Counterbalancing Linkage Mechanism

A linkage mechanism and linkage technology, which is applied in the direction of manipulators, robots, mechanical equipment, etc., can solve the problems of inconvenient disassembly of robots, and achieve the effects of reducing operating costs, increasing durability and reliability, and reducing capacity

Active Publication Date: 2016-08-24
KOREA UNIV RES & BUSINESS FOUND +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] In addition, when the component parts of the robot need to be replaced or repaired, the robot needs to be inconveniently disassembled

Method used

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  • Counterbalancing Linkage Mechanism
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  • Counterbalancing Linkage Mechanism

Examples

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Embodiment Construction

[0050] Hereinafter, a balance link mechanism according to an exemplary embodiment in the present disclosure will be described in detail with reference to the accompanying drawings.

[0051] The balanced linkage mechanism of the present disclosure can be implemented as a robotic arm. However, the scope of the present disclosure is not limited thereto, and it can be implemented in various ways. A balanced linkage mechanism according to the present disclosure will be described as a robotic arm having a plurality of links connected in series.

[0052] The balance link unit according to the present disclosure has a structure in which a plurality of links and joints are continuously connected. When the balance linkage maintains a specific position in a space, the required gravitational torque needs to be generated by a motor and a reducer installed at each joint. If the position of the balance linkage changes, the gravitational torque produced by its own weight also changes. Ther...

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Abstract

A counterbalancing linkage mechanism includes a base link including a first joint; a second link forming a second joint to be rotatably connected to the base link; and a counter balancer having one portion disposed at the second joint and another portion movably disposed at the base link along a length direction of the second link. The counter balancer compensates a gravitational torque generated due to a weight of the second link when the second link rotates on the second joint. A third link is connected to the second link. The counter balancer comprises a counter balancer delivery portion connected to the second link and rotating by the rotation of the second link. A counter balancer driving portion is in contact with the counter balancer delivery portion, linearly moves by the rotation of the counter balancer delivery portion, and compensates the gravitational torque and a load capacity due to interaction with the counter balancer delivery portion.

Description

[0001] Cross-references to related applications [0002] This application claims the benefit of priority from Korean Patent Application No. 10-2015-0021591 filed with the Korean Intellectual Property Office on February 12, 2015, the entire contents of which are hereby incorporated by reference. technical field [0003] The invention relates to a balance linkage mechanism (counterbalancing linkage mechanism, counterbalancing linkage mechanism) that can cooperate with people. More specifically, the present invention relates to a balance linkage mechanism which minimizes the torque required for driving the balance linkage mechanism and generates additional compensating torque by installing a mechanical compensating device for compensating gravity torque . Background technique [0004] Various robots have been used to improve especially production efficiency. Therefore, cooperation between workers and robots is required. However, because there are many problems such as collis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00F16H37/12
CPCB25J19/0008F16H37/12B25J9/1065B25J19/0016Y10S901/48B25J9/1055B25J9/1641B25J19/002
Inventor 宋在馥李铉洙金晖洙宋承祐
Owner KOREA UNIV RES & BUSINESS FOUND
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