A balancing device and a motion joint and a follow-stop motion joint having the same

Abstract

The present application relates to a kind of balancing device and the motion joint and follow-stop motion joint with the device, the balancing device for connecting two movable parts relatively rotatable, it includes: rotating connection part, for the pivot connection of two movable parts and can rotate with second movable part;Limiting portion, it is arranged in first movable part;Elastic portion, it is limited in first movable part by limiting portion;Blocking portion, it is arranged on rotating connecting piece;When external force drives second movable part relative to first movable part rotation, blocking portion compresses elastic portion along with the rotation of rotating connecting piece, and elastic portion generates counterforce equivalent to external force from this, to reach force balance.The balancing device provided by the present application adopts pure mechanical structure without any electrical element, so as to ensure that the motion joint and follow-stop motion joint containing the balancing device have very high stability and reliability, while being able to make the structure of motion joint and follow-stop motion joint compact, have very strong practical and commercial value.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of mechanical equipment, specifically about a high-precision balancing device and the motion joint and stop-motion joint with the device. BACKGROUND

[0002] It is well known that the motion joint is the most commonly used mechanical part in mechanical equipment, especially in motion mechanism, because the performance of motion joint has different requirements in different applications. There are many kinds of motion joints on the market, but most of them are used in low-demand situations, such as low-precision requirements, and the assist direction is mostly unidirectional, i.e. the load can only move in one direction.

[0003] However, in some important situations that require high precision and bidirectional assistance, a mechanical motion joint with a more ingenious structure and a simple and reliable principle is needed.

[0004] In addition, stop-motion joints are used in many situations, and such stop-motion joints need to have two performance requirements: first, when the motion joint is released, the motion joint immediately stops moving, i.e. stop-motion; second, when the motion joint is moved, it does not require too much force, i.e. it has an assist function. SUMMARY

[0005] To solve the above problems, one object of the present application is to provide a high-precision balancing device, which is completely realized by mechanical structure without any electrical components, has high motion stability and long service life; another object of the present application is to provide a motion joint with the balancing device; and a third object of the present application is to provide a stop-motion joint with the balancing device.

[0006] To achieve the above objects, the present application adopts the following technical solution: a balancing device for connecting two movable parts that can rotate relative to each other, the balancing device comprising: a rotating connection part for pivoting the two movable parts and rotating with the second movable part; a limiting part provided in the first movable part; an elastic part limited in the first movable part by the limiting part; a blocking part provided on the rotating connection part; when an external force drives the second movable part to rotate relative to the first movable part, the blocking part compresses the elastic part as the rotating connection part rotates, and the elastic part generates a counterforce equivalent to the external force to achieve force balance.

[0007] Preferably, the rotating axis of the rotating connection part is perpendicular to the length direction of the first movable part and parallel to the length direction of the second movable part.

[0008] The balancing device, preferably, the elastic part is a torsion spring, the torsion spring is sleeved outside the rotating connecting part, and at least one end of the torsion spring is capable of contacting the blocking part.

[0009] The balancing device, preferably, the first movable part is formed with a containing space for mounting the rotating connecting part, the rotating connecting part comprises bearings, at least one of the bearings is mounted in the first movable part, and the outer ring of the bearing is in contact with the first movable part; and a rotating shaft is in contact with the inner ring of the bearing, and the end of the rotating shaft is connected with the second movable part.

[0010] The balancing device, preferably, the limiting part comprises a limiting baffle arranged in the first movable part, the limiting baffle is formed with a limiting slot for limiting the movement of the torsion spring within a given angle range, one end of the torsion spring is movably limited in the limiting slot of the limiting baffle, and the other end of the torsion spring is fixed on the first movable part.

[0011] The balancing device, preferably, the blocking part is a stop pin formed on the rotating shaft close to the limiting baffle.

[0012] The balancing device, preferably, the limiting part comprises two limiting baffles arranged in the first movable part, the two limiting baffles are formed with limiting slots for limiting the movement of the torsion spring within a given angle range, and two ends of the torsion spring are movably limited in the limiting slots of the two limiting baffles, respectively.

[0013] The balancing device, preferably, the blocking part is two stop pins formed on the rotating shaft close to the two limiting baffles, respectively.

[0014] The balancing device, preferably, the limiting baffle is an annular plate, the limiting baffle is sleeved outside the rotating shaft, and the limiting baffle is integrally formed with the first movable part or fixedly connected with the first movable part.

[0015] The balancing device, preferably, the limiting slot on the limiting baffle is arc-shaped, and two ends of the limiting slot are respectively formed with stop ends for limiting the movement of the ends of the torsion spring.

[0016] A motion joint, comprising two movable parts capable of rotating relative to each other, and the above-mentioned balancing device.

