A self-balancing stop-and-go joint

Abstract

The present application relates to a kind of self-balancing stop joints, including two movable parts, torque balance mechanism and damping adjustment mechanism of pivot connection;Torque balance mechanism includes: elastic part, set on the first movable part;Pulley transmission part is associated with the second movable part and elastic part respectively;When external force drives two movable parts to rotate, the second movable part compresses elastic part by pulley transmission part, and elastic part generates counterforce equivalent to external force from this;Damping adjustment mechanism includes: rotating part, its outer ring is connected with the first movable part;First friction part, with the inner ring of rotating part and the second movable part are connected;Second friction part, set on the first movable part, and two friction interfaces are formed between two friction parts;Adjusting part, with the second friction part is connected, for driving two friction parts close or far away, to make the friction damping of two friction parts increase or decrease.The present application can balance larger load torque, and have one-way or two-way balance effect, while the structure of this joint is compact, principle is simple, easy to realize.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of mechanical equipment, specifically about a self-balancing stop joint. BACKGROUND

[0002] In the working process of many mechanical equipment, there are many occasions, people hope that some movement joints can follow stop, called stop joint.Currently, the common stop joint on the market has manual type, electric type and hand-electric hybrid type.

[0003] When the joint load torque is small, manual joint can simply and conveniently realize stop;But when the joint load is relatively large, it needs to realize stop by the locking function of electric joint, which leads to the complexity of joint to increase by several times.

[0004] Therefore, how to provide joint with greater assist function to realize the stop of joint with larger load more simply and easily (such as even by manual way or using smaller power motor) is a significant research direction. SUMMARY

[0005] For the above problems, the purpose of the present application is to provide a self-balancing stop joint, which can balance larger load torque, and has one-way or two-way balancing effect, and the structure of the joint is compact, the principle is simple, easy to realize, thereby having high practicability and reliability.

[0006] To achieve the above purpose, the present application adopts the following technical scheme: a self-balancing stop joint, comprising two movable parts, a torque balancing mechanism and a damping adjusting mechanism.

[0007] Wherein, the torque balancing mechanism comprises: an elastic part provided on the first movable part;Pulley transmission part, one end of the pulley transmission part is associated with the second movable part, and the other end of the pulley transmission part is associated with the elastic part;When external force drives the second movable part to rotate relative to the first movable part, the second movable part compresses the elastic part through the pulley transmission part, and the elastic part generates a counterforce equivalent to the external force to realize torque balance;

[0008] The damping adjusting mechanism comprises: a rotating part having an inner ring and an outer ring that can rotate relative to each other, and the outer ring of the rotating part is connected with the first movable part;First friction part, connected with the inner ring of the rotating part and the second movable part;Second friction part, axially movable and circumferentially non-rotatable, arranged on the first movable part, and a friction interface is formed between the second friction part and the first friction part;Adjusting part, connected with the second friction part, for driving the second friction part to approach or move away from the first friction part, so that the friction damping of the friction interface between the second friction part and the first friction part increases or decreases.

[0009] The rotation axes of the two movable parts are perpendicular to the first movable part and the second movable part.

[0010] The self-balancing and stop joint, preferably, the elastic part comprises: a mounting seat mounted on the first movable part; a sliding block slidingly arranged on the mounting seat, and the sliding block is associated with the second movable part through the pulley transmission part; and an elastic member arranged between the mounting seat and the sliding block; when an external force drives the second movable part to rotate relative to the first movable part, the second movable part drives the sliding block to compress the elastic member through the pulley transmission part, and the elastic member generates a counterforce corresponding to the external force.

[0011] The self-balancing and stop joint, preferably, the mounting seat is in a groove type, and a guide column is arranged between two wing plates of the mounting seat, the guide column penetrates through the sliding block and forms a sliding pair with the sliding block.

[0012] The self-balancing and stop joint, preferably, the elastic member is a group of first compression springs, a group of the first compression springs are sleeved on the guide column between the sliding block and a side wing plate of the mounting seat, one end of the first compression spring abuts against the wing plate of the mounting seat, and the other end of the first compression spring abuts against the sliding block.

