A two-way balancing device

Abstract

The present invention provides a bidirectional balancing device, comprising a first rotating device, a second rotating device, at least one scroll-shaped elastic member and a transmission device; the inner end of the scroll-shaped elastic member is connected to the first rotating device, and the outer end thereof is connected to the second rotating device; one end of the transmission device is connected to the first rotating device and / or the second rotating device; and the other end thereof is connected to a rotating component.

Description

Technical Field

[0001] The invention relates to a balancing device for a rotating component, in particular to a bidirectional balancing device. Background Art

[0002] In the field of mechanical engineering, there are often some rotating parts that can reciprocate in the vertical plane, such as a rotating bracket that can adjust the seat back angle, a mechanical arm that can reciprocate in the vertical plane, etc. These rotating parts are generally equipped with power devices and transmission devices, such as drive motors and transmission shafts, so that the rotating parts can rotate within a certain angle range. During the rotation of the rotating parts in the vertical plane, the height of the center of gravity will change, so it is generally necessary to set a balancing device on the fixed base so that the rotating parts can remain stable during operation.

[0003] Existing electric seat back angle adjustment devices are generally used in car seats or office seats, etc. They generally use a small motor as a driving device and a rigid locking device to lock its position without any energy storage mechanism. When the center of gravity of the seat back moves from high to low, its gravitational potential energy is completely lost and cannot be effectively utilized; during the process of the center of gravity of the seat back changing, its kinetic energy is completely driven by the motor, which consumes a lot of electricity. On the other hand, during the rotation of the seat back, a large pressure is formed on the base of the seat back rotation device, which is easy to cause damage to the components. In order to ensure the stability of the seat back rotation, the base bracket and fasteners of the back angle adjustment device need to be made of excellent rigid materials, resulting in high component costs.

[0004] In the prior art, in order to ensure the stability of the system, the mechanical arm that reciprocates in the vertical plane is generally installed on a horizontally arranged balancing device to maintain the torque balance. When the center of gravity of the mechanical arm moves from a high place to a low place, a large gravity torque will be generated, which may cause the base of the mechanical arm to be unstable. Therefore, an elastic device needs to be set in the balancing device. After the elastic device is deformed, the gravitational potential energy of the mechanical arm can be converted into the elastic potential energy of the elastic device; when the center of gravity of the mechanical arm moves from a low place to a high place, the elastic device returns to its original state, and the elastic potential energy of the elastic device is converted into the gravitational potential energy of the mechanical arm, which can reduce the energy required to drive the motor load, which can not only maintain the stability of the system, but also reduce energy consumption.

[0005] The disadvantage of the existing mechanical arm balancing device is that, since the mechanical arm may rotate clockwise or counterclockwise, at least two (or two groups) of springs in different directions are required to achieve torque balance of reciprocating bidirectional motion. Most of the existing balancing devices are set separately from the drive device, which requires additional space for installation, occupies a large space, and has a complex connection structure, poor reliability and stability, which seriously affects the service life and work efficiency of the equipment. Summary of the invention

[0006] The object of the present invention is to provide a bidirectional balancing device to solve the technical problems existing in the prior art balancing devices for rotating parts, such as high energy consumption, complex connection structure, large occupied space, poor system stability, etc.

[0007] In order to solve the above technical problems, the present invention provides a bidirectional balancing device, including a first rotating device; a second rotating device, which is arranged outside the first rotating device; at least one scroll-shaped elastic member, whose inner end is connected to the first rotating device and whose outer end is connected to the second rotating device; and a transmission device, one end of which is connected to the first rotating device and / or the second rotating device; and the other end of which is connected to a rotating component.

[0008] Further, in different embodiments, when the first rotating device is driven by the transmission device to rotate, the second rotating device is stationary, the volute-shaped elastic member is deformed and generates a first restoring torque; when the second rotating device is driven by the transmission device to rotate, the first rotating device is stationary, the volute-shaped elastic member is deformed and generates a second restoring torque; the first restoring torque is in opposite directions to the second restoring torque.

[0009] Further, in different embodiments, when the center of gravity of the rotating component moves from a high place to a low place, when the rotating component rotates clockwise, the transmission device drives the first rotating device to rotate clockwise; or, when the rotating component rotates counterclockwise, the transmission device drives the second rotating device to rotate counterclockwise.

[0010] Further, in different embodiments, when the center of gravity of the rotating component moves from a low position to a high position, when the rotating component rotates clockwise, the second rotating device drives the transmission device to rotate clockwise; or, when the rotating component rotates counterclockwise, the first rotating device drives the transmission device to rotate counterclockwise.

[0011] Further, in different embodiments, when the center of gravity of the rotating component moves from a high place to a low place, when the rotating component rotates clockwise, the transmission device drives the second rotating device to rotate clockwise; or, when the rotating component rotates counterclockwise, the transmission device drives the first rotating device to rotate counterclockwise.

[0012] Further, in different embodiments, when the center of gravity of the rotating component moves from a low position to a high position, when the rotating component rotates clockwise, the first rotating device drives the transmission device to rotate clockwise; or, when the rotating component rotates counterclockwise, the second rotating device drives the transmission device to rotate counterclockwise.

[0013] Furthermore, in different embodiments, the scroll-shaped elastic member includes but is not limited to a planar scroll spring or a torsion spring; the cross-sectional shape of the scroll-shaped elastic member includes but is not limited to a rectangle, a circle and an ellipse.

[0014] Furthermore, in different embodiments, when the number of the spiral elastic members is more than two, the winding directions of all the spiral elastic members are the same; when more than two spiral elastic members are deformed at the same time, the directions of the restoring torques generated by all the spiral elastic members are the same.

[0015] Furthermore, in different embodiments, the bidirectional balancing device also includes a driving device connected to the rotating component to drive the rotating component to rotate.

[0016] Furthermore, in different embodiments, the bidirectional balancing device further includes a stabilizing device for mounting the first rotating device and the second rotating device.

[0017] Further, in different embodiments, the stabilizing device includes a horizontal base; and a first support plate and a second support plate, which are vertically fixed to the left and right ends of the horizontal base; wherein the first support plate and the second support plate are arranged opposite to each other and parallel to each other.

[0018] Further, in different embodiments, the first rotating device includes a first transmission shaft, the scroll-shaped elastic member is sleeved on the outside of the first transmission shaft; and a first inner end slot is provided on the outer side wall of the first transmission shaft, and the inner end of the scroll-shaped elastic member is engaged with the first inner end slot.

[0019] Further, in different embodiments, the first rotating device further includes a first clamping block protruding from a surface of one end of the first transmission shaft; and a second clamping block protruding from a surface of the other end of the first transmission shaft.

[0020] Further, in different embodiments, the second rotating device includes a first first shell, which is an annular sleeve, which is sleeved on the outside of the scroll-shaped elastic member; and a first first outer end snap-in, which passes through the tube wall of the first first shell, and the outer end of the scroll-shaped elastic member is snapped into the first first outer end snap-in.

[0021] Further, in different embodiments, the second rotating device also includes a first turntable, fixedly connected to one side of the first first shell, and a first turntable through hole is provided at the center of the first turntable; and a second turntable, fixedly connected to the other side of the first first shell, and a second turntable through hole is provided at the center of the second turntable; wherein the first transmission shaft passes through the first turntable through hole, the spiral elastic member and the second turntable through hole in sequence.

[0022] Further, in different embodiments, the second rotating device also includes a first turntable stopper protruding from a surface of the first turntable away from the first first shell; and a second turntable stopper protruding from a surface of the second turntable away from the first first shell.

[0023] Further, in different embodiments, the transmission device includes a transmission plate, which is tangent to the outer surface of the first turntable; a limiting sleeve, which protrudes from the surface of the transmission plate and is fixedly connected to the rotating component; and a first limiting hole, which passes through the limiting sleeve and the middle part of the transmission plate, and the first clamping block is inserted into the first limiting hole; wherein, two first limiting blocks protruding inwardly are provided in the first limiting hole, which are used to limit the rotation range of the first clamping block.

