A constant force support device based on a gear-linkage component

Abstract

The object of the present application is to provide a constant force support device based on a gear-link component, which includes a moving platform, a base, a gear-link component, and a force storage member. The moving platform is used to place a load. The gear-link component includes a first gear-link component and a second gear-link component. The first gear-link component and the second gear-link component are connected to the moving platform through an upper connecting block and are connected to the base through a lower connecting block. The force storage member is divided into two groups and is respectively connected to the first gear-link component and the second gear-link component, and is used to store the work done by the gravity of the load. The overall structure of the present invention is symmetrically arranged, with good force-bearing conditions, small output force fluctuations, and high precision. It can be used in occasions and fields that require constant force output, such as the realization of constant force in fitness equipment, the realization of a support base for a display, a buffer shock absorption device, and an end effector of a fixture, etc.

Description

Technical Field

[0001] This application relates to the field of constant force support mechanisms, and particularly to a constant force support device based on a gear-linkage assembly. Background Art

[0002] In a relatively large motion input range, the reaction force generated at the output end of a constant force mechanism is basically unchanged. Currently, constant force mechanisms generally achieve constant force by changing the torque acting on a linear elastic spring or a disc spring, or by combining linear elastic springs or disc springs in different orientations. When the output end moves in a specified direction, the deformation of one spring increases while the deformation of the other spring decreases, so that the overall reaction force generated at the output end remains basically constant after mutual compensation. Limited by the complexity and weight of the mechanism, most current constant force mechanisms are used in engineering fields such as hanging brackets and supports, and are rarely applied in the field of life.

[0003] Aiming at the above deficiencies in the current technology, the purpose of the present invention is to provide a constant force support mechanism based on a gear-linkage mechanism, which can achieve constant force output within a certain displacement range to support other objects, such as for rehabilitation training, for the support base of a display, constant force polishing, etc. Summary of the Invention

[0004] To achieve the above purpose, according to the present application, a linear motion linkage assembly is provided, including a moving platform, a base, a gear-linkage assembly, and a force storage member. The moving platform is used to place a load. The gear-linkage assembly includes a first gear-linkage assembly and a second gear-linkage assembly. The first gear-linkage assembly and the second gear-linkage assembly are connected to the moving platform through an upper connecting block and are connected to the base through a lower connecting block. The force storage member is divided into two groups and is respectively connected to the first gear-linkage assembly and the second gear-linkage assembly for storing the work done by the gravity of the load.

[0005] Further, the first gear-linkage assembly includes a first transition block, a first intermediate connecting block, and a second transition block. The upper connecting block, the first transition block, the first intermediate connecting block, the second transition block, and the lower connecting block are sequentially connected by a first set of rigid linkages. The second gear-linkage assembly includes a third transition block, a second intermediate connecting block, and a fourth transition block. The upper connecting block, the third transition block, the second intermediate connecting block, the fourth transition block, and the lower connecting block are sequentially connected by a second set of rigid linkages.

[0006] Further, the upper connecting block, the first transition block, the first intermediate connecting block, the second transition block, the lower connecting block, the third transition block, the second intermediate connecting block, and the fourth transition block are all in the shape of an isosceles trapezoid. Four connecting portions for installing rigid linkages are symmetrically arranged along the waist of the isosceles trapezoid. The first connecting portion and the third connecting portion are symmetric and close to the upper base of the trapezoid, and the second connecting portion and the fourth connecting portion are symmetric and close to the lower base of the trapezoid.

[0007] Further, the first set of rigid linkages includes a first linkage, a second double-gear linkage, a third single-gear linkage, a fourth single-gear linkage, a fifth single-gear linkage, a sixth single-gear linkage, a seventh linkage, and an eighth double-gear linkage. Both ends of the first linkage and the seventh linkage are circular. One end of the third single-gear linkage, the fourth single-gear linkage, the fifth single-gear linkage, and the sixth single-gear linkage is circular, and the other end is gear-shaped. Both ends of the second double-gear linkage and the eighth double-gear linkage are gear-shaped.

[0008] Further, both ends of the first linkage are respectively connected to the second connecting portion of the upper connecting block and the fourth connecting portion of the first transition block through revolute pairs. Both ends of the second double-gear linkage are respectively connected to the first connecting portion of the upper connecting block and the third connecting portion of the first transition block through revolute pairs. The circular end of the third single-gear linkage is connected to the second connecting portion of the first transition block through a revolute pair, and the gear end is connected to the first connecting portion of the first intermediate connecting block through a revolute pair. The gear end of the fourth single-gear linkage is connected to the first connecting portion of the first transition block through a revolute pair and meshes with the second double-gear linkage. The other end of the fourth single-gear linkage is connected to the second connecting portion of the first intermediate connecting block through a revolute pair. The gear end of the fifth single-gear linkage is connected to the third connecting portion of the first intermediate connecting block through a revolute pair and meshes with the third single-gear linkage. The other end of the fifth single-gear linkage is connected to the fourth connecting portion of the second transition block through a revolute pair. The circular end of the sixth single-gear linkage is connected to the fourth connecting portion of the first intermediate connecting block through a revolute pair, and the gear end is connected to the third connecting portion of the second transition block through a revolute pair. Both ends of the seventh linkage are respectively connected to the second connecting portion of the second transition block and the fourth connecting portion of the lower connecting block through revolute pairs. One end of the eighth double-gear linkage is connected to the third connecting portion of the lower connecting block through a revolute pair, and the other end is connected to the first connecting portion of the second transition block and meshes with the sixth single-gear linkage.