[0013] The self-balancing and stop joint, preferably, the elastic member is two groups of first compression springs, two groups of the first compression springs are respectively sleeved on the guide column between the sliding block and two side wing plates of the mounting seat; meanwhile, the elastic part further comprises two sliding blocks, the two sliding blocks are respectively slidingly arranged on the guide column on two sides of the sliding block; one end of the two groups of the first compression springs is respectively abutted against the two side wing plates of the mounting seat, and the other end of the two groups of the first compression springs is respectively abutted against the two sliding blocks.

[0014] The self-balancing and stop joint, preferably, at least one limiting block is arranged on the web plate of the mounting seat between the two sliding blocks.

[0015] The self-balancing and stop joint, preferably, the pulley transmission part comprises: an adapter block located on one side of the first movable part and fixedly connected with the second movable part; a first traction rope and a second traction rope respectively located on two sides of the adapter block, and one end of the first traction rope and the second traction rope is fixedly connected with the adapter block, the other end of the first traction rope is fixedly connected with the wing plate of the mounting seat on the same side through a first pulley set, and the other end of the second traction rope is fixedly connected with the wing plate of the mounting seat on the same side through a second pulley set.

[0016] The self-balancing and stop following joint, preferably, the first pulley set comprises a first fixed pulley rotatably arranged on one side wing plate of the mounting base and a first movable pulley rotatably arranged on the sliding block; and the second pulley set comprises a second fixed pulley rotatably arranged on the other side wing plate of the mounting base and a second movable pulley rotatably arranged on the sliding block.

[0017] The self-balancing and stop following joint, preferably, the first fixed pulley set comprises a first fixed pulley and a second fixed pulley rotatably connected to one side wing plate of the mounting base through two pin shafts, the first movable pulley set comprises a first movable pulley and a second movable pulley rotatably connected to the sliding block through two pin shafts, and the other end of the first traction rope is connected to one side wing plate of the mounting base after sequentially passing through the first fixed pulley, the first movable pulley, the second fixed pulley and the second movable pulley.

[0018] The self-balancing and stop following joint, preferably, the second fixed pulley set comprises a third fixed pulley and a fourth fixed pulley rotatably connected to the other side wing plate of the mounting base through another two pin shafts, the second movable pulley set comprises a third movable pulley and a fourth movable pulley rotatably connected to the sliding block through the same two pin shafts, and the other end of the second traction rope is connected to the other side wing plate of the mounting base after sequentially passing through the third fixed pulley, the third movable pulley, the fourth fixed pulley and the fourth movable pulley.

[0019] The self-balancing and stop following joint, preferably, the torque balancing mechanism further comprises a traction rope adjusting part, the other ends of the first traction rope and the second traction rope are fixedly connected to the mounting base through the traction rope adjusting part, and the traction rope adjusting part is used for adjusting the positions of the first traction rope and the second traction rope so that the sliding block is in the middle position of the guide column when balanced.

[0020] The self-balancing and stop following joint, preferably, the traction rope adjusting part comprises first and second studs arranged on the two side wing plates of the mounting base respectively, and external threads are formed on the first and second studs; first and second adjusting blocks are hollow cylinders, and internal threads are formed in the first and second adjusting blocks respectively to match the external threads of the first and second studs, the first and second adjusting blocks are threadedly connected to the first and second studs respectively, and the first and second traction ropes are fixedly connected to the first and second adjusting blocks respectively.

[0021] The self-balancing and stop joint, preferably, a notch is formed in the first adjusting block and the second adjusting block along the axial direction, and the other end of the first traction rope and the second traction rope is formed as a protruding ball, and the first traction rope and the second traction rope are respectively arranged in the first adjusting block and the second adjusting block through the notch, so that the ball of the first traction rope and the second traction rope is respectively limited in the first adjusting block and the second adjusting block.

[0022] The self-balancing and stop joint, preferably, the rotating part is a cross roller bearing, the adjusting part comprises a retainer, which is fixedly connected with the first movable part and the outer ring of the cross roller bearing, a guide, which is arranged in the retainer and can be rotated in or out along the axial direction of the damping adjusting mechanism, and an elastic member, one end of which abuts against the guide and the other end of which abuts against the first friction part.

[0023] The self-balancing and stop joint, preferably, the elastic member is a second compression spring.

[0024] The self-balancing and stop joint, preferably, the guide comprises a guide rod and a screw head integrally formed at one end of the guide rod, the outer periphery of the screw head is provided with external threads, the inner ring of the retainer is provided with internal threads matched with the external threads of the screw head, and the screw head is threadedly connected in the retainer; a spring positioning sleeve is formed between the guide rod and the screw head, the second compression spring is sleeved on the guide rod, one end of the second compression spring is located in the spring positioning sleeve, and the other end of the second compression spring abuts against the first friction part.