[0024] Furthermore, in different embodiments, a first arc-shaped bayonet is provided at the edge of the transmission plate, and the first turntable stopper is snapped into the first arc-shaped bayonet.

[0025] Further, in different embodiments, the cross-section of the first limit block is a right-angle sector; the sector-shaped centers of the two first limit block cross-sections protrude to the middle of the first limit hole; the sector-shaped centers of the two first limit block cross-sections are relatively arranged; and the center of the cross-section of the first limit hole is located on the line connecting the sector-shaped centers of the two first limit block cross-sections.

[0026] Further, in different embodiments, a limiting sleeve mounting hole is provided at the center of the first support plate, which is sleeved on the outside of the limiting sleeve.

[0027] Further, in different embodiments, a second limiting hole is provided at the center of the second support plate, and the second clamping block is inserted into the second limiting hole; two second limiting blocks protruding inwardly are provided in the second limiting hole to limit the rotation range of the second clamping block.

[0028] Further, in different embodiments, a second arc-shaped bayonet is provided at the edge of the second support plate, and the second turntable stopper is snapped into the second arc-shaped bayonet.

[0029] Further, in different embodiments, the cross-section of the second limit block is a right-angle sector; the sector-shaped centers of the two second limit block cross-sections protrude to the middle of the second limit hole; the sector-shaped centers of the two second limit block cross-sections are relatively arranged; and the center of the cross-section of the second limit hole is located on the line connecting the sector-shaped centers of the two second limit block cross-sections.

[0030] Further, in different embodiments, the first rotating device includes a third turntable; a second limiting sleeve protruding from the middle of the surface of the third turntable close to the spiral elastic member; and a second inner end slot provided on the outer side wall of the second limiting sleeve, and the inner end of the spiral elastic member is engaged with the second inner end slot.

[0031] Furthermore, in different embodiments, the first rotating device also includes a third turntable stopper protruding from the surface of the third turntable away from the spiral elastic member; and a third limiting hole passing through the second limiting sleeve and the center of the third turntable, and two third limiting stops protruding inwardly are provided in the third limiting hole.

[0032] Further, in different embodiments, the second rotating device includes a second outer shell, including a fourth turntable and a second annular sleeve; the second annular sleeve is sleeved on the outside of the scroll-shaped elastic member, and a pipe mouth on one side of the second annular sleeve is fixedly connected to the edge of the fourth turntable; and a second outer end snap-in, which passes through the outer side wall of the second annular sleeve, and the outer end of the scroll-shaped elastic member is snapped into the second outer end snap-in.

[0033] Furthermore, in different embodiments, the second rotating device also includes a fourth turntable stopper protruding from the surface of the fourth turntable away from the second annular sleeve; a fourth turntable through hole passing through the center of the fourth turntable; and a first arc-shaped sliding hole passing through the fourth turntable, the center of the arc of which is consistent with the center of the fourth turntable through hole.

[0034] Further, in different embodiments, the transmission device includes a fifth turntable, which is tangent to the inner surface of the fourth turntable; a second transmission shaft, which protrudes from the center of the fifth turntable, passes through the through hole of the fourth turntable and is fixedly connected to the rotating part; a fifth turntable stopper, which protrudes from the surface of the fifth turntable and is snapped into the first arc-shaped sliding hole; the fifth turntable stopper and the second transmission shaft are located on the same side close to the fourth turntable; a third clamping block, which protrudes from the center of the fifth turntable and is located on the side away from the fourth turntable; the third clamping block is snapped into the third limiting hole; and a third transmission shaft, which protrudes from the surface of the third clamping block, and its axis is on the same straight line as the axis of the second transmission shaft.

[0035] Furthermore, in different embodiments, a second transmission shaft mounting hole is provided at the center of the first support plate, which is sleeved on the outside of the second transmission shaft; a second arc-shaped sliding hole is provided at the lower part of the first support plate, which passes through the first support plate, and the center of the arc is consistent with the center of the second transmission shaft mounting hole.

[0036] Further, in different embodiments, a third transmission shaft mounting hole is provided at the center of the second support plate, which is sleeved on the outside of the third transmission shaft; a third arc-shaped bayonet is provided at the upper edge of the second support plate, and the third turntable stopper is snapped into the third arc-shaped bayonet.

[0037] The present invention provides a bidirectional balancing device for a rotating part. When the rotating part reciprocates in two rotation directions in a vertical plane, only one or a group of elastic parts in the same direction are needed to ensure the torque balance of the system, which can effectively reduce the load of the driving motor, reduce energy consumption, and reduce the production and maintenance costs of the equipment. In addition, the bidirectional balancing device of the present invention can effectively simplify the connection structure and save space, while improving the reliability and stability of the system, extending the service life, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the cross-sectional structure of Example 1 of the present invention in use;

[0039] Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0040] Figure 3 This is a schematic diagram of the decomposition structure of Example 1 of the present invention;

[0041] Figure 4 is a schematic structural diagram of the first rotating device in Example 1 of the present invention;

[0042] Figure 5 is a schematic structural diagram of the second rotating device in Example 1 of the present invention;

[0043] Figure 6 Schematic diagram of the structure of the scroll-shaped elastic member in Example 1 of the present invention;

[0044] Figure 7 This is a front structural schematic diagram of the transmission device in Example 1 of the present invention;

[0045] Figure 8 It is a schematic diagram of the structure of the stabilizing device in Example 1 of the present invention;

[0046] Fig. 9 is a schematic structural diagram of the second support plate in Embodiment 1 of the present invention;

[0047] Fig.10 Schematic diagram of the position of the rotating component in Example 1 of the present invention;

[0048] Fig.11 This is a schematic diagram of the structure of Example 2 of the present invention in use;

[0049] Fig.12 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0050] Fig.13 This is a schematic diagram of the decomposition structure of Embodiment 2 of the present invention;

[0051] Fig.14 is a schematic structural diagram of the first rotating device in Example 2 of the present invention;

[0052] Fig.15 is a schematic structural diagram of the second rotating device in Example 2 of the present invention;

[0053] Fig.16 Schematic diagram of the structure of the transmission device in Example 2 of the present invention;

[0054] Fig.17 It is a schematic diagram of the structure of the stabilizing device in Example 2 of the present invention;

[0055] Fig.18 Schematic diagram of the position of the rotating component in Example 2 of the present invention.

[0056] The parts in the figure are numbered as follows:

[0057] 100 first rotating device, 200 second rotating device; 300 scroll elastic member, 400 transmission device;

[0058] 500 stabilizing device, 600 rotating parts, 700 driving device;

[0059] 101 first transmission shaft, 102 first inner end slot, 103 first block, 104 second block, 105 third rotating disk, 106 second limiting sleeve, 107 second inner end slot;

[0060] 201 first housing, 202 first outer end bayonet, 203 first rotating disk, 204 second rotating disk, 205 second housing, 206 fourth rotating disk, 207 second annular sleeve, 208 second outer end bayonet;

[0061] 301 spring sheet, 302 spring inner end, 303 spring outer end;

[0062] 401 transmission plate, 402 limiting sleeve, 403 first limiting hole, 404 fifth rotating disk, 405 second transmission shaft, 406 third clamping block, 407 third transmission shaft;

[0063] 501 first support plate, 502 second support plate, 503 horizontal base;

[0064] 601 a reference position of the rotating component in Example 1, 602 a first target position of the rotating component in Example 1, 603 a second target position of the rotating component in Example 1;

[0065] 701 a reference position of the rotating component in Example 2, 702 a first target position of the rotating component in Example 2, 703 a second target position of the rotating component in Example 2;

[0066] 1051 a third rotating disk stopper, 1061 a third limiting hole, 1062 a third limiting stopper, 1063 a third limiting stopper;

