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balance linkage

A linkage mechanism and linkage technology, which is applied to manipulators, robots, mechanical equipment, etc., can solve problems such as inconvenient disassembly of robots, and achieve the effects of reducing operating costs, improving collision safety, and maximizing load capacity

Active Publication Date: 2020-12-29
KOREA UNIV RES & BUSINESS FOUND +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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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 balance link mechanism comprising: a base link including a first joint; a second link forming a second joint rotatably connected to the base link; and a balancer along the second link The lengthwise direction of the base has a part arranged at the second joint part and another part movably arranged at the base link. The balancer compensates for the gravitational moment due to the weight of the second link when the second link rotates on the second joint. The third link is connected to the second link. The balancer includes a balancer transmission part connected to the second link and rotated by the rotation of the second link. The balancer drive part contacts the balancer drive part, moves linearly by the rotation of the balancer drive part, and compensates the gravitational torque due to the weight and load capacity of the second link due to the interaction with the balancer drive part .

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 Patents(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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