[0025] The self-balancing and stop joint, preferably, a first recess and a second recess are respectively formed on both sides of one end of the first movable part, the cross roller bearing is located in the first recess, and the retainer, the second compression spring and the guide screw are located in the second recess; a guide channel is formed on the first movable part between the first recess and the second recess, the inner ring friction ring and the outer ring friction ring are located in the guide channel, the outer periphery of the outer ring friction ring is formed with a plurality of protruding teeth, a guide groove matched with the outer profile of the outer ring friction ring is formed in the guide channel of the first movable part, and the outer ring friction ring is matched in the guide groove, so that the guide groove can limit the circumferential movement of the outer ring friction ring but does not limit the movement of the outer ring friction ring along the axial direction of the damping adjusting mechanism.

[0026] The torque balance mechanism of the present application has the following advantages: 1. The torque balance mechanism can have one-way balance effect or two-way balance effect, and has compact structure, simple principle and high practicability and reliability; 2. The steel wire rope stroke is several times of the compression amount of the compression spring (specifically, the number of movable pulleys on each rope multiplied by 2 times) through the segmented effect of the movable pulley, so that the compression spring with small compression amount can generate large stroke of the steel wire rope, thereby the connecting rod has large rotation angle, and the compact structure is promoted; 3. The adjustable damping mechanism adopts cross roller bearing, so that the motion accuracy and use performance of the mechanism can be effectively guaranteed; 4. The adjustable damping mechanism can conveniently adjust the friction damping between the inner ring friction ring and the outer ring friction ring by adjusting the compression amount of the compression spring; 5. The compression spring can be selected as a die spring, so that large axial force can be provided, and large damping output can be achieved in small volume space; 6. The adjustable damping mechanism adopts the compression spring to press the inner ring friction ring and the outer ring friction ring, and in the case of large compression amount, the wear of the inner ring friction ring and the outer ring friction ring has little effect on the axial force, which can be ignored, so that the friction damping can be basically constant, and the stability during long-time use of the damping, the adjustability and the easy adjustability of the damping size can be guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a front structure schematic diagram of an embodiment of the present application;

[0028] Figure 2 is a back structure schematic diagram of the embodiment of the present application;

[0029] Figure 3 is a partial structure schematic diagram of the embodiment of the present application;

[0030] Figure 4 is another partial structure schematic diagram of the embodiment of the present application;

[0031] Figure 5 is a third partial structure schematic diagram of the embodiment of the present application;

[0032] Figure 6 is a structure schematic diagram of the damping adjusting mechanism of the embodiment of the present application;

[0033] Figure 7 is an explosion diagram of the damping adjusting mechanism of the embodiment of the present application;

[0034] Figure 8 is a structure schematic diagram of the torque balance mechanism of the embodiment of the present application;

[0035] Figure 9is a partial structure schematic diagram of the torque balance mechanism of the embodiment of the present application;

[0036] Figure 10 is a state schematic diagram when the second connecting rod of the embodiment of the present application rotates counterclockwise;

[0037] Figure 11 is a state schematic diagram when the second connecting rod of the embodiment of the present application rotates clockwise. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that the purpose, characteristics and advantages of the present application can be more clearly understood. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present application, but only to illustrate the essential spirit of the technical solutions of the present application.

[0039] As shown in Figure 1 , Figure 2 , the self-balancing stop-and-go joint provided by the present application comprises a connecting rod 1, a connecting rod 2, a torque balance mechanism and a damping adjustment mechanism. Specifically, one end of the connecting rod 2 is rotationally connected with the connecting rod 1, and the rotation axes 20 of the connecting rod 1 and the connecting rod 2 are both perpendicular to the connecting rod 1 and the connecting rod 2, and the other end of the connecting rod 2 has a load G (only an equivalent schematic). Generally, the connecting rod 1 can be fixedly connected to a certain immovable carrier, and the connecting rod 2 can rotate relative to the connecting rod 1. In this embodiment, the rotation axis of the connecting rod 2 is perpendicular to the connecting rod 1 and the connecting rod 2.