[0067] 2031 is a first turntable through hole, 2032 is a first turntable stopper; 2041 is a second turntable through hole, 2042 is a second turntable stopper; 2061 is a fourth turntable stopper, 2062 is a fourth turntable through hole, 2063 is a first arc-shaped sliding hole;

[0068] 4011 first arc-shaped bayonet, 4031 first limit stopper, 4032 first limit stopper, 4041 fifth turntable stopper;

[0069] 5011 is a limiting sleeve mounting hole, 5012 is a second transmission shaft mounting hole, and 5013 is a second arc-shaped sliding hole;

[0070] 5021 a second limiting hole, 5022 a second arc-shaped bayonet, 5023 a second limiting stopper, 5024 a second limiting stopper;

[0071] 5025 the third transmission shaft mounting hole, 5026 the third arc bayonet. DETAILED DESCRIPTION

[0072] The following describes the preferred embodiment of the present invention with reference to the drawings in the specification to prove that the present invention can be implemented. The embodiment can fully introduce the present invention to those skilled in the art, making its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0073] In the drawings, components with the same structure are indicated by the same numerical labels, and components with similar structures or functions are indicated by similar numerical labels. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component.

[0074] The directional terms mentioned in the present invention, such as up, down, front, back, inside, outside, inner, outer, side, top, bottom, top end, bottom end, end, clockwise, counterclockwise, etc., are only directions in the drawings, which are only used to explain and illustrate the present invention, and are not used to limit the scope of protection of the present invention.

[0075] When some components are described as being "on" another component, the component may be directly placed on the other component; there may also be an intermediate component on which the component is placed, and the intermediate component is placed on the other component. When a component is described as being "mounted on" or "connected to" another component, the two may be understood to be directly "mounted on" or "connected", or one component may be indirectly "mounted on" or "connected to" another component via an intermediate component.

[0076] like Figure 1-2 As shown, the bidirectional balancing device of the present invention includes a first rotating device 100 , a second rotating device 200 , at least one scroll elastic member 300 , a transmission device 400 , a stabilizing device 500 , a rotating component 600 and a driving device 700 .

[0077] One end of the transmission device 400 is connected to the first rotating device 100 and / or the second rotating device 200, and the other end thereof is connected to an external rotating component 600. The rotating component 600 refers to a component that can reciprocate within a certain angle range, including but not limited to a mechanical arm and a seat back. In the present invention, the rotating component 600 can be a component directly connected to the transmission device 400, or a component indirectly connected to the transmission device 400 through other mechanisms.

[0078] For the rotating parts directly connected to the transmission device, the plane where its rotation path is located is perpendicular to the straight line where the central axis of the spiral elastic member 300 is located. In the two embodiments of the present invention described below, the central axes of the spiral elastic members (volute springs) are both horizontally arranged, and the planes where the rotation paths of the rotating parts (mechanical arms, seat backs) are located are both vertical planes. When the rotating part rotates in a vertical plane, the bidirectional balancing device of the present invention is used to achieve the deadweight balance of the rotating part; when the rotating part rotates in a horizontal plane, the center of gravity of the rotating part does not change, and the bidirectional balancing device is used to achieve the load balance of the rotating part; when the rotating part rotates in other planes, the bidirectional balancing device can be used to achieve both the deadweight balance of the rotating part and the load balance.

[0079] The rotating component 600 can rotate in a clockwise or counterclockwise direction in a vertical plane under the action of the driving device 700 (such as a driving motor). In this article, the clockwise direction of the line of sight is the direction facing the rotating component 600, and the entire rotation process of the external rotating component 600 (mechanical arm) of this embodiment can be seen. Since the rotating component 600 is fixedly connected to the transmission device 400, when the rotating component 600 rotates, the transmission device 400 is driven to rotate in the same direction, thereby driving the first rotating device 100 or the second rotating device 200 to rotate.

[0080] The first rotating device 100 and the second rotating device 200 are both mounted on the stabilizing device 500; the second rotating device 200 is disposed outside the first rotating device 100, and the two can rotate independently without interfering with each other. The scroll elastic member 300 is spiral-shaped, with its inner end connected to the first rotating device 100 and its outer end connected to the second rotating device 200. When either rotating device rotates and the other rotating device remains stationary, the two ends of the scroll elastic member 300 will be subjected to a certain pressure, causing it to deform.

[0081] When the first rotating device 100 is driven by the transmission device 400 to rotate, the second rotating device 200 remains stationary, the scroll-shaped elastic member 300 is deformed, and a first restoring torque is generated; when the second rotating device 200 is driven by the transmission device 400 to rotate, the first rotating device 100 remains stationary, the scroll-shaped elastic member 300 is deformed, and a second restoring torque is generated; the first restoring torque is opposite to the second restoring torque.

[0082] When the scroll elastic member is forced to open or contract, a certain restoring torque will be generated to cause it to return to its original shape. When the scroll elastic member is opened, a torque to contract inwards will be generated; when the scroll elastic member is forced to contract, a torque to open outwards will be generated; in these two cases, the directions of the restoring torques generated by the scroll elastic member are opposite.

[0083] Example 1

[0084] like Figures 1 to 10 As shown, Example 1 is a bidirectional balancing device for a reciprocating robot arm, the rotating component 600 is a robot arm that can reciprocate in a vertical plane, and the driving device 700 is a driving motor.

[0085] like Figures 3-4 As shown, the first rotating device 100 includes a first transmission shaft 101, and the scroll-shaped elastic member 300 is sleeved on the outside of the first transmission shaft 101. The outer wall of the first transmission shaft 101 is provided with a first inner end clamping groove 102, and the first inner end clamping groove 102 is a linear groove, which is used to clamp the inner end of the scroll-shaped elastic member 300. A protruding first clamping block 103 is provided on the surface of one end of the first transmission shaft 101, and a protruding second clamping block 104 is provided on the surface of the other end. In this embodiment, the first clamping block 103 and the second clamping block 104 are rectangular blocks, preferably long strip-shaped clamping blocks.

[0086] like Figure 3 , Figure 5 As shown, the second rotating device 200 includes a first housing 201, which is an annular sleeve, sleeved outside the scroll elastic member 300. The first housing 201 is provided with a first outer end snap-in 202, which passes through the tube wall of the annular sleeve and is used to snap-in the outer end of the scroll elastic member 300.

[0087] The second rotating device 200 also includes a first rotating disk 203 and a second rotating disk 204. The first rotating disk 203 is fixedly connected to one side of the first housing 201, and the second rotating disk 204 is fixedly connected to the other side of the first housing 201. Specifically, the first rotating disk 203 and the second rotating disk 204 are fixedly connected to the pipe openings at both ends of the annular sleeve. The surfaces of the first rotating disk 203 and the second rotating disk 204 on the side close to the first housing 201 are their inner surfaces, and the surfaces on the side away from the first housing 201 are their outer surfaces. A first rotating disk through hole 2031 is provided at the center of the first rotating disk 203; a second rotating disk through hole 2041 is provided at the center of the second rotating disk 204. The first transmission shaft 101 passes through the first turntable through hole 2031, the spiral elastic member 300 and the second turntable through hole 2041 in sequence. The central axes of the first turntable through hole 2031 and the second turntable through hole 2041 are on the same straight line as the axis of the first transmission shaft 101. The diameters of the first turntable through hole 2031 and the second turntable through hole 2041 are slightly larger than the diameter of the first transmission shaft 101.

[0088] The second rotating device 200 further includes a first turntable stopper 2032 and a second turntable stopper 2042 . The first turntable stopper 2032 protrudes from the surface of the first turntable 203 away from the first housing 201 ; the second turntable stopper 2042 protrudes from the surface of the second turntable 204 away from the first housing.