[0009] Further, the second set of rigid linkages includes a ninth linkage, a tenth double-gear linkage, an eleventh single-gear linkage, a twelfth single-gear linkage, a thirteenth single-gear linkage, a fourteenth single-gear linkage, a fifteenth linkage, and a sixteenth double-gear linkage. Both ends of the ninth linkage and the fifteenth linkage are circular. One end of the tenth double-gear linkage, the eleventh single-gear linkage, the twelfth single-gear linkage, the thirteenth single-gear linkage, and the fourteenth single-gear linkage is circular, and the other end is gear-shaped. Both ends of the tenth double-gear linkage and the sixteenth double-gear linkage are gear-shaped.

[0010] Further, both ends of the ninth connecting rod are respectively connected to the fourth connecting portion of the upper connecting block and the second connecting portion of the third transition block through rotating pairs. One end of the tenth double gear connecting rod is connected to the third connecting portion of the upper connecting block through a rotating pair and meshes with the second double gear connecting rod, and the other end is connected to the first connecting portion of the third transition block through a rotating pair. The circular end of the eleventh single gear connecting rod is connected to the fourth connecting portion of the third transition block through a rotating pair, and the gear end is connected to the third connecting portion of the second intermediate connecting block through a rotating pair. The gear end of the twelfth single gear connecting rod is connected to the third connecting portion of the third transition block through a rotating pair and meshes with the tenth double gear connecting rod, and the other end of the twelfth single gear connecting rod is connected to the fourth connecting portion of the second intermediate connecting block through a rotating pair. The gear end of the thirteenth single gear connecting rod is connected to the first connecting portion of the second intermediate connecting block through a rotating pair and meshes with the eleventh single gear connecting rod, and the other end of the thirteenth single gear connecting rod is connected to the second connecting portion of the fourth transition block through a rotating pair. The circular end of the fourteenth single gear connecting rod is connected to the second connecting portion of the second intermediate connecting block through a rotating pair, and the gear end of the fourteenth single gear connecting rod is connected to the first connecting portion of the fourth transition block through a rotating pair. Both ends of the fifteenth connecting rod are respectively connected to the fourth connecting portion of the fourth transition block and the second connecting portion of the lower connecting block through rotating pairs. One end of the sixteenth double gear connecting rod is connected to the third connecting portion of the fourth transition block through a rotating pair and meshes with the fourteenth single gear connecting rod, and the other end of the sixteenth double gear connecting rod is connected to the first connecting portion of the lower connecting block through a rotating pair and meshes with the eighth double gear connecting rod.

[0011] Further, the force storage portion includes a first force storage member, a second force storage member, a third force storage member, and a fourth force storage member. One end of the first force storage member is connected to the waist where the first and second connecting portions of the upper connecting block are located, and the other end is connected to the waist where the first and second connecting portions of the first intermediate connecting block are located. One end of the second force storage member is connected to the waist where the third and fourth connecting portions of the first intermediate connecting block are located, and the other end is connected to the waist where the third and fourth connecting portions of the lower connecting block are located. One end of the third force storage member is connected to the waist where the third and fourth connecting portions of the upper connecting block are located, and the other end is connected to the waist where the third and fourth connecting portions of the second intermediate connecting block are located. One end of the fourth force storage member is connected to the waist where the first and second connecting portions of the second intermediate connecting block are located, and the other end is connected to the waist where the first and second connecting portions of the lower connecting block are located.

[0012] Further, strip-shaped grooves are provided on both sides of the waists of the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block, and the force storage members are clamped in the strip-shaped grooves.

[0013] Further, positioning pins are provided on the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block, and the force storage members are fixed to the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block through pin shafts to prevent relative movement.

[0014] The gear-link mechanism of the present invention has a symmetric structure. During the telescoping process, it enables the moving platform to always move in a straight line, with simple driving, easy kinematics, easy control of the unfolding speed, and high repeat accuracy. At the same time, the gear-link mechanism is structurally compact, has a small volume when fully retracted, and is convenient for storage.

[0015] Utilizing the unique motion characteristics of the gear-link mechanism and combining with the characteristics of the elastic beam storing and releasing energy during the deformation process, the mechanism realizes a constant supporting force output within a certain motion range, and is used in various occasions requiring constant force support. Changing the lengths of the various rods of the gear-link mechanism or the structural parameters of the elastic beam can change the magnitude of the generated supporting force and the displacement interval for providing a constant supporting force.