[0040] The torque balance mechanism comprises: an elastic part provided on the connecting rod 1; a pulley transmission part, one end of the pulley transmission part is associated with the connecting rod 2, and the other end of the pulley transmission part is associated with the elastic part; when an external force drives the connecting rod 2 to rotate relative to the connecting rod 1, the connecting rod 2 compresses the elastic part through the pulley transmission part, and the elastic part generates a counterforce equivalent to the external force to achieve torque balance.

[0041] As shown in Figure 4 , Figure 6 and Figure 7 , the adjustable damping mechanism comprises: a crossed roller bearing 21, the outer ring of which is fixedly connected with the connecting rod 1 through a bolt 29 and a nut 30; an inner ring friction ring 22 (which can also be a friction block or a friction plate), which is fixedly connected with the inner ring of the crossed roller bearing 21 through a bolt 27 and a nut 28; an outer ring friction ring 23, which is axially movable and circumferentially non-rotatable on the connecting rod 1, and a contact interface is formed between the outer ring friction ring 23 and the inner ring friction ring 22; an adjustment part connected with the outer ring friction ring 23, for driving the outer ring friction ring 23 to move towards or away from the inner ring friction ring 22 along the axis of the adjustable damping mechanism, so as to increase or decrease the frictional damping of the contact interface between the outer ring friction ring 23 and the inner ring friction ring 22.

[0042] In the above embodiment, preferably, as shown in Figure 1、 Figure 8 As shown in the figure, the elastic part comprises: a spring mounting seat 4 in the form of a groove and fixed on the connecting rod 1; a spring pressing block 10 slidingly arranged on the spring mounting seat 4; two spring pressing plates 14 arranged on both sides of the spring pressing block 10; a guide column 13 fixed between the two wing plates of the spring mounting seat 4, the guide column 13 penetrating through the spring pressing block 10 and the two spring pressing plates 14 and forming a sliding pair with them; and two groups of compression springs 11 respectively sleeved on the guide column 13 between the two spring pressing plates 14 and the two wing plates of the spring mounting seat 4, one end of the compression spring 11 abutting against the wing plate of the spring mounting seat 4, and the other end of the compression spring 11 abutting against the spring pressing plate 14.

[0043] In the above embodiment, preferably, as shown in Figure 1 、 Figure 5 and Figure 8 shown, the pulley transmission part comprises: an adapter block 3 located on one side of the connecting rod 1 and fixedly connected with the connecting rod 2 through a screw 31; a fixed pulley set 6 and a fixed pulley set 8 rotatably arranged on the two wing plates of the spring mounting seat 4; a movable pulley set 7 and a movable pulley set 9, both rotatably arranged on the spring pressing block 10; and a steel wire rope 5-1 and a steel wire rope 5-2, both located on both sides of the adapter block 3, one end of each of the steel wire rope 5-1 and the steel wire rope 5-2 being fixedly connected to the adapter block 3, the other end of the steel wire rope 5-1 being fixedly connected to the left wing plate of the spring mounting seat 4 after passing through the fixed pulley set 6 and the movable pulley set 7, and the other end of the steel wire rope 5-2 being fixedly connected to the right wing plate of the spring mounting seat 4 after passing through the fixed pulley set 8 and the movable pulley set 9.

[0044] In the above embodiment, preferably, the fixed pulley set 6 comprises a fixed pulley 6-1 and a fixed pulley 6-2 rotatably connected to the left wing plate of the spring mounting seat 4 through two pin shafts 15, and the fixed pulley set 8 comprises a fixed pulley 8-1 and a fixed pulley 8-2 rotatably connected to the right wing plate of the spring mounting seat 4 through another two pin shafts 15.

[0045] In the above embodiment, preferably, the movable pulley set 7 comprises a movable pulley 7-1 and a movable pulley 7-2 rotatably connected to the spring pressing block 10 through two pin shafts 16, and the movable pulley set 9 comprises a movable pulley 9-1 and a movable pulley 9-2 rotatably connected to the spring pressing block 10 through the same two pin shafts 16.

[0046] Specifically, the other end of the steel wire rope 5-1 is connected to the left wing plate of the spring mounting seat 4 after sequentially passing through the fixed pulley 6-1, the movable pulley 7-1, the fixed pulley 6-2 and the movable pulley 7-2, and the other end of the steel wire rope 5-2 is connected to the right wing plate of the spring mounting seat 4 after sequentially passing through the fixed pulley 8-1, the movable pulley 9-1, the fixed pulley 8-2 and the movable pulley 9-2.