[0089] like Figure 3 , Figure 6 As shown, the spiral elastic member 300 is preferably a plane spiral spring or a torsion spring. The plane spiral spring includes a spiral spring sheet 301, and the spring sheet 301 is located between two parallel planes. The two ends of the spring sheet 301 are respectively formed into a spring inner end 302 and a spring outer end 303, and the spring inner end 302 is engaged with the first inner end slot 102 of the first rotating device 100, and the spring outer end 303 is engaged with the first outer end slot 202 of the second rotating device 200.

[0090] In this embodiment, when the number of spiral elastic members 300 is more than two, the winding direction of all spiral elastic members 300 is the same, specifically, the spring sheets 301 of all spiral elastic members 300 are wound in the same direction. When more than two spiral elastic members 300 are deformed at the same time, the direction of the restoring torque generated by all spiral elastic members 300 is the same. Since each spiral elastic member 300 can generate two restoring torques in opposite directions under different force directions, only one or one group of spiral springs can achieve the effects of bidirectional buffering and energy storage in the present invention. Compared with the technical solution of simultaneously setting two groups of spiral springs with opposite winding directions in the prior art, the present invention can simplify the structure, reduce the volume, effectively reduce the production cost and save space.

[0091] The inner ends 302 of all the spiral elastic members 300 are in corresponding positions and can be arranged on the same straight line; the outer ends 303 of all the spiral elastic members 300 are in corresponding positions and can be arranged on the same straight line. The cross-sectional shape of the spiral elastic member 300, specifically, the cross-sectional shape of the spring sheet, includes but is not limited to rectangular, circular or elliptical. The spring sheet 301 of a common spiral spring is generally in the form of a thin sheet, and its cross-sectional shape is rectangular, and the ratio of its length to width is greater than 10. Common torsion springs are generally formed by twisting a thinner metal wire into a spiral structure. For ease of processing, its cross-section is mostly circular or elliptical.

[0092] When the number of spiral elastic members 300 is more than two, an isolation ring is arranged between two adjacent spiral elastic members 300. The isolation ring is made of elastic wear-resistant material (such as rubber) to prevent the spiral elastic member 300 from colliding with other spiral elastic members 300 or other components during the process of deformation or recovery, thereby affecting the deformation energy storage effect.

[0093] like Figure 3 , Figure 7 As shown, the transmission device 400 includes a transmission plate 401 and a limiting sleeve 402 . The transmission plate 401 is circular as a whole, and one side surface of the transmission plate 401 is tangent to the outer surface of the first turntable 203 . The limiting sleeve 402 protrudes from the surface of the transmission plate 401 , and the limiting sleeve 402 is fixedly connected to the rotating component 600 .

[0094] The edge of the transmission plate 401 is provided with a first arc-shaped bayonet 4011, and the first turntable stopper 2032 is snapped into the first arc-shaped bayonet 4011. The bottom of the first arc-shaped bayonet 4011 is an arc, and the center of the circle where the arc is located coincides with the center of the transmission plate 401, and the central angle corresponding to the arc is 90 degrees.

[0095] The limiting sleeve 402 is provided with a first limiting hole 403, which passes through the limiting sleeve 402 and the middle of the transmission plate 401. The first clamping block 103 of the first rotating device 100 is clamped into the first limiting hole 403, and two first limiting blocks 4031 and 4032 protruding inwardly are provided in the first limiting hole 403 to limit the rotation range of the first clamping block 103. In this embodiment, the cross-section of the first limiting hole 403 is circular, and its diameter is slightly larger than the length of the first clamping block 103.

[0096] The cross-section of the first limit blocks 4031 and 4032 is a right-angle sector, the centers of the sectors of the two first limit blocks 4031 and 4032 are arranged opposite to each other, the center of the cross-section of the first limit hole 403 is located on the line connecting the centers of the sectors of the two first limit blocks 4031 and 4032, the centers of the sectors of the cross-sections of the two first limit blocks 4031 and 4032 protrude to the middle of the first limit hole 403, and the rotation angle of the first clamping block 103 in the first limit hole 403 is 90 degrees.

[0097] The length of the limiting sleeve 402 is greater than the thickness of the first clamping block 103. When the first clamping block 103 is inserted into the first limiting hole 403, there is still a part of space in the first limiting hole 403 away from the first turntable 203, which can be used to install the first transmission shaft for outputting power of the rotating component 600. The shape of the front end clamping part of the first transmission shaft corresponds to the shape of the first limiting hole 403.

[0098] like Figure 3 , Figures 8-9 As shown, the stabilizing device 500 includes a first support plate 501, a second support plate 502 and a horizontal base 503. The first support plate 501 and the second support plate 502 are vertically fixed to the left and right ends of the horizontal base 503. The first support plate 501 and the second support plate 502 are arranged opposite to each other and parallel to each other.

[0099] The horizontal base 503 is preferably a rectangular base, and the horizontal base 503 is provided with a plurality of mounting screw holes, and the horizontal base 503 can be fixedly mounted on the ground or other bases by fasteners, thereby ensuring that the system formed by the robotic arm and the balancing device is sufficiently stable without deviation or shaking.

[0100] A limiting sleeve mounting hole 5011 is provided at the center of the first support plate 501, which is sleeved on the outside of the limiting sleeve 402. The limiting sleeve 402 is connected to an external rotating component 600 through the limiting sleeve mounting hole 5011. When the rotating component 600 rotates in a vertical plane, the limiting sleeve 402 can also be driven to rotate.

[0101] A second limiting hole 5021 is provided at the center of the second support plate 502, and the second clamping block 104 is clamped into the second limiting hole 5021; two second limiting blocks 5023 and 5024 protruding inwardly are provided in the second limiting hole 5021, which are used to limit the rotation range of the second clamping block 104. In this embodiment, the cross-section of the second limiting hole 5021 is circular, and its diameter is slightly larger than the length of the second clamping block 104. The cross-section of the second limiting blocks 5023 and 5024 is a right-angle sector, and the sector centers of the cross-sections of the two second limiting blocks 5023 and 5024 are arranged oppositely, and the center of the cross-section of the second limiting hole 5021 is located on the line connecting the sector centers of the two second limiting blocks 5023 and 5024, and the sector centers of the cross-sections of the two second limiting blocks 5023 and 5024 protrude to the middle of the second limiting hole 5021, and the rotation angle of the second clamping block 104 in the second limiting hole 5021 is 90 degrees.

[0102] A second arc-shaped bayonet 5022 is provided at the edge of the second support plate 502, and the second turntable stopper 2042 is snapped into the second arc-shaped bayonet 5022. The arc center line of the second arc-shaped bayonet 5022 is an arc line, the center of the circle where the arc line is located coincides with the center of the second support plate 502, and the center angle corresponding to the arc line is 90 degrees.

[0103] The stabilizing device 500 may further include a protective cover (not shown), the bottom of which is mounted to the horizontal base 503. The protective cover covers the outside of the first rotating device 100 and the second rotating device 200 to protect the first rotating device 100 and the second rotating device 200 from being disturbed by external factors during rotation.

[0104] In this embodiment, the first arc-shaped bayonet 4011 corresponds to the first limit stop 4031 or 4032, and the second arc-shaped bayonet 5022 corresponds to the second limit stop 5031 or 5032, so that only one of the first rotating device 100 and the second rotating device 200 can rotate without interfering with each other.

[0105] like Fig.10 As shown, in this embodiment, during the rotation of the rotating component 600 (mechanical arm) on the vertical plane, the highest point of the center of gravity of the rotating component 600 on its running track is set as the reference position 601, and the lowest points of the center of gravity of the two rotating components 600 on its running track are set as the first target position 602 and the second target position 603. In this embodiment, the rotation angle of the reference position of the rotating component 600 is set to 0 degrees, and the rotation angle range is 0 to 90 degrees clockwise and 0 to 90 degrees counterclockwise. It is judged that the clockwise line of sight direction is the direction facing the first support plate 501, and it can be seen that the entire rotation process of the external rotating component 600 (mechanical arm) in this embodiment.