[0017] A stop-motion joint comprising the above-mentioned balancing device and the stop-motion joint, and a damping increasing mechanism; the damping increasing mechanism comprises: a guide member arranged on the first movable member and capable of being screwed in or out along the radial direction of the first movable member; a friction member arranged radially movably and circumferentially non-rotatably outside the rotating shaft, and there is a contact interface between the friction member and the rotating shaft, and a gap is left between the friction member and the guide member; and an elastic member arranged between the guide member and the friction member.

[0018] Preferably, the guide member is a guide screw, which comprises a guide rod and a screw head integrally formed at one end of the guide rod; and the elastic member is a compression spring, which is sleeved on the guide rod, and one end of the compression spring abuts against the screw head, and the other end of the compression spring abuts against the friction member.

[0019] Preferably, the guide member is a plurality of guide members, which are arranged uniformly in the circumferential direction on the first movable member; and the friction member is also a plurality of friction members, which are arranged uniformly in the circumferential direction outside the rotating shaft, and the friction members correspond to the guide members one by one.

[0020] Preferably, the friction member comprises a guide column and a friction sheet integrally formed at one end of the guide column, and the friction sheet has a friction surface in contact with the rotating shaft, and the friction surface is an arc surface matched with the external profile of the rotating shaft; and the friction member is provided with a stepped hole arranged in the radial direction of the rotating shaft, a thick section of the stepped hole forms a positioning hole of the compression spring, and a thin section of the stepped hole forms a guide hole of the guide screw.

[0021] Preferably, the first movable member is provided with a mounting through hole for mounting the guide screw and the friction member, a part of the mounting through hole forms a threaded hole, the outer periphery of the screw head has an external thread matched with the threaded hole, and the screw head is screwed into the threaded hole; and another part of the mounting through hole forms a guide hole, the guide column of the friction member is slidingly fitted in the guide hole to restrict the circumferential movement of the friction member but not restrict the radial movement of the friction member along the rotating shaft.

[0022] The application has the following advantages: 1. The balancing device of the application adopts a pure mechanical structure without any electrical elements, thereby ensuring that the motion joint and the stop-following motion joint containing the balancing device have very high stability and reliability, and enabling the structure of the motion joint and the stop-following motion joint to be compact, and having strong practical and commercial values. 2. The motion joint and the stop-following motion joint of the application have high motion precision and smoothness because the rotation is performed through bearings. 3. The application encapsulates the motion shaft system, the spring assisting mechanism and the damping increasing mechanism through a clever structure, and can realize the stop-following motion joint moving in one direction and the stop-following motion joint moving in two directions. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic view of the overall structure of an embodiment of the application;

[0024] Figure 2 is a schematic view of the structure of the embodiment of the application after removing the first connecting rod;

[0025] Figure 3 is a schematic view of the structure of the first connecting rod of the embodiment of the application;

[0026] Figure 4 is a schematic view of the structure of one of the limiting baffles of the embodiment of the application;

[0027] Fig. 5(a) is a schematic view of the state when the second connecting rod is in the middle position;

[0028] Fig. 5(b) is a schematic view of the state of the torsion spring when the second connecting rod is in the middle position;

[0029] Fig. 6(a) is a schematic view of the state when the second connecting rod rotates clockwise;

[0030] Fig. 6(b) is a schematic view of the state of the torsion spring when the second connecting rod rotates clockwise;

[0031] Fig. 6(c) is a schematic view of the state of the torsion spring when the second connecting rod is in the left limit position;

[0032] Fig. 7(a) is a schematic view of the state when the second connecting rod rotates counterclockwise;

[0033] Fig. 7(b) is a schematic view of the state of the torsion spring when the second connecting rod rotates counterclockwise;

[0034] Fig. 7(c) is a schematic view of the state of the torsion spring when the second connecting rod is in the right limit position;

[0035] Figure 8 is a schematic view of the structure of the damping increasing mechanism of the embodiment of the application;

[0036] Figure 9 This is a cross-sectional view of the damping increase mechanism in this embodiment of the present invention. Detailed Implementation

[0037] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are only for illustrating the essential spirit of the technical solution of the present invention.

[0038] like Figure 1 , Figure 2 As shown, the balancing device provided in this embodiment is used to connect a first link 1 and a second link 2 that are rotatably connected by a rotating shaft 31. The rotation axis of the rotating shaft 31 is perpendicular to the length direction of the first link 1 and parallel to the length direction of the second link 2. Figure 2 In the middle, the end of the second link 2 is provided with a load G (only an equivalent illustration).