[0047] In the above embodiment, preferably, asFigure 9 As shown, the torque balancing mechanism also includes a wire rope adjustment section, which includes: studs 17-1 and 17-2, respectively disposed on the two side flanges of the spring mounting seat 4, with external threads formed on both studs 17-1 and 17-2; adjusting blocks 12-1 and 12-2, which are hollow cylindrical, and with internal threads forming inside the adjusting blocks 12-1 and 12-2 respectively that mate with the external threads of studs 17-1 and 17-2; adjusting blocks 12-1 and 12-2 are threadedly connected to studs 17-1 and 17-2 respectively; and wire ropes 5-1 and 5-2 are fixedly connected to adjusting blocks 12-1 and 12-2 respectively. Therefore, by rotating the adjusting blocks 12-1 and 12-2, the adjustment blocks can be moved along the studs 17-1 and 17-2, thereby adjusting the position of the wire ropes 5-1 and 5-2 during installation, so that the spring pressure block 10 is in the middle position of the guide post 13 when balanced, and the wire ropes 5-1 and 5-2 are both in a taut state. During use, the position of the adjusting blocks 12-1 and 12-2 remains unchanged.

[0048] In the above embodiments, preferably, both adjusting blocks 12-1 and 12-2 have an axial notch, and the other ends of wire ropes 5-1 and 5-2 form protruding spherical portions. Wire ropes 5-1 and 5-2 are respectively inserted into adjusting blocks 12-1 and 12-2 through the notches, so that the spherical portions of wire ropes 5-1 and 5-2 are respectively confined within adjusting blocks 12-1 and 12-2.

[0049] In the above-described embodiments, preferably, at least one limiting block 18 is provided on the web of the spring mounting base 4 located between the two spring pressure plates 14 to limit the displacement of the two spring pressure plates 14.

[0050] Therefore, when link 2 moves to the left (e.g.) Figure 10As shown, the load G generates a counterclockwise torque on the inner ring of the crossed roller bearing 21. At this time, the wire rope 5-2 moves upward under the drive of the adapter block 3, and the length of the wire rope 5-2 wrapped on the adapter block 3 increases. Then, through the movable pulleys 9-1 and 9-2, the spring pressure block 10 moves to the right. The spring pressure block 10 compresses the right compression spring 11 through the right spring pressure plate 14, thereby generating a balancing force to balance the torque of the load G on the rotating shaft. Meanwhile, the left compression spring 11 remains in its original state under the restriction of the left spring pressure plate 14 (which is limited by the limiting block 18 and cannot move to the right). However, since the spring pressure block 10 simultaneously drives the movable pulleys 7-1 and 7-2 to move to the right, the length of the wire rope 5-1 wound on the adapter block 3 is reduced. This reduced length is exactly the same as the length required for the movable pulleys 7-1 and 7-2 to move to the right. Therefore, the wire rope 5-1 remains taut under the pull of the movable pulleys 7-1 and 7-2. Thus, when the load G moves to the left, there is no sudden acceleration under the action of the balancing force, and the external force required to return to the original state is also greatly reduced, achieving a good assist function.

[0051] When link 2 moves to the right (e.g.) Figure 11 As shown, the load G generates a clockwise torque on the inner ring of the crossed roller bearing 21. At this time, the wire rope 5-1 moves upward under the drive of the adapter block 3. The length of the wire rope 5-1 wound on the adapter block 3 increases, which in turn drives the spring pressure block 10 to move to the left through the movable pulleys 7-1 and 7-2. The spring pressure block 10 compresses the left compression spring 11 through the left spring pressure plate 14, thereby generating a balancing force to balance the torque of the load G on the rotating shaft. Meanwhile, the right-side compression spring 11 remains in its original state under the restriction of the right-side spring pressure plate 14 (which is limited by the limiting block 18 and cannot move to the left). However, since the spring pressure block 10 simultaneously drives the movable pulleys 9-1 and 9-2 to move to the left, the length of the wire rope 5-2 wrapped around the adapter block 3 is reduced. This reduced length is exactly the same as the length required for the movable pulleys 9-1 and 9-2 to move to the left. Therefore, the wire rope 5-2 remains taut under the pull of the movable pulleys 9-1 and 9-2. Thus, when the load G moves to the right, there is no sudden acceleration under the action of the balancing force, and the external force required to return to the original state is also greatly reduced, achieving a good assist function.