[0106] like Fig.10 As shown, when the rotating member 600 is at the reference position 601, the first rotating device 100 and the second rotating device 200 remain stationary, and the scroll elastic member 300 remains in its original state. The first clamping block 103 and the second clamping block 104 are vertically arranged, and the first rotating disk stopper 2032 and the second rotating disk stopper 2042 are both located above the first transmission shaft 101.

[0107] When the rotating component 600 needs to rotate counterclockwise from the reference position 601 to the first target position 602, the center of gravity of the rotating component 600 moves from a high position to a low position, and the driving device 700 (motor) drives the rotating component 600 (mechanical arm) to rotate counterclockwise, and the transmission device 400 is also driven to rotate counterclockwise. At this time, the first turntable block 2032 of the first turntable 203 is stuck in the first arc-shaped bayonet 4011 of the transmission plate 401, so it will drive the second rotating device 200 to rotate counterclockwise. When the rotating component 600 reaches the first target position 602, the rotation angle is 90 degrees. In this process, the second turntable block 2042 slides in the second arc-shaped bayonet 5022 to ensure that the second turntable 204 can rotate synchronously with the first turntable 203. In this process, the first clamping block 103 does not encounter any resistance in the first limiting hole 403, and the first rotating device 100 is completely stationary. Since the inner end of the scroll elastic member 300 is fixedly connected to the first rotating device 100 and the outer end thereof is fixedly connected to the second rotating device 200 , the scroll elastic member 300 is deformed and curled, and the gravitational potential energy of the rotating component 600 is converted into the elastic potential energy of the scroll elastic member 300 .

[0108] When the rotating component 600 needs to rotate clockwise from the first target position 602 back to the reference position 601, the center of gravity of the rotating component 600 moves from a low position to a high position, and the driving device 700 (motor) drives the rotating component 600 (mechanical arm) to rotate clockwise, and the transmission device 400 is also driven to rotate clockwise. When the rotating component 600 returns to the reference position 601, the second rotating device 200 rotates clockwise, the scroll elastic member 300 gradually restores its original shape, and the elastic potential energy of the scroll elastic member 300 is converted into the gravitational potential energy of the rotating component 600, thereby reducing the work done by the driving device 700 on the rotating component 600, reducing the demand for driving torque, and reducing the energy consumption of the motor.

[0109] When the rotating component 600 needs to rotate clockwise from the reference position 601 to the second target position 603, the center of gravity of the rotating component 600 moves from a high position to a low position, and the driving device 700 (motor) drives the rotating component 600 (mechanical arm) to rotate clockwise, and the transmission device 400 is also driven to rotate clockwise. When the rotating component 600 reaches the second target position 603, the rotation angle is 90 degrees. At this time, the first clamping block 103 is engaged with the first limiting hole 403, and the two first limiting blocks 4031 and 4032 push the first clamping block 103 to rotate clockwise, thereby driving the first rotating device 100 to rotate clockwise. In this process, the second clamping block 104 slides in the second limiting hole 5021 to ensure that the first transmission shaft 101 can rotate freely. In this process, the first turntable stopper 2032 slides in the first arc-shaped bayonet 4011, and the second turntable stopper 2042 slides in the second arc-shaped bayonet 5022. The first turntable 203 is not subjected to any thrust at all, and the second rotating device 200 is stationary. Since the inner end of the scroll elastic member 300 is fixedly connected to the first rotating device 100, and the outer end thereof is fixedly connected to the second rotating device 200, the scroll elastic member 300 is deformed and curled, and the gravitational potential energy of the rotating component 600 is converted into the elastic potential energy of the scroll elastic member 300.

[0110] When the rotating component 600 needs to rotate counterclockwise from the second target position 603 back to the reference position 601, the center of gravity of the rotating component 600 moves from a low position to a high position, and the driving device 700 (motor) drives the rotating component 600 (mechanical arm) to rotate counterclockwise, and the transmission device 400 is also driven to rotate counterclockwise. When the rotating component 600 returns to the reference position 601, the first rotating device 100 rotates counterclockwise, and the scroll elastic member 300 gradually restores its original shape. The elastic potential energy of the scroll elastic member 300 is converted into the gravitational potential energy of the rotating component 600, thereby reducing the work done by the driving device 700 on the rotating component 600 and reducing the energy consumption of the motor.

[0111] When the center of gravity of the rotating component 600 moves from a high place to a low place, when the rotating component 600 rotates clockwise in the vertical plane, the transmission device 400 drives the first rotating device 100 to rotate in the clockwise direction; when the rotating component 600 rotates counterclockwise in the vertical plane, the transmission device 400 drives the second rotating device 200 to rotate counterclockwise.

[0112] When the center of gravity of the rotating component 600 moves from a low position to a high position, when the rotating component 600 rotates clockwise in the vertical plane, the second rotating device 200 drives the transmission device 400 to rotate in the clockwise direction; when the rotating component 600 rotates counterclockwise in the vertical plane, the first rotating device 100 drives the transmission device 400 to rotate counterclockwise.

[0113] During operation of this embodiment, the external rotating component 600 rotates in a vertical plane under the drive of the driving device 700, and can drive the first rotating device 100 or the second rotating device 200 to rotate within a certain range through the transmission device 400. Since the two ends of the scroll-shaped elastic member 300 are respectively connected to the first rotating device 100 or the second rotating device 200, when any rotating device rotates, the scroll-shaped elastic member 300 will be deformed by force, thereby playing a role in buffering and temporarily storing energy.

[0114] In this embodiment, the positions of the first limiting hole 403, the second limiting hole 5021, the first arc-shaped bayonet 4011, and the second arc-shaped bayonet 5022 in the figure can be swapped left and right, and the working mode and principle are similar to the above-mentioned scheme, which will not be described in detail here. According to such a technical scheme, when the center of gravity of the rotating component 600 moves from a high place to a low place, when the rotating component 600 rotates clockwise in a vertical plane, the transmission device 400 drives the second rotating device 200 to rotate in a clockwise direction; when the rotating component 600 rotates counterclockwise in a vertical plane, the transmission device 400 drives the first rotating device 100 to rotate counterclockwise. When the center of gravity of the rotating component 600 moves from a low position to a high position, when the rotating component 600 rotates clockwise in the vertical plane, the first rotating device 100 drives the transmission device 400 to rotate in the clockwise direction; when the rotating component 600 rotates counterclockwise in the vertical plane, the second rotating device 200 drives the transmission device 400 to rotate counterclockwise.

[0115] This embodiment provides a bidirectional balancing device for a mechanical arm. When the mechanical arm reciprocates in two rotation directions in a vertical plane, only one or a group of elastic members in the same direction are needed to ensure the torque balance of the system, which can effectively reduce the load of the drive motor, reduce energy consumption, and reduce the production and maintenance costs of the equipment. In addition, this embodiment can effectively simplify the connection structure, save space, and improve the reliability and stability of the system, extend the service life, and improve work efficiency.

[0116] Example 2

[0117] like Figures 11 to 18 As shown, Example 2 is a bidirectional balancing device for a seat back adjuster. The seat back adjuster is an electric adjustment device that can adjust the inclination angle of the seat back. The rotating component 600 is a seat back that can reciprocate in the vertical direction, specifically, a backrest bracket that can adjust the seat back to move forward and backward. The driving device 700 is a small driving motor.

[0118] like Figures 13-14As shown, the first rotating device 100 includes a third rotating disk 105 and a second limiting sleeve 106, and the second limiting sleeve 106 protrudes from the middle of the surface of the third rotating disk 105 close to the spiral elastic member 300; the outer wall of the second limiting sleeve 106 is provided with a second inner end groove 107, and the spring inner end 302 of the spiral elastic member 300 is engaged with the second inner end groove 107.