[0016] Since this constant force support mechanism has a simple structure, is easy to manufacture, and is convenient to carry, it can be used in occasions and fields requiring constant force output, such as the realization of upper body support during rehabilitation, the realization of movable support for computer monitors, the realization of using it as a robot leg to support the upper body, as well as the realization of constant force in fitness equipment, the realization of constant clamping force during machining, the realization of constant contact force during detection or measurement, the realization of hanging brackets or support frames in engineering, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0018] Figure 1 Schematic diagram showing a constant force support device according to an embodiment of the present application;

[0019] Figure 2 Schematic diagram showing the structure of the gear-link assembly of the present invention according to an embodiment of the present application;

[0020] Figure 3 Schematic diagram showing the upper connecting block in the gear-link assembly of the present invention according to an embodiment of the present application;

[0021] Figure 4 Schematic diagram showing the working state of the constant force support device of the present invention according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present application will be further described in detail below with reference to the drawings.

[0023] Figure 1 Schematic diagram showing a constant force support device based on a gear-link assembly according to an embodiment of the present application.

[0024] According to an embodiment of the present invention, the constant force support device includes a moving platform, a base, a gear link assembly, and a force storage member. The moving platform is used to place a load. The gear link assembly includes a first gear link assembly and a second gear link assembly. The first gear link assembly and the second gear link assembly are connected to the moving platform through an upper connecting block and are connected to the base through a lower connecting block. The force storage member is divided into two groups and is respectively connected to the first gear link assembly and the second gear link assembly for storing the work done by the gravity of the load.

[0025] Specifically, as Figure 1 described, the constant force support device includes a moving platform 1, a base 2, a gear link assembly, and a force storage member. The moving platform is used to place a load. The gear link assembly includes a first gear link assembly 3 and a second gear link assembly 4. The first gear link assembly 3 and the second gear link assembly 4 are connected to the moving platform through an upper connecting block and are connected to the base through a lower connecting block. The force storage member is divided into two groups and is respectively connected to the first gear link assembly 3 and the second gear link assembly 4 for storing the work done by the gravity of the load.

[0026] The lower connecting block is connected to the base by screws, and the upper connecting block is connected to the moving platform by screws.

[0027] Figure 2 FIG. shows a schematic structural diagram of the gear link assembly of the present invention according to an embodiment of the present application; Figure 3 FIG. shows a schematic diagram of the upper connecting block in the gear link assembly of the present invention according to an embodiment of the present application.

[0028] According to an embodiment of the present invention, the first gear link assembly includes a first transition block, a first intermediate connecting block, and a second transition block. The upper connecting block, the first transition block, the first intermediate connecting block, the second transition block, and the lower connecting block are sequentially connected by a first set of rigid linkages. The second gear link assembly includes a third transition block, a second intermediate connecting block, and a fourth transition block. The upper connecting block, the third transition block, the second intermediate connecting block, the fourth transition block, and the lower connecting block are sequentially connected by a second set of rigid linkages.

[0029] According to an embodiment of the present invention, the upper connecting block, the first transition block, the first intermediate connecting block, the second transition block, the lower connecting block, the third transition block, the second intermediate connecting block, and the fourth transition block are all in the shape of an isosceles trapezoid. Four connecting portions for installing rigid linkages are symmetrically arranged along the waist of the isosceles trapezoid. The first connecting portion and the third connecting portion are symmetric and close to the upper base of the trapezoid, and the second connecting portion and the fourth connecting portion are symmetric and close to the lower base of the trapezoid.

[0030] According to an embodiment of the present invention, the first set of rigid linkages includes a first linkage, a second double-gear linkage, a third single-gear linkage, a fourth single-gear linkage, a fifth single-gear linkage, a sixth single-gear linkage, a seventh linkage, and an eighth double-gear linkage. Both ends of the first linkage and the seventh linkage are circular, one end of the third single-gear linkage, the fourth single-gear linkage, the fifth single-gear linkage, and the sixth single-gear linkage is circular, and the other end is gear-shaped. Both ends of the second double-gear linkage and the eighth double-gear linkage are gear-shaped.

