Wearable space gravity balance mechanism without human-machine joint alignment requirement
A technology of gravity balance and mechanical joints, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of glenohumeral joint rotation center slippage, discomfort, service life limitation, etc., to improve durability and improve durability. Effect
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Embodiment 1
[0054] [Embodiment 1] The complete gravitational balance condition of the single bar of space fixed-point rotation
[0055] Such as figure 1 As shown, the fixed-point rotation of the first balanced pole 1 can be decomposed into coupled three-axis rotations, which are respectively the yaw angle α (the angle between the yaw plane P3 and the vertical plane P2), the inclination angle β (the first balanced The included angle between the axis of the rod 1 and the y-axis, the x-axis and the z-axis are located on the horizontal plane P1) and the spin angle γ (the rotation angle of the first balanced rod 1 around its own axis). Use the first plane gravity balance subunit 2 to realize the gravity balance of the first balanced pole 1, and notice that only the inclination angle β affects the gravitational potential energy of the system composed of the first balanced pole 1 and the first plane gravity balance subunit 2, Taking the horizontal plane P1 as the zero gravity potential energy r...
Embodiment 2
[0081] [embodiment 2] the design of plane gravity balance subunit
[0082] Assuming that the yaw angle α of the first balanced pole 1 is always 0°, and the spin angle γ is always 0°, that is, the first balanced pole 1 only rotates around the z-axis, and the corresponding inclination angle is β. Embodiment 1 points out that the first plane gravity balance subunit 2 is composed of two sub-mechanisms, the gear reduction mechanism and the harmonic displacement generator, and the first plane gravity balance subunit 2 that realizes the complete gravity balance of the first balanced pole 1 is given below organization composition.
[0083] Such as mechanism schematic diagram figure 2 and three dimensional model image 3 As shown (the angle labels etc. can refer to the description of other embodiments), the first plane gravity balance subunit 2 includes a first large gear 2051, a first crank 2052, a first pinion 206, a first connecting rod structure, a first A slider I 2021, a fi...
Embodiment 3
[0086] [embodiment 3] the design of space gravity balance unit
[0087] The design of the first plane gravity balance subunit 2 is based on the assumption that the yaw angle α is always 0° and the spin angle γ is always 0°. The restrictions on the yaw angle α and the spin angle γ are lifted below, On the basis of the first plane gravity balance subunit 2, the first space gravity balance unit that realizes general fixed-point rotation is designed, such as Figure 4~6 As shown (the angle labels and the like can refer to the explanations of other embodiments). Considering that the first balanced pole 1 may spin γ around its own axis, and the plane where the first balanced pole 1 is located will turn to the yaw plane P3 with an angle α with the original vertical plane P2, so it must be The first planar gravitational balance subunit 2 is modified to accommodate these movements. The first space gravity balance unit for realizing the complete gravity balance of the first balanced p...
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