[0119] The first rotating device 100 also includes a third turntable block 1051 and a third limiting hole 1061. The third turntable block 1051 protrudes from the surface of the third turntable 105 away from the spiral elastic member 300. The third limiting hole 1061 passes through the second limiting sleeve 106 and the center of the third turntable 105. Two third limiting blocks 1062 and 1063 protruding inward are arranged in the third limiting hole 1061.

[0120] In this embodiment, the main body of the cross section of the third limiting hole 1061 is circular, and its diameter is slightly larger than the length of the third clamping block 406. The cross sections of the third limiting blocks 1062 and 1063 are right-angled sectors, the centers of the sectors of the two third limiting blocks 1062 and 1063 are arranged oppositely, the center of the cross section of the third limiting hole 1061 is located on the line connecting the centers of the sectors of the two third limiting blocks 1062 and 1063, the centers of the sectors of the cross sections of the two third limiting blocks 1062 and 1063 protrude to the middle of the third limiting hole 1061, and the rotation angle of the third clamping block 406 in the third limiting hole 1061 is 90 degrees.

[0121] like Fig.13 , Fig.15 As shown, the second rotating device 200 includes a second outer shell 205, and the second outer shell 205 includes an integrally arranged fourth turntable 206 and a second annular sleeve 207; the second annular sleeve 207 is sleeved on the outside of the spiral elastic member 300, and the pipe mouth on one side of the second annular sleeve 207 is fixedly connected to the edge of the fourth turntable 206; the outer side wall of the second annular sleeve 207 is provided with a second outer end snap-in 208, and the spring outer end 303 of the spiral elastic member 300 is snap-fitted into the second outer end snap-in 208.

[0122] The second rotating device 200 also includes a fourth turntable stopper 2061, which protrudes from the surface of the fourth turntable 206 away from the second annular sleeve 207; a fourth turntable through hole 2062 is provided at the center of the fourth turntable 206; the fourth turntable 206 is provided with a first arc-shaped sliding hole 2063, and the upper and lower corresponding sides of the first arc-shaped sliding hole 2063 are both arcs, and the centers of the two arcs coincide with the center of the fourth turntable through hole 2062, and the corresponding central angles of the two arcs are 90 degrees.

[0123] like Figure 6 , Fig.13As shown, the volute elastic member 300 of Example 2 is the same as the volute elastic member 300 of Example 1. The volute elastic member 300 is sleeved outside the second limiting sleeve 106, preferably a plane volute spring, including a volute spring sheet 301, and the spring sheet 301 is located between two parallel planes. The two ends of the spring sheet 301 are respectively formed into a spring inner end 302 and a spring outer end 303, the spring inner end 302 is engaged with the second inner end slot 107 of the first rotating device 100, and the spring outer end 303 is engaged with the second outer end slot 208 of the second rotating device 200.

[0124] In this embodiment, when the number of spiral elastic members 300 is more than two, the winding direction of all spiral elastic members 300 is the same, specifically, the spring sheets 301 of all spiral elastic members 300 are wound in the same direction. The positions of the inner ends 302 of the springs of all spiral elastic members 300 are corresponding and can be arranged on the same straight line; the positions of the outer ends 303 of the springs of all spiral elastic members 300 are corresponding and can be arranged on the same straight line. When the number of spiral elastic members 300 is more than two, an isolation ring is arranged between two adjacent spiral elastic members 300, and the isolation ring is made of elastic wear-resistant material (such as rubber) to prevent the spiral elastic member 300 from colliding with other spiral elastic members 300 or other components during the process of deformation or recovery, thereby affecting the deformation energy storage effect.

[0125] like Fig.13 , Fig.16 As shown, the transmission device 400 includes a fifth turntable 404 and a second transmission shaft 405. The fifth turntable 404 is tangent to the inner surface of the fourth turntable 206. The second transmission shaft 405 protrudes from the center of the fifth turntable 404, passes through the fourth turntable through hole 2062 and is fixedly connected to the rotating component 600 (seat back).

[0126] A protruding fifth turntable stopper 4041 is provided on one side of the fifth turntable 404, and the fifth turntable stopper 4041 is inserted into the first arc-shaped sliding hole 2063; the fifth turntable stopper 4041 and the second transmission shaft 405 are located on the same side close to the fourth turntable 206. The third clamping block 406 protrudes from the center of the fifth turntable 404, and is located on the side away from the fourth turntable 206; the third clamping block 406 is inserted into the third limiting hole 1061, and the rotation angle of the third clamping block 406 in the third limiting hole 1061 is 90 degrees. The third transmission shaft 407 protrudes from the surface of the third clamping block 406, and its axis is located on the same straight line as the axis of the second transmission shaft 405. In this embodiment, the third clamping block 406 is a rectangular parallelepiped, preferably a long strip clamping block.

[0127] like Fig.13 , Fig.17As shown, the stabilizing device 500 includes a first support plate 501, a second support plate 502 and a horizontal base 503. The first support plate 501 and the second support plate 502 are vertically fixed to the left and right ends of the horizontal base 503. The first support plate 501 and the second support plate 502 are arranged opposite to each other and parallel to each other.

[0128] The horizontal base 503 is preferably a rectangular base, and the horizontal base 503 is provided with a plurality of mounting screw holes, and the horizontal base 503 can be fixedly mounted on the ground or other bases by fasteners, thereby ensuring that the system formed by the robotic arm and the balancing device is sufficiently stable without deviation or shaking.

[0129] A second transmission shaft mounting hole 5012 is provided at the center of the first support plate 501 and is sleeved on the outside of the second transmission shaft 405 ; a second arc-shaped sliding hole 5013 is provided at the lower part of the first support plate 501 and passes through the first support plate 501 , and the center of the arc is consistent with the center of the second transmission shaft mounting hole 5012 .

[0130] A third transmission shaft mounting hole 5025 is provided at the center of the second support plate 502 and sleeved on the outside of the third transmission shaft 407 . A third arc-shaped bayonet 5026 is provided at the upper edge of the second support plate 502 , and the third turntable stopper 1051 is snapped into the third arc-shaped bayonet 5026 .

[0131] In this embodiment, the scroll elastic member 300 is sleeved on the outside of the second limiting sleeve 106, the third clamping block 406 is clamped into the third limiting hole 1061, and the third transmission shaft 407 is inserted into the third transmission shaft mounting hole 5025. The second transmission shaft 405 passes through the fourth rotating disk through hole 2062 and the second transmission shaft mounting hole 5012 and is fixedly connected to the rotating component 600 (seat back). The central axes of the third limiting hole 1061, the fourth rotating disk through hole 2062, the second transmission shaft mounting hole 5012, and the third transmission shaft mounting hole 5025 are located on the same straight line, that is, on the straight line where the axes of the third transmission shaft 407 and the second transmission shaft 405 are located.

[0132] like Fig.18 As shown, in this embodiment, during the rotation of the rotating component 600 (seat back) on the vertical plane, the highest point of the center of gravity of the rotating component 600 on its running track is set as the reference position 701, and the lowest points of the center of gravity of the two rotating components 600 on its running track are set as the first target position 702 and the second target position 703. In this embodiment, the rotation angle of the reference position of the rotating component 600 is set to 0 degrees, and the rotation angle range is 0 to 90 degrees clockwise and 0 to 90 degrees counterclockwise. It is judged that the clockwise line of sight is the direction facing the first support plate 501, and it can be seen that the entire rotation process of the external rotating component 600 (seat back) in this embodiment.

[0133] like Fig.18As shown, when the rotating component 600 is located at the reference position 701 , the first rotating device 100 and the second rotating device 200 both remain stationary, the scroll elastic member 300 maintains its original state, the third clamping block 406 is vertically arranged, and the fifth turntable stopper 4041 is engaged with one end of the first arc-shaped sliding hole 2063 .