[0031] According to an embodiment of the present invention, both ends of the first linkage are respectively connected to the second connecting portion of the upper connecting block and the fourth connecting portion of the first transition block through revolute pairs. Both ends of the second double-gear linkage are respectively connected to the first connecting portion of the upper connecting block and the third connecting portion of the first transition block through revolute pairs. The circular end of the third single-gear linkage is connected to the second connecting portion of the first transition block through a revolute pair, and the gear end is connected to the first connecting portion of the first intermediate connecting block through a revolute pair. The gear end of the fourth single-gear linkage is connected to the first connecting portion of the first transition block through a revolute pair and meshes with the second double-gear linkage. The other end of the fourth single-gear linkage is connected to the second connecting portion of the first intermediate connecting block through a revolute pair. The gear end of the fifth single-gear linkage is connected to the third connecting portion of the first intermediate connecting block through a revolute pair and meshes with the third single-gear linkage. The other end of the fifth single-gear linkage is connected to the fourth connecting portion of the second transition block through a revolute pair. The circular end of the sixth single-gear linkage is connected to the fourth connecting portion of the first intermediate connecting block through a revolute pair, and the gear end is connected to the third connecting portion of the second transition block through a revolute pair. Both ends of the seventh linkage are respectively connected to the second connecting portion of the second transition block and the fourth connecting portion of the lower connecting block through revolute pairs. One end of the eighth double-gear linkage is connected to the third connecting portion of the lower connecting block through a revolute pair, and the other end is connected to the first connecting portion of the second transition block and meshes with the sixth single-gear linkage.

[0032] According to an embodiment of the present invention, the second set of rigid linkages includes a ninth linkage, a tenth double-gear linkage, an eleventh single-gear linkage, a twelfth single-gear linkage, a thirteenth single-gear linkage, a fourteenth single-gear linkage, a fifteenth linkage, and a sixteenth double-gear linkage. Both ends of the ninth linkage and the fifteenth linkage are circular, one end of the tenth double-gear linkage, the eleventh single-gear linkage, the twelfth single-gear linkage, the thirteenth single-gear linkage, and the fourteenth single-gear linkage is circular, and the other end is gear-shaped. Both ends of the tenth double-gear linkage and the sixteenth double-gear linkage are gear-shaped.

[0033] According to an embodiment of the present invention, both ends of the ninth link are respectively connected to the fourth connecting portion of the upper connecting block and the second connecting portion of the third transition block through rotating pairs. One end of the tenth double-gear link is connected to the third connecting portion of the upper connecting block through a rotating pair and meshes with the second double-gear link, and the other end is connected to the first connecting portion of the third transition block through a rotating pair. The circular end of the eleventh single-gear link is connected to the fourth connecting portion of the third transition block through a rotating pair, and the gear end is connected to the third connecting portion of the second intermediate connecting block through a rotating pair. The gear end of the twelfth single-gear link is connected to the third connecting portion of the third transition block through a rotating pair and meshes with the tenth double-gear link, and the other end of the twelfth single-gear link is connected to the fourth connecting portion of the second intermediate connecting block through a rotating pair. The gear end of the thirteenth single-gear link is connected to the first connecting portion of the second intermediate connecting block through a rotating pair and meshes with the eleventh single-gear link, and the other end of the thirteenth single-gear link is connected to the second connecting portion of the fourth transition block through a rotating pair. The circular end of the fourteenth single-gear link is connected to the second connecting portion of the second intermediate connecting block through a rotating pair, and the gear end of the fourteenth single-gear link is connected to the first connecting portion of the fourth transition block through a rotating pair. Both ends of the fifteenth link are respectively connected to the fourth connecting portion of the fourth transition block and the second connecting portion of the lower connecting block through rotating pairs. One end of the sixteenth double-gear link is connected to the third connecting portion of the fourth transition block through a rotating pair and meshes with the fourteenth single-gear link, and the other end of the sixteenth double-gear link is connected to the first connecting portion of the lower connecting block through a rotating pair and meshes with the eighth double-gear link.

[0034] According to an embodiment of the present invention, the force storage portion includes a first force storage member, a second force storage member, a third force storage member, and a fourth force storage member. One end of the first force storage member is connected to the waist where the first and second connecting portions of the upper connecting block are located, and the other end is connected to the waist where the first and second connecting portions of the first intermediate connecting block are located. One end of the second force storage member is connected to the waist where the third and fourth connecting portions of the first intermediate connecting block are located, and the other end is connected to the waist where the third and fourth connecting portions of the lower connecting block are located. One end of the third force storage member is connected to the waist where the third and fourth connecting portions of the upper connecting block are located, and the other end is connected to the waist where the third and fourth connecting portions of the second intermediate connecting block are located. One end of the fourth force storage member is connected to the waist where the first and second connecting portions of the second intermediate connecting block are located, and the other end is connected to the waist where the first and second connecting portions of the lower connecting block are located.

[0035] According to an embodiment of the present invention, strip-shaped grooves are provided on both sides of the waists of the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block, and the force storage members are clamped in the strip-shaped grooves.

[0036] According to an embodiment of the present invention, positioning pins are provided on the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block, and the force storage member is fixed to the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block through a pin shaft to prevent relative movement.