[0052] In the above embodiment, preferably, the number of compression springs 13 on both sides can be adjusted as needed, thereby balancing loads G of different weights.

[0053] Of course, it is understood by those skilled in the art that the compression spring 13 can also be arranged on only one side of the spring block 10 in the above embodiment, in which case the spring plate 14 can be cancelled, thereby forming a one-way assisted torque balance mechanism.

[0054] In the above embodiment, preferably, as shown in Figure 2 , Figure 6 and Figure 7 , the adjusting part comprises a retainer 24 fixed with the connecting rod 1 and the outer ring of the cross roller bearing 21 by a bolt 29 and a nut 30, a guide screw 26 mainly composed of a guide rod and a screw head integrally formed at one end of the guide rod, the outer periphery of the screw head being provided with external threads, the inner ring of the retainer 24 being provided with internal threads matched with the external threads of the screw head, the screw head being screwed into the retainer 24, and a spring positioning sleeve being formed between the guide rod and the screw head, and a compression spring 25, one end of the compression spring 25 being located in the spring positioning sleeve, and the other end of the compression spring 25 abutting against the inner ring friction ring 22. Thus, when the guide screw 26 is rotated to move inward along the axis of the adjustable damping mechanism (i.e. screwed in), the compression amount of the compression spring 25 will be increased, thereby causing greater frictional damping between the outer ring friction ring 23 and the inner ring friction ring 22, so as to restrict the relative rotation between the inner and outer rings of the cross roller bearing 21, and further restrict the relative rotation of the connecting rod 1 and the connecting rod 2 connected with the inner and outer rings of the cross roller bearing 21 respectively; on the contrary, when the guide screw 26 is rotated to move outward along the axis of the adjustable damping mechanism (i.e. screwed out), the compression amount of the compression spring 25 will be reduced, thereby reducing the frictional damping between the outer ring friction ring 23 and the inner ring friction ring 22, so as to facilitate the relative rotation between the inner and outer rings of the cross roller bearing 21, and further facilitate the relative rotation of the connecting rod 1 and the connecting rod 2 connected with the inner and outer rings of the cross roller bearing 21 respectively.

[0055] In the above embodiment, preferably, as shown in Figures 2 to 5 , recesses 101 and 102 are formed on both sides of one end of the connecting rod 1, the cross roller bearing 21 is located in the recess 101, and the retainer 24, the compression spring 25 and the guide screw 26 are located in the recess 102; a guide channel is formed on the connecting rod 1 between the recesses 101 and 102, the inner ring friction ring 22 and the outer ring friction ring 23 are located in the guide channel, the outer periphery of the outer ring friction ring 23 is provided with a plurality of protrusions, a guide groove matched with the outer contour of the outer ring friction ring 23 is formed in the guide channel of the connecting rod 1, and the outer ring friction ring 23 is fitted in the guide groove, so that the guide groove can restrict the circumferential movement of the outer ring friction ring 23 but not restrict the movement of the outer ring friction ring 23 along the axis of the damping adjusting mechanism.

[0056] The above embodiments are only used for illustrating the present application, wherein the structure, connection mode and manufacturing process of each component can be changed, and any equivalent transformation and improvement based on the technical scheme of the present application should not be excluded from the protection scope of the present application.