[0134] When the rotating component 600 needs to rotate counterclockwise from the reference position 701 to the first target position 702, the center of gravity of the rotating component 600 moves from a high position to a low position, and the driving device 700 (motor) drives the rotating component 600 (seat back) to rotate counterclockwise, and the transmission device 400 is also driven to rotate counterclockwise. At this time, the fifth turntable block 4041 pushes the second shell 205, driving the second rotating device 200 to rotate counterclockwise. When the rotating component 600 reaches the first target position 702, the rotation angle is 90 degrees. In this process, the fourth turntable block 2061 slides in the second arc-shaped sliding hole 5013 to ensure that the second shell 205 can rotate in the vertical plane. In this process, the third clamping block 406 rotates freely in the third limiting hole 1061, and the first rotating device 100 is not subjected to any thrust and is completely stationary. Since the inner end of the scroll elastic member 300 is fixedly connected to the first rotating device 100 and the outer end thereof is fixedly connected to the second rotating device 200 , the scroll elastic member 300 is deformed and curled, and the gravitational potential energy of the rotating component 600 is converted into the elastic potential energy of the scroll elastic member 300 .

[0135] When the rotating component 600 needs to rotate clockwise from the first target position 702 back to the reference position 701, the center of gravity of the rotating component 600 moves from a low position to a high position, the driving device 700 (motor) drives the rotating component 600 (seat back) to rotate clockwise, and the transmission device 400 is also driven to rotate clockwise. When the rotating component 600 returns to the reference position 601, the second rotating device 200 rotates 90 degrees clockwise, the scroll elastic member 300 gradually restores its original shape, and the elastic potential energy of the scroll elastic member 300 is converted into the gravitational potential energy of the rotating component 600, thereby reducing the work done by the driving device 700 on the rotating component 600 and reducing the energy consumption of the motor.

[0136] When the rotating component 600 needs to rotate clockwise from the reference position 701 to the second target position 703, the center of gravity of the rotating component 600 moves from a high position to a low position, and the driving device 700 (motor) drives the rotating component 600 (mechanical arm) to rotate clockwise, and the transmission device 400 is also driven to rotate clockwise. At this time, the third clamping block 406 pushes the two third limit blocks 1062 and 1063, thereby driving the first rotating device 100 to rotate clockwise. The fifth turntable block 4041 slides in the first arc-shaped sliding hole 2063, the fourth turntable 206 is not subjected to thrust at all, and the second rotating device 200 is stationary. Since the inner end of the scroll elastic member 300 is fixedly connected to the first rotating device 100, and its outer end is fixedly connected to the second rotating device 200, the scroll elastic member 300 will deform and curl, and the gravitational potential energy of the rotating component 600 is converted into the elastic potential energy of the scroll elastic member 300.

[0137] When the rotating component 600 needs to rotate counterclockwise from the second target position 703 back to the reference position 701, the center of gravity of the rotating component 600 moves from a low position to a high position, the driving device 700 (motor) drives the rotating component 600 (mechanical arm) to rotate counterclockwise, and the transmission device 400 is also driven to rotate counterclockwise. When the rotating component 600 returns to the reference position 701, the first rotating device 100 rotates 90 degrees counterclockwise, the scroll elastic member 300 gradually restores its original shape, and the elastic potential energy of the scroll elastic member 300 is converted into the gravitational potential energy of the rotating component 600, thereby reducing the work done by the driving device 700 on the rotating component 600 and reducing the energy consumption of the motor.

[0138] When the center of gravity of the rotating component 600 moves from a high place to a low place, when the rotating component 600 rotates clockwise in the vertical plane, the transmission device 400 drives the first rotating device 100 to rotate in the clockwise direction; when the rotating component 600 rotates counterclockwise in the vertical plane, the transmission device 400 drives the second rotating device 200 to rotate counterclockwise.

[0139] When the center of gravity of the rotating component 600 moves from a low position to a high position, when the rotating component 600 rotates clockwise in the vertical plane, the second rotating device 200 drives the transmission device 400 to rotate in the clockwise direction; when the rotating component 600 rotates counterclockwise in the vertical plane, the first rotating device 100 drives the transmission device 400 to rotate counterclockwise.

[0140] In this embodiment, when working, the external rotating component 600 rotates in a vertical plane under the drive of the driving device 700, and can drive the first rotating device 100 or the second rotating device 200 to rotate within a certain range through the transmission device 400. Since the two ends of the scroll elastic member 300 are respectively connected to the first rotating device 100 or the second rotating device 200, when any rotating device rotates, the scroll elastic member 300 will be deformed by force, thereby playing a role in buffering and temporarily storing energy. In this embodiment, the rotating component 600 is a seat back. When it is rotated to a suitable angle, the user can use a separately provided locking device to lock the position of the seat back. After unlocking, the user can adjust the rotation direction of the seat back according to specific needs.

[0141] In this embodiment, the third limiting hole 1061, the fourth turntable stopper 2061 and the fifth turntable stopper 4041 are Fig.12 The position in the middle can be reversed left to right, and its working mode and principle are similar to the above-mentioned scheme, which will not be described in detail here. According to such a technical scheme, when the center of gravity of the rotating component 600 moves from a high place to a low place, when the rotating component 600 rotates in a clockwise direction in a vertical plane, the transmission device 400 drives the second rotating device 200 to rotate in a clockwise direction; when the rotating component 600 rotates in a counterclockwise direction in a vertical plane, the transmission device 400 drives the first rotating device 100 to rotate in a counterclockwise direction. When the center of gravity of the rotating component 600 moves from a low place to a high place, when the rotating component 600 rotates in a clockwise direction in a vertical plane, the first rotating device 100 drives the transmission device 400 to rotate in a clockwise direction; when the rotating component 600 rotates in a counterclockwise direction in a vertical plane, the second rotating device 200 drives the transmission device 400 to rotate in a counterclockwise direction.

[0142] This embodiment provides a bidirectional balancing device for a seat back angle adjuster. When the seat back moves forward and backward, only one or a group of elastic members in the same direction are needed to ensure the torque balance of the system, making the adjustment process more convenient and quick, effectively reducing the motor load, reducing energy consumption, and reducing the production and maintenance costs of components. In addition, this embodiment can effectively simplify the connection structure, save space, and improve the reliability and stability of the system, and extend the service life.

[0143] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A bidirectional balancing device, characterized in that: include a first rotating device; A second rotating device, disposed outside the first rotating device; at least one scroll-shaped elastic member, whose inner end is connected to the first rotating device and whose outer end is connected to the second rotating device; a transmission device, one end of which is connected to the first rotating device and / or the second rotating device; Its other end is connected to the rotating member; as well as A stabilizing device, used for mounting the first rotating device and the second rotating device; The stabilizing device comprises A horizontal base; and A first support plate and a second support plate are vertically fixed to the left and right ends of the horizontal base; Wherein, the first support plate and the second support plate are arranged opposite to each other and parallel to each other; The first rotating device comprises A first transmission shaft, wherein the scroll-shaped elastic member is sleeved outside the first transmission shaft; A first inner end slot is provided on the outer side wall of the first transmission shaft, and the inner end of the scroll-shaped elastic member is engaged with the first inner end slot; A first clamping block protrudes from a surface of one end of the first transmission shaft; and a second clamping block protruding from a surface of the other end of the first transmission shaft; The second rotating device comprises A first housing, which is an annular sleeve, sleeved outside the scroll-shaped elastic member; A first outer end bayonet penetrates through the tube wall of the first shell, and the outer end of the scroll-shaped elastic member is engaged with the first outer end bayonet; A first turntable, fixedly connected to one side of the first housing, a first turntable through hole being provided at the center of the first turntable; A second turntable, fixedly connected to the other side of the first housing, a second turntable through hole is provided at the center of the second turntable; A first turntable stopper protrudes from a surface of the first turntable on a side away from the first housing; and a second turntable stopper, protruding from a surface of the second turntable on a side away from the first housing; Wherein, the first transmission shaft passes through the first turntable through hole, the scroll-shaped elastic member and the second turntable through hole in sequence.