[0037] Specifically, as Figures 1 - 3 shown, the first gear link assembly 3 includes a first transition block 3-9, a first intermediate connecting block 3-10, and a second transition block 3-11. Among them, the upper connecting block 3-12, the first transition block 3-9, the first intermediate connecting block 3-10, the second transition block 3-11, and the lower connecting block 3-13 are sequentially connected by a first set of rigid links. The second gear link assembly includes a third transition block 4-9, a second intermediate connecting block 4-10, and a fourth transition block 4-11. Among them, the upper connecting block 3-12 (shared with the upper connecting block in the first gear link assembly 3), the third transition block 4-9, the second intermediate connecting block 4-10, the fourth transition block 4-11, and the lower connecting block 3-13 (shared with the upper connecting block in the first gear link assembly 3) are sequentially connected by a second set of rigid links.

[0038] As Figure 3 shown, the upper connecting block 3-12, the first transition block 3-9, the first intermediate connecting block 3-10, the second transition block 3-11, the lower connecting block 3-13, the third transition block 4-9, the second intermediate connecting block 4-10, and the fourth transition block 4-11 are all in the shape of an isosceles trapezoid. Four connecting portions for installing rigid links are symmetrically arranged along the waists of the isosceles trapezoid. Among them, the first connecting portion A and the third connecting portion C are symmetric and close to the upper base of the trapezoid, and the second connecting portion B and the fourth connecting portion D are symmetric and close to the lower base of the trapezoid.

[0039] The first set of rigid linkages includes a first linkage 3-1, a second double-gear linkage 3-2, a third single-gear linkage 3-3, a fourth single-gear linkage 3-4, a fifth single-gear linkage 3-5, a sixth single-gear linkage 3-6, a seventh linkage 3-7, and an eighth double-gear linkage 3-8. Both ends of the first linkage 3-1 and the seventh linkage 3-7 are circular. One end of the third single-gear linkage 3-3, the fourth single-gear linkage 3-4, the fifth single-gear linkage 3-5, and the sixth single-gear linkage 3-6 is circular and the other end is gear-shaped. Both ends of the second double-gear linkage 3-2 and the eighth double-gear linkage 3-8 are gear-shaped. The two ends of the first linkage 3-1 are respectively connected to the second connection portion B of the upper connection block 3-12 and the fourth connection portion D of the first transition block through revolute pairs. The two ends of the second double-gear linkage 3-2 are respectively connected to the first connection portion A of the upper connection block 3-12 and the third connection portion C of the first transition block 3-9 through revolute pairs. The circular end of the third single-gear linkage 3-3 is connected to the second connection portion B of the first transition block 3-9 through a revolute pair, and the gear end is connected to the first connection portion A of the first intermediate connection block 3-10 through a revolute pair. The gear end of the fourth single-gear linkage 3-4 is connected to the first connection portion A of the first transition block 3-9 through a revolute pair and meshes with the second double-gear linkage 3-2. The other end of the fourth single-gear linkage 3-4 is connected to the second connection portion B of the first intermediate connection block 3-10 through a revolute pair. The gear end of the fifth single-gear linkage 3-5 is connected to the third connection portion C of the first intermediate connection block 3-10 through a revolute pair and meshes with the third single-gear linkage 3-3. The other end of the fifth single-gear linkage 3-5 is connected to the fourth connection portion D of the second transition block 3-11 through a revolute pair. The circular end of the sixth single-gear linkage 3-6 is connected to the fourth connection portion D of the first intermediate connection block 3-10 through a revolute pair, and the gear end is connected to the third connection portion C of the second transition block 3-11 through a revolute pair. The two ends of the seventh linkage 3-7 are respectively connected to the second connection portion B of the second transition block 3-11 and the fourth connection portion D of the lower connection block 3-13 through revolute pairs. One end of the eighth double-gear linkage 3-8 is connected to the third connection portion C of the lower connection block 3-13 through a revolute pair, and the other end is connected to the first connection portion A of the second transition block 3-11 and meshes with the sixth single-gear linkage 3-6.