Claims

1. A self-balancing stop-and-go joint, characterized in that, The hinge jointed movable part (1, 2), a torque balance mechanism and a damping adjustment mechanism are included. The torque balance mechanism includes: An elastic part is arranged on the first movable part (1); A pulley transmission part is arranged on the second movable part (2) and the elastic part; When the second movable part (2) is driven to rotate relative to the first movable part (1) by an external force, the second movable part (2) compresses the elastic part through the pulley transmission part, and the elastic part generates a counterforce corresponding to the external force to achieve torque balance; The damping adjustment mechanism includes: A rotating part (21) has an inner ring and an outer ring which can rotate relative to each other, and the outer ring of the rotating part (21) is connected with the first movable part (1); A first friction part (22) is connected with the inner ring of the rotating part (21) and the second movable part (2); A second friction part (23) is axially movable and circumferentially non-rotatable arranged on the first movable part (1), and a friction interface is formed between the second friction part (23) and the first friction part (22); An adjustment part is connected with the second friction part (23) and is used to drive the second friction part (23) to move close to or away from the first friction part (22) to increase or decrease the friction damping of the friction interface between the second friction part (23) and the first friction part (22); The elastic part includes: A mounting seat (4) is mounted on the first movable part (1); A sliding block (10) is slidingly arranged on the mounting seat (4), and the sliding block (10) is associated with the second movable part (2) through the pulley transmission part; A first elastic member (11) is arranged between the mounting seat (4) and the sliding block (10); A guide column (13) is arranged between the two wing plates of the mounting seat (4), and the guide column (13) penetrates through the sliding block (10) and forms a sliding pair with the sliding block (10); The first elastic member (11) is a group of first compression springs, a group of the first compression springs are sleeved on the guide column (13) between the sliding block (10) and the wing plate of the mounting seat (4), and one end of the first compression spring abuts against the wing plate of the mounting seat (4), and the other end of the first compression spring abuts against the sliding block (10); when the second movable part (2) is driven to rotate relative to the first movable part (1) by an external force, the second movable part (2) drives the sliding block (10) to compress the first compression spring through the pulley transmission part, and the first compression spring generates a counterforce corresponding to the external force; or The first elastic member (11) is two groups of first compression springs, and the two groups of first compression springs are respectively sleeved on the guide columns (13) between the two side wings of the sliding block (10) and the mounting seat (4); meanwhile, the elastic part further comprises two sliding pressure plates (14), and the two sliding pressure plates (14) are respectively slidably arranged on the guide columns (13) on the two sides of the sliding block (10); one end of the two groups of first compression springs is respectively abutted against the two side wings of the mounting seat (4), and the other end of the two groups of first compression springs is respectively abutted against the two sliding pressure plates (14); when an external force drives the second movable part (2) to rotate relative to the first movable part (1), the second movable part (2) drives the sliding block (10) to compress the first compression spring on the same side through the sliding pressure plate (14) on one side of the sliding block (10), so as to generate a reaction force equivalent to the external force, and in this process, the first compression spring on the other side of the sliding block (10) remains unchanged.

2. The self-balancing stop-dependent joint of claim 1, wherein, The rotation axis of the movable part (1, 2) is perpendicular to the first movable part (1) and the second movable part (2) at the same time.

3. The self-balancing stop-dependent joint of claim 1, wherein, At least one limiting block (18) is arranged on the web plate of the mounting seat (4) between the two sliding pressure plates (14).

4. The self-balancing stop-dependent joint of any of claims 1, 2, 3, wherein, The pulley transmission part comprises: An adapter block (3) is arranged on one side of the first movable part (1) and fixedly connected with the second movable part (2); A first traction rope (5-1) and a second traction rope (5-2) are respectively arranged on the two sides of the adapter block (3), and one end of the first traction rope (5-1) and the second traction rope (5-2) is fixedly connected with the adapter block (3), the other end of the first traction rope (5-1) is fixedly connected with the wing plate of the mounting seat (4) on the same side through a first pulley group, and the other end of the second traction rope (5-2) is fixedly connected with the wing plate of the mounting seat (4) on the same side through a second pulley group.

5. The self-balancing stop-dependent joint of claim 4, wherein, The first pulley group comprises: A first fixed pulley group (6) is rotatably arranged on one side wing of the mounting seat (4); A first movable pulley group (7) is rotatably arranged on the sliding block (10); The second pulley group comprises: A second fixed pulley group (8) is rotatably arranged on the other side wing of the mounting seat (4); A second movable pulley group (9) is rotatably arranged on the sliding block (10).

6. The self-balancing stop-dependent joint of claim 5, wherein, The first fixed pulley set (6) comprises a first fixed pulley (6-1) and a second fixed pulley (6-2) rotatably connected to one side wing plate of the mounting base (4) through two pin shafts (15) respectively, the first movable pulley set (7) comprises a first movable pulley (7-1) and a second movable pulley (7-2) rotatably connected to the sliding block (10) through two pin shafts (16) respectively, and the other end of the first traction rope (5-1) is connected to one side wing plate of the mounting base (4) after sequentially passing through the first fixed pulley (6-1), the first movable pulley (7-1), the second fixed pulley (6-2) and the second movable pulley (7-2).

