从动件、所述导向装置固定连接，所述运动体可直线往复运动地保持于所述直线运动座上，所述直线运动座与所述第二臂固定连接。
  4. 根据权利要求3所述的自补偿关节，其特征在于，所述运动体与所述直线运动座之间设有至少一个第一滚动轴承与至少一个第二滚动轴承，所述第一滚动轴承与所述第二滚动轴承轴向垂直。
  5. 根据权利要求3所述的自补偿关节，其特征在于，所述从动件组还包括弹性元件，所述弹性元件两端分别连接所述运动体与所述直线运动座，所述弹性元件的弹性力沿所述运动体的直线运动方向作用。
  6. 根据权利要求3所述的自补偿关节，其特征在于，所述第二臂远离所述铰接轴的一端设有第二直线运动座，所述运动体与所述导向装置可直线往复运动地保持于所述第二直线运动座上。
  7. 根据权利要求1所述的自补偿关节，其特征在于，所述第一传动轮与所述第二 传动轮关于所述铰接轴对称地布置。
  8. 根据权利要求1所述的自补偿关节，其特征在于，所述第一传动轮与所述第二传动轮包括链轮、带轮或绳轮中的一种，所述挠性件包括传动链、传动带或传动轮中的一种。
  9. 一种提升装置，其特征在于，包括悬臂支架、驱动主机、操作手柄与权利要求1-8任一项所述的自补偿关节：
    所述第一臂可旋转地保持于所述悬臂支架上；
    所述挠性件的自由端设有配置成悬挂负载的吊钩，所述挠性件远离所述自由端的一端缠绕于所述驱动主机上；
    所述操作手柄与所述挠性件的自由端连接，配置成接收用户输入的驱动力或控制指令；
    所述驱动主机与所述第一臂固定连接，配置成驱动所述挠性件收放。
  10. 根据权利要求9所述的提升装置，其特征在于，所述悬臂支架包括立柱或天车。
PCT/CN2018/093063 2017-09-01 2018-06-27 自补偿关节与提升装置 WO2019041994A1 (zh)

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