[0040] The second set of rigid linkages includes a ninth linkage 4-1, a tenth double-gear linkage 4-2, an eleventh single-gear linkage 4-3, a twelfth single-gear linkage 4-4, a thirteenth single-gear linkage 4-5, a fourteenth single-gear linkage 4-6, a fifteenth linkage 4-7, and a sixteenth double-gear linkage 4-8. Both ends of the ninth linkage 4-1 and the fifteenth linkage 4-7 are circular. One end of the eleventh single-gear linkage 4-3, the twelfth single-gear linkage 4-4, the thirteenth single-gear linkage 4-5, and the fourteenth single-gear linkage 4-6 is circular and the other end is gear-shaped. Both ends of the tenth double-gear linkage 4-2 and the sixteenth double-gear linkage 4-8 are gear-shaped. Both ends of the ninth linkage 4-1 are respectively connected to the fourth connection part D of the upper connection block 3-12 and the second connection part B of the third transition block 4-9 through revolute pairs. One end of the tenth double-gear linkage 4-2 is connected to the third connection part C of the upper connection block 3-12 through a revolute pair and meshes with the second double-gear linkage 3-2, and the other end is connected to the first connection part A of the third transition block 4-9 through a revolute pair. The circular end of the eleventh single-gear linkage 4-3 is connected to the fourth connection part D of the third transition block 4-9 through a revolute pair, and the gear end is connected to the third connection part C of the second intermediate connection block 4-10 through a revolute pair. The gear end of the twelfth single-gear linkage 4-4 is connected to the third connection part C of the third transition block 4-9 through a revolute pair and meshes with the tenth double-gear linkage 4-2, and the other end of the twelfth single-gear linkage 4-4 is connected to the fourth connection part D of the second intermediate connection block 4-10 through a revolute pair. The gear end of the thirteenth single-gear linkage 4-5 is connected to the first connection part A of the second intermediate connection block 4-10 through a revolute pair and meshes with the eleventh single-gear linkage 4-3, and the other end of the thirteenth single-gear linkage 4-5 is connected to the second connection part B of the fourth transition block 4-11 through a revolute pair. The circular end of the fourteenth single-gear linkage 4-6 is connected to the second connection part B of the second intermediate connection block 4-10 through a revolute pair, and the gear end of the fourteenth single-gear linkage 4-6 is connected to the first connection part A of the fourth transition block 4-11 through a revolute pair. Both ends of the fifteenth linkage 4-7 are respectively connected to the fourth connection part D of the fourth transition block 4-11 and the second connection part B of the lower connection block 3-13 through revolute pairs. One end of the sixteenth double-gear linkage 4-8 is connected to the third connection part C of the fourth transition block 4-11 through a revolute pair and meshes with the fourteenth single-gear linkage 4-6, and the other end of the sixteenth double-gear linkage 4-8 is connected to the first connection part A of the lower connection block 3-13 through a revolute pair and meshes with the eighth double-gear linkage 3-8.

[0041] Such as Figures 1 - 2As shown in the figure, the force storage unit includes a first force storage member 5-1, a second force storage member 5-2, a third force storage member 5-3, and a fourth force storage member 5-4. One end of the first force storage member 5-1 is connected to the waist (left side) where the first connection part A and the second connection part B of the upper connection block 3-12 are located, and the other end is connected to the waist (upper side) where the first connection part A and the second connection part B of the first intermediate connection block 3-10 are located. One end of the second force storage member 5-2 is connected to the waist (lower side) where the third connection part C and the fourth connection part D of the first intermediate connection block 3-10 are located, and the other end is connected to the waist (left side) where the third connection part C and the fourth connection part D of the lower connection block 3-13 are located. One end of the third force storage member 5-3 is connected to the waist (right side) where the third connection part C and the fourth connection part D of the upper connection block 3-12 are located, and the other end is connected to the waist (upper side) where the third connection part C and the fourth connection part D of the second intermediate connection block 4-10 are located. One end of the fourth force storage member 5-4 is connected to the waist (lower side) where the first connection part A and the second connection part B of the second intermediate connection block 4-10 are located, and the other end is connected to the waist (right side) where the first connection part A and the second connection part B of the lower connection block 3-13 are located.

[0042] The force storage member adopts an elastic beam. The elastic beam is a fixed guiding beam with characteristics such as light weight, high strength, and high elastic coefficient. It is clamped in the strip-shaped grooves of the intermediate connection block, the base, and the moving platform, and is in a buckling state, arranged symmetrically left and right to transmit force.

[0043] The elastic beam stores energy during the movement process to realize the storage and release of energy, and makes the energy change linearly with the displacement change of the moving platform, so as to realize a mechanism with a constant output force.

[0044] In addition, strip-shaped grooves are provided on both sides of the upper connection block, the lower connection block, the first intermediate connection block, and the second intermediate connection block, and the force storage member is clamped in the strip-shaped grooves.

[0045] The upper connection block, the lower connection block, the first intermediate connection block, and the second intermediate connection block are provided with positioning pins. The force storage member is fixed to the upper connection block, the lower connection block, the first intermediate connection block, and the second intermediate connection block through pin shafts to prevent relative movement.

[0046] Figure 4 The schematic diagram of the working state of the constant force support device of the present invention according to an embodiment of the present application is shown.

[0047] As Figure 4As shown in the figure, two sets of the constant-force support devices of the present application are symmetrically arranged at both ends of the display 6, and the display 6 is fixed on the moving platform. The elastic beam undergoes elastic deformation until the entire system is in a static equilibrium state. The two constant-force support mechanisms jointly bear the weight of the display 6, and the constant-force support mechanism stores the work done by the gravity of the display 6 in the form of elastic potential energy in each elastic beam. The constant-force support mechanism provides a support reaction force with a basically constant magnitude. When the structural parameters of the elastic beam and the lengths of the rigid rods are designed as required so that the constant support force generated by the constant-force support mechanism is the same as the weight of the display 6, the display 6 can be suspended at any position without external force, that is, the display 6 can be pulled to the required height and stay stably. During the entire working process, the gravitational potential energy of the display 6 and the elastic potential energy stored in the constant-force support mechanism are mutually converted and their sum remains basically constant, that is, no additional energy input is required during the up and down movement of the display 6.