7. The self-balancing stop-dependent joint of claim 5, wherein, The second fixed pulley set (8) comprises a third fixed pulley (8-1) and a fourth fixed pulley (8-2) rotatably connected to the other side wing plate of the mounting base (4) through another two pin shafts (15), the second movable pulley set (9) comprises a third movable pulley (9-1) and a fourth movable pulley (9-2) rotatably connected to the sliding block (10) through the same two pin shafts (16), and the other end of the second traction rope (5-2) is connected to the other side wing plate of the mounting base (4) after sequentially passing through the third fixed pulley (8-1), the third movable pulley (9-1), the fourth fixed pulley (8-2) and the fourth movable pulley (9-2).

8. The self-balancing stop-dependent joint of claim 5, wherein, The torque balance mechanism further comprises a traction rope adjusting part, the other ends of the first traction rope (5-1) and the second traction rope (5-2) are fixedly connected to the mounting base (4) through the traction rope adjusting part, and the traction rope adjusting part is used for adjusting the positions of the first traction rope (5-1) and the second traction rope (5-2) so that the sliding block (10) is in the middle position of the guide column (13) when balanced.

9. The self-balancing stop-dependent joint of claim 8, wherein, The traction rope adjusting part comprises: First and second studs (17-1 and 17-2) arranged on the two side wing plates of the mounting base (4), and external threads are formed on the first and second studs (17-1 and 17-2); First and second adjusting blocks (12-1 and 12-2) in the shape of hollow cylinders, and internal threads are formed in the first and second adjusting blocks (12-1 and 12-2) respectively to match the external threads of the first and second studs (17-1 and 17-2), the first and second adjusting blocks (12-1 and 12-2) are threadedly connected to the first and second studs (17-1 and 17-2) respectively, and the first and second traction ropes (5-1 and 5-2) are fixedly connected to the first and second adjusting blocks (12-1 and 12-2) respectively.

10. The self-balancing stop-dependent joint of claim 9, wherein, The first adjusting block (12-1) and the second adjusting block (12-2) are each formed with a gap in the axial direction, the other ends of the first traction rope (5-1) and the second traction rope (5-2) are formed with protruding spherical portions, and the first traction rope (5-1) and the second traction rope (5-2) are respectively arranged in the first adjusting block (12-1) and the second adjusting block (12-2) through the gaps so that the spherical portions of the first traction rope (5-1) and the second traction rope (5-2) are respectively limited in the first adjusting block (12-1) and the second adjusting block (12-2).

11. A self-balancing stop-dependent joint according to any one of claims 1, 2, 3, 5 to 10, characterized in that, The rotating part (21) is a cross roller bearing, and the adjusting part comprises: a retainer (24) fixedly connected with the first movable part (1) and the outer ring of the cross roller bearing; a guide (26) arranged in the retainer (24) and rotatable in or out along the axis of the damping adjusting mechanism; a second elastic member (25) having one end abutting against the guide (26) and the other end abutting against the second friction part (23).

12. The self-balancing stop-dependent joint of claim 11, wherein, The second elastic member (25) is a second compression spring.

13. The self-balancing stop-dependent joint of claim 12, wherein, The guide (26) comprises a guide rod and a screw head integrally formed at one end of the guide rod, the outer periphery of the screw head is provided with external threads, the inner ring of the retainer (24) is provided with internal threads matched with the external threads of the screw head, and the screw head is threadedly connected in the retainer (24); a spring positioning sleeve is formed between the guide rod and the screw head, the second compression spring is sleeved on the guide rod, one end of the second compression spring is located in the spring positioning sleeve, and the other end of the second compression spring abuts against the second friction part (23).

14. The self-balancing stop-dependent joint of claim 11, wherein, First and second grooves (101, 102) are respectively formed on both sides of one end of the first movable part (1), the cross roller bearing is located in the first groove (101), and the retainer (24), the second elastic member (25) and the guide (26) are located in the second groove (102). The first movable part (1) between the first and second grooves (101, 102) is formed with a guide channel, the first friction part (22) is an inner ring friction ring, the second friction part (23) is an outer ring friction ring, the inner ring friction ring and the outer ring friction ring are located in the guide channel, the outer periphery of the outer ring friction ring is formed with a plurality of protruding teeth, the guide channel of the first movable part (1) is formed with a guide groove matched with the outer contour of the outer ring friction ring, and the outer ring friction ring is matched in the guide groove so that the guide groove can limit the circumferential movement of the outer ring friction ring but does not limit the movement of the outer ring friction ring along the axis of the damping adjusting mechanism.

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