Long-distance motion central mechanism for gravitational equilibrium

A technology of remote motion center and gravity balance, which is applied in the direction of balance weight, manipulator, manufacturing tools, etc., to achieve the effect of easy realization, solving inaccurate calculation of counterweight mass and reducing operating force

Inactive Publication Date: 2009-03-04
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In general, due to the configuration dependence of the gravitational properties of the m

Method used

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  • Long-distance motion central mechanism for gravitational equilibrium
  • Long-distance motion central mechanism for gravitational equilibrium
  • Long-distance motion central mechanism for gravitational equilibrium

Examples

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[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0017] See figure 1 As shown, the present invention is a gravity-balanced remote motion center mechanism, including six links (A link 1, B link 2, C link 3, D link 4, E link 5, F link Rod 6), three counterweights (A counterweight 11, B counterweight 12, C counterweight 13), three clamping block assemblies (A clamping block assembly 21, B clamping block assembly 22, C clamping block Component 23), base 31, support 32, connector 7, cross bar 34, vertical bar 35; support 32 is installed on base 31; A link 1 and B link 2 are placed in parallel, C link 3 and D link 4 Placed in parallel, the two ends of the parallel connecting rods are movably connected to the F connecting rod 6 and the connecting piece 7 respectively; the tool 8 is installed at the lower end of the connecting piece 7; the A counterweight 11 is assembled on the A counterweight of the F connecting rod ...

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PUM

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Abstract

The invention discloses a remote movement center mechanism of gravity balance, which comprises an (A) connecting bar, a (B) connecting bar, a (C) connecting bar, a (D) connecting bar, an (E) connecting bar, an (F) connecting bar, an (A) balance weight, a (B) balance weight, a (C) balance weight, an (A) clamping piece component, a (B) clamping piece component, a (C) clamping piece component, a base, a support, a connecting piece, a cross bar and a vertical bar. The support is installed on the base; the (A) connecting bar and the (B) connecting bar are placed in parallel; the (C) connecting bar and the (D) connecting bar are placed in parallel; the ends of the parallel connecting bars are respectively and moveably connected with the (F) connecting bar and the connecting piece; a tool is arranged at the lower end part of the connecting piece; the (A) balance weight is installed the regulation section of the (A) balance weight of the (F) connecting bar, and the position of the (A) balance weight on the regulation section of the (B) balance weight is regulated through the (B) clamping piece component; and the (C) balance weight is installed on the vertical bar and position of the (C) balance weight on the vertical bar through the (C) clamping piece component. Through the mechanism of the invention, the tool can rotate around a virtual rotation center (O) in the space, and can keep the self gravity balance in each movement position.

Description

technical field [0001] The invention relates to a weight-balanced remote motion center mechanism. Background technique [0002] A component can rotate around a fixed point in space. There is no actual rotating joint at this fixed point, and the virtual fixed point is at the far end of the mechanism. This mechanism is called a virtual Remote Center of Motion (RCM) )mechanism. [0003] The gravity balance (or static balance) of the mechanism means that the mechanism can maintain a balanced state in any configuration without driving force, and the whole system can operate as if in a zero-gravity environment. This means that under the action of pure gravity, the mechanism can stop at any phase of the active part. The mechanism in which the total center of mass of the moving components remains stationary is called a gravity balance (static balance) mechanism. Gravity balance is an important issue in mechanism research. Its purpose is to reduce the driving force of the operatin...

Claims

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Application Information

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IPC IPC(8): B25J19/00F16F15/28
Inventor 裴旭于靖军宗光华毕树生孙明磊
Owner BEIHANG UNIV
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