[0048] The gear-linkage mechanism provided by the present invention has smooth transmission, accurate transmission ratio, small friction, reliable operation, large stroke, and ensures the linear motion of the entire mechanism. The elastic beam is clamped in the middle connecting block, the base, and the strip-shaped groove of the moving platform to transmit force. The overall structure of the present invention is symmetrically arranged, with good force-bearing conditions, small output force fluctuation, and high precision. It can be used in occasions and fields that require constant-force output, such as the realization of constant force in fitness equipment, the realization of the support base of a display, the end effector of a shock-absorbing device and a fixture, etc.

[0049] Compared with the prior art, the present invention has the following technical effects:

[0050] The gear-linkage mechanism of the present invention has a symmetric structure. During the telescoping process, it enables the moving platform to always move in a straight line, and has simple driving, easy kinematics, easy control of the unfolding speed, and high repeat accuracy. At the same time, the gear-linkage mechanism has a compact structure, and its volume is small when fully retracted, which is convenient for accommodation.

[0051] Utilizing the unique motion characteristics of the gear-linkage mechanism and combining with the characteristics of storing and releasing energy during the deformation process of the elastic beam, the mechanism realizes the output of a constant support force within a certain motion range and is used in various occasions that require constant-force support. Changing the lengths of the rods of the gear-linkage mechanism or the structural parameters of the elastic beam can change the magnitude of the generated support force and the displacement interval for providing a constant support force.

[0052] Due to the simple structure, easy manufacturing, and convenient carrying of this constant-force support mechanism, it can be used in occasions and fields that require constant-force output, such as the realization of upper body support during rehabilitation, the realization of movable support for a computer display, the realization of using it as a robot leg to support the upper body, the realization of constant force in fitness equipment, the realization of constant clamping force during machining, the realization of constant contact force during detection or measurement, the realization of a hanging bracket or a support bracket in engineering, etc.

[0053] For those skilled in the art, it is obvious that the present application is not limited to the details of the above-described exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any perspective, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present application. Any reference signs in the claims should not be construed as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of elements or devices recited in the apparatus claims can also be implemented by one element or device through software or hardware. First, second, etc. are used to denote names and do not denote any particular order.