2. The bidirectional balancing device according to claim 1, characterized in that: When the first rotating device is driven by the transmission device to rotate, the second rotating device is stationary, and the scroll-shaped elastic member is deformed and generates a first restoring torque; When the second rotating device is driven by the transmission device to rotate, the first rotating device is stationary, the scroll-shaped elastic member is deformed and generates a second restoring torque; The first restoring torque and the second restoring torque are in opposite directions.

3. The bidirectional balancing device according to claim 1, characterized in that: When the center of gravity of the rotating part moves from a high position to a low position, When the rotating component rotates clockwise, the transmission device drives the first rotating device to rotate clockwise; or When the rotating component rotates counterclockwise, the transmission device drives the second rotating device to rotate counterclockwise.

4. The bidirectional balancing device according to claim 1, characterized in that: When the center of gravity of the rotating part moves from a low position to a high position, When the rotating component rotates clockwise, the second rotating device drives the transmission device to rotate clockwise; or, When the rotating component rotates counterclockwise, the first rotating device drives the transmission device to rotate counterclockwise.

5. The bidirectional balancing device according to claim 1, characterized in that: When the center of gravity of the rotating part moves from a high position to a low position, When the rotating component rotates clockwise, the transmission device drives the second rotating device to rotate clockwise; or When the rotating component rotates counterclockwise, the transmission device drives the first rotating device to rotate counterclockwise.

6. The bidirectional balancing device according to claim 1, characterized in that: When the center of gravity of the rotating part moves from a low position to a high position, When the rotating component rotates clockwise, the first rotating device drives the transmission device to rotate clockwise; or, When the rotating component rotates counterclockwise, the second rotating device drives the transmission device to rotate counterclockwise.

7. The bidirectional balancing device according to claim 1, characterized in that: The scroll-shaped elastic member includes but is not limited to a plane scroll spring or a torsion spring; The cross-sectional shape of the scroll-shaped elastic member includes but is not limited to a rectangular, circular or elliptical shape.

8. The bidirectional balancing device according to claim 1, characterized in that: When the number of the spiral elastic members is more than two, the winding directions of all the spiral elastic members are the same; When more than two scroll-shaped elastic members are deformed simultaneously, the directions of the restoring torques generated by all the scroll-shaped elastic members are the same.

9. The bidirectional balancing device according to claim 1, characterized in that: Also includes The driving device is connected to the rotating component and is used to drive the rotating component to rotate.

10. The bidirectional balancing device according to claim 1, characterized in that: The transmission device comprises A transmission plate, tangent to the outer surface of the first rotating disk; A limiting sleeve protrudes from the surface of the transmission plate and is fixedly connected to the rotating component; as well as A first limiting hole, which passes through the limiting sleeve and the middle part of the transmission plate, and the first clamping block is clamped into the first limiting hole; Wherein, two first limiting blocks protruding inwardly are arranged in the first limiting hole, and are used to limit the rotation range of the first clamping block.

11. The bidirectional balancing device according to claim 10, characterized in that: A first arc-shaped bayonet is provided at the edge of the transmission plate, and the first turntable stopper is snapped into the first arc-shaped bayonet.

12. The bidirectional balancing device according to claim 10, characterized in that: The cross section of the first limit stopper is a right-angle sector; The fan-shaped centers of the cross sections of the two first limit blocks protrude to the middle of the first limit hole; The sector centers of the cross sections of the two first limit blocks are arranged opposite to each other; The center of the cross section of the first limiting hole is located on the line connecting the center of the fan-shaped circles of the cross sections of the two first limiting blocks.

13. The bidirectional balancing device according to claim 1, characterized in that: A limiting sleeve mounting hole is provided at the center of the first supporting plate and is sleeved on the outside of the limiting sleeve.

14. The bidirectional balancing device according to claim 1, characterized in that: A second limiting hole is provided at the center of the second supporting plate, and the second clamping block is clamped into the second limiting hole; Two second limiting blocks protruding inwardly are arranged in the second limiting hole, and are used to limit the rotation range of the second clamping block.

15. The bidirectional balancing device according to claim 14, characterized in that: A second arc-shaped bayonet is provided at the edge of the second support plate, and the second turntable stopper is snapped into the second arc-shaped bayonet.

16. The bidirectional balancing device according to claim 14, characterized in that: The cross section of the second limit stopper is a right-angle sector; The fan-shaped centers of the cross sections of the two second limit blocks protrude to the middle of the second limit hole; The sector centers of the cross sections of the two second limit blocks are arranged opposite to each other; The center of the cross section of the second limiting hole is located on the line connecting the centers of the two fan-shaped cross sections of the second limiting stoppers.

17. The bidirectional balancing device according to claim 1, characterized in that: A second transmission shaft mounting hole is provided at the center of the first support plate and is sleeved on the outside of the second transmission shaft; A second arc-shaped sliding hole is provided at the lower part of the first support plate and penetrates the first support plate, and the center of the arc is consistent with the center of the second transmission shaft mounting hole.

18. The bidirectional balancing device according to claim 1, characterized in that: A third transmission shaft mounting hole is provided at the center of the second support plate and is sleeved on the outside of the third transmission shaft; A third arc-shaped bayonet is provided at the upper edge of the second support plate, and the third turntable stopper is snapped into the third arc-shaped bayonet.

19. A bidirectional balancing device, characterized in that: include a first rotating device; A second rotating device, disposed outside the first rotating device; at least one scroll-shaped elastic member, whose inner end is connected to the first rotating device and whose outer end is connected to the second rotating device; as well as a transmission device, one end of which is connected to the first rotating device and / or the second rotating device; Its other end is connected to the rotating member; The first rotating device comprises The third turntable; A second limiting sleeve protrudes from a middle portion of a surface of the third rotating disk close to the scroll-shaped elastic member; A second inner end slot is provided on the outer side wall of the second limiting sleeve, and the inner end of the scroll-shaped elastic member is engaged with the second inner end slot; a third rotating disk stopper protruding from a surface of the third rotating disk on a side away from the scroll-shaped elastic member; as well as A third limiting hole passes through the second limiting sleeve and the center of the third rotating disk, and two third limiting blocks protruding inwardly are arranged in the third limiting hole; The second rotating device comprises The second housing comprises a fourth rotating disk and a second annular sleeve; the second annular sleeve is sleeved outside the scroll-shaped elastic member, and a pipe opening on one side of the second annular sleeve is fixedly connected to the edge of the fourth rotating disk; A second outer end snap-in socket, which passes through the outer side wall of the second annular sleeve, and the outer end of the scroll-shaped elastic member is snap-fitted to the second outer end snap-in socket; a fourth rotating disk stopper, protruding from a surface of the fourth rotating disk on a side away from the second annular sleeve; a fourth rotating disk through hole, passing through the center of the fourth rotating disk; and A first arc-shaped sliding hole passes through the fourth rotating disk, and the center of the arc is consistent with the center of the through hole of the fourth rotating disk; The transmission device comprises a fifth rotating disk, tangent to the inner surface of the fourth rotating disk; A second transmission shaft protrudes from the center of the fifth rotating disk, passes through the through hole of the fourth rotating disk and is fixedly connected to the rotating component; A fifth turntable stopper protrudes from the surface of the fifth turntable and is inserted into the first arc-shaped sliding hole; The fifth turntable stopper and the second transmission shaft are located on the same side close to the fourth turntable; A third clamping block protrudes from the center of the fifth rotating disk and is located on a side away from the fourth rotating disk; the third clamping block is clamped into the third limiting hole; as well as The third transmission shaft protrudes from the surface of the third clamping block, and the axis thereof is located on the same straight line as the axis of the second transmission shaft.

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