Claims

1. A constant force support device based on a gear-linkage assembly, characterized in that, It includes a moving platform, a base, a gear-linkage assembly, and a force storage member. The moving platform is used to place the load. The gear-linkage assembly includes a first gear-linkage assembly and a second gear-linkage assembly. The first gear-linkage assembly and the second gear-linkage assembly are connected to the moving platform through an upper connecting block and connected to the base through a lower connecting block. The force storage member is divided into two groups, which are respectively connected to the first gear-linkage assembly and the second gear-linkage assembly for storing the work done by the gravity of the load. Among them, the first gear-linkage assembly includes a first transition block, a first intermediate connecting block, and a second transition block. The upper connecting block, the first transition block, the first intermediate connecting block, the second transition block, and the lower connecting block are sequentially connected by a first group of rigid linkages. The second gear-linkage assembly includes a third transition block, a second intermediate connecting block, and a fourth transition block. The upper connecting block, the third transition block, the second intermediate connecting block, the fourth transition block, and the lower connecting block are sequentially connected by a second group of rigid linkages. The first gear-linkage assembly and the second gear-linkage assembly are in a symmetric structure; Among them, the upper connecting block, the first transition block, the first intermediate connecting block, the second transition block, the lower connecting block, the third transition block, the second intermediate connecting block, and the fourth transition block are all in the shape of an isosceles trapezoid. Four connecting parts for installing rigid linkages are symmetrically arranged along the waists of the isosceles trapezoid. Among them, the first connecting part and the third connecting part are symmetric and close to the upper base of the trapezoid, and the second connecting part and the fourth connecting part are symmetric and close to the lower base of the trapezoid. The first set of rigid linkages includes a first linkage, a second double-gear linkage, a third single-gear linkage, a fourth single-gear linkage, a fifth single-gear linkage, a sixth single-gear linkage, a seventh linkage, and an eighth double-gear linkage. Both ends of the first linkage and the seventh linkage are circular. One end of the third single-gear linkage, the fourth single-gear linkage, the fifth single-gear linkage, and the sixth single-gear linkage is circular, and the other end is gear-shaped. Both ends of the second double-gear linkage and the eighth double-gear linkage are gear-shaped. The two ends of the first linkage are respectively connected to the second connecting portion of the upper connecting block and the fourth connecting portion of the first transition block through revolute pairs. The two ends of the second double-gear linkage are respectively connected to the first connecting portion of the upper connecting block and the third connecting portion of the first transition block through revolute pairs. The circular end of the third single-gear linkage is connected to the second connecting portion of the first transition block through a revolute pair, and the gear end is connected to the first connecting portion of the first intermediate connecting block through a revolute pair. The gear end of the fourth single-gear linkage is connected to the first connecting portion of the first transition block through a revolute pair and meshes with the second double-gear linkage. The other end of the fourth single-gear linkage is connected to the second connecting portion of the first intermediate connecting block through a revolute pair. The gear end of the fifth single-gear linkage is connected to the third connecting portion of the first intermediate connecting block through a revolute pair and meshes with the third single-gear linkage. The other end of the fifth single-gear linkage is connected to the fourth connecting portion of the second transition block through a revolute pair. The circular end of the sixth single-gear linkage is connected to the fourth connecting portion of the first intermediate connecting block through a revolute pair, and the gear end is connected to the third connecting portion of the second transition block through a revolute pair. The two ends of the seventh linkage are respectively connected to the second connecting portion of the second transition block and the fourth connecting portion of the lower connecting block through revolute pairs. One end of the eighth double-gear linkage is connected to the third connecting portion of the lower connecting block through a revolute pair, and the other end is connected to the first connecting portion of the second transition block and meshes with the sixth single-gear linkage; The second set of rigid linkages includes a ninth linkage, a tenth double-gear linkage, an eleventh single-gear linkage, a twelfth single-gear linkage, a thirteenth single-gear linkage, a fourteenth single-gear linkage, a fifteenth linkage, and a sixteenth double-gear linkage. Both ends of the ninth linkage and the fifteenth linkage are circular in shape. One end of the tenth double-gear linkage, the eleventh single-gear linkage, the twelfth single-gear linkage, the thirteenth single-gear linkage, and the fourteenth single-gear linkage is circular in shape, and the other end is gear-shaped. Both ends of the tenth double-gear linkage and the sixteenth double-gear linkage are gear-shaped. Both ends of the ninth linkage are respectively connected to the fourth connecting portion of the upper connecting block and the second connecting portion of the third transition block through revolute pairs. One end of the tenth double-gear linkage is connected to the third connecting portion of the upper connecting block through a revolute pair and meshes with the second double-gear linkage, and the other end is connected to the first connecting portion of the third transition block through a revolute pair. The circular end of the eleventh single-gear linkage is connected to the fourth connecting portion of the third transition block through a revolute pair, and the gear end is connected to the third connecting portion of the second intermediate connecting block through a revolute pair. The gear end of the twelfth single-gear linkage is connected to the third connecting portion of the third transition block through a revolute pair and meshes with the tenth double-gear linkage, and the other end of the twelfth single-gear linkage is connected to the fourth connecting portion of the second intermediate connecting block through a revolute pair. The gear end of the thirteenth single-gear linkage is connected to the first connecting portion of the second intermediate connecting block through a revolute pair and meshes with the eleventh single-gear linkage, and the other end of the thirteenth single-gear linkage is connected to the second connecting portion of the fourth transition block through a revolute pair. The circular end of the fourteenth single-gear linkage is connected to the second connecting portion of the second intermediate connecting block through a revolute pair, and the gear end of the fourteenth single-gear linkage is connected to the first connecting portion of the fourth transition block through a revolute pair. Both ends of the fifteenth linkage are respectively connected to the fourth connecting portion of the fourth transition block and the second connecting portion of the lower connecting block through revolute pairs. One end of the sixteenth double-gear linkage is connected to the third connecting portion of the fourth transition block through a revolute pair and meshes with the fourteenth single-gear linkage, and the other end of the sixteenth double-gear linkage is connected to the first connecting portion of the lower connecting block through a revolute pair and meshes with the eighth double-gear linkage. The force storage members include a first force storage member, a second force storage member, a third force storage member, and a fourth force storage member. One end of the first force storage member is connected to the waist where the first and second connecting portions of the upper connecting block are located, and the other end is connected to the waist where the first and second connecting portions of the first intermediate connecting block are located. One end of the second force storage member is connected to the waist where the third and fourth connecting portions of the first intermediate connecting block are located, and the other end is connected to the waist where the third and fourth connecting portions of the lower connecting block are located. One end of the third force storage member is connected to the waist where the third and fourth connecting portions of the upper connecting block are located, and the other end is connected to the waist where the third and fourth connecting portions of the second intermediate connecting block are located. One end of the fourth force storage member is connected to the waist where the first and second connecting portions of the second intermediate connecting block are located, and the other end is connected to the waist where the first and second connecting portions of the lower connecting block are located.

2. The constant force support device based on a gear-link assembly according to claim 1, wherein, Strip-shaped grooves are provided on both sides of the waists of the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block, and the force storage members are clamped in the strip-shaped grooves.

3. The constant force support device based on a gear link assembly according to claim 2, wherein The upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block are provided with positioning pins, and the force storage member is fixed to the upper connecting block, the lower connecting block, the first intermediate connecting block, and the second intermediate connecting block by pin shafts to prevent relative movement.

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