[0039] like Figure 2 , Figure 3 As shown, the balancing device includes a torsion spring 41, a stop pin 42, a stop pin 43, and limiting baffles 44. Stop pins 42 and 43 are respectively formed at both ends of the rotating shaft 31. The torsion spring 41 is sleeved outside the rotating shaft 31, and its two extended legs 41-A and 41-B contact the stop pins 43 and 42 respectively. The two limiting baffles 44 are respectively disposed within the first connecting rod 1 located at both ends of the rotating shaft 31. Limiting grooves 44-A and 44-B are respectively formed on the two limiting baffles 44 to restrict the movement of the torsion spring 41 within a given angle range. The extended legs 41-A and 41-B on both sides of the torsion spring 41 are movable and restricted within the limiting grooves 44-A and 44-B respectively. The working principle of the spring-assisted mechanism is as follows:

[0040] When the second link 2 is in the middle state (as shown in Figure 5(a)), the torque of the load G on the center of rotation is 0, and the torsion spring 41 does not need to provide a balancing force. The state of the torsion spring 41 at this time is shown in Figure 5(b). The extended leg 41-A of the torsion spring 41 is in contact with the stop pin 43 and the stop end A1 of the limiting groove 44-A at the same time. The extended leg 41-B of the torsion spring 41 is in contact with the stop pin 42 and the stop end B2 of the limiting groove 44-B at the same time. At this time, the torsion spring 41 is basically in its original length state except for a small amount of preload.

[0041] When the second link 2 rotates to the right (as shown in Figure 6(a), where "right" refers to looking to the right from the plane of the paper in Figure 6(a)), the rotation axis 31 rotates clockwise (where "clockwise" refers to looking to the right from the plane of the paper in Figure 6(a)). Figure 3, Fig. 5(a), Fig. 6(a) is clockwise), the stop pin 43 connected with the rotating shaft 31 is driven to rotate, the stop pin 43 presses the extended leg 41-A of the torsion spring 41 to compress the torsion spring 41, at this time the extended leg 41-B on the other side of the torsion spring 41 is limited by the stop end B2 of the limiting slot 44-B and does not move, thus the torsion spring 41 will also generate a balance force to balance the moment caused by the gravity of the load G, to achieve the purpose of force balance, reduce the artificial force, at this time the state of the torsion spring 41 is shown in Fig. 6(b). When the second connecting rod 2 continues to rotate clockwise, the stop pin 43 will continue to compress the torsion spring 41, until the extended leg 41-A of the torsion spring 41 reaches the stop end A2 of the limiting slot 44-A, at this time the second connecting rod 2 reaches the right limit state due to mechanical limiting, and the state of the torsion spring 41 corresponding to this is shown in Fig. 6(c).

[0042] Correspondingly, when the second connecting rod 2 rotates to the left (the state is shown in Fig. 7(a), here "left" means left from the paper surface direction of Fig. 7(a)), at this time the rotating shaft 31 rotates in the counterclockwise direction (here "counterclockwise" means counterclockwise from the paper surface direction of Fig. 7(a)), the stop pin 42 connected with the rotating shaft 31 is driven to rotate, the stop pin 42 presses the extended leg 41-B of the torsion spring 41 to rotate and compress the torsion spring 41, at this time the extended leg 41-A on the other side of the torsion spring 41 is limited by the stop end A1 of the limiting slot 44-A and does not move, thus the torsion spring 41 will also generate a balance force to balance the moment caused by the gravity of the load G, at this time the state of the torsion spring 41 is shown in Fig. 7(b). When the second connecting rod 2 continues to rotate counterclockwise, the stop pin 43 will continue to compress the torsion spring 41, until the extended leg 41-B of the torsion spring 41 reaches the stop end B1 of the limiting slot 44-B, at this time the second connecting rod 2 reaches the left limit position due to mechanical limiting, and the state of the torsion spring 41 corresponding to this is shown in Fig. 7(c). Figure 3 In the above embodiment, preferably, as shown in Fig. 4, the limiting stop plate 44 is an annular plate, the limiting stop plate 44 is sleeved outside the rotating shaft 31, the limiting stop plate 44 is integrally formed with the first connecting rod 1 or is fixedly connected with the first connecting rod 1, and the limiting slot 44-A and the limiting slot 44-B on the two limiting stop plates 44 are both arc-shaped.

[0043] Figure 4 Of course, those skilled in the art can understand that in the above embodiment, only one limiting stop plate 44 and one limiting stop pin 42 can be provided, at this time only the extended leg 41-B of the torsion spring 41 can be movably limited in the limiting slot 44-B of the limiting stop plate 44, and the extended leg 41-A of the torsion spring 41 can be fixedly connected with the first connecting rod 1, thus forming a one-way assisted balance device.

[0044]

[0045] ​​Based on the balancing device provided in the above embodiment, the application further provides a motion joint. Figure 1 , Figure 2 As shown in the drawings, the motion joint comprises a first connecting rod 1 and a second connecting rod 2 connected by a motion shaft system, and the balancing device in the above embodiment. The motion shaft system mainly comprises a rotating shaft 31 and at least one (two in this embodiment) bearing 32, the inner ring of the bearing 32 is in contact with the rotating shaft 31, and the outer ring of the bearing 32 is in contact with the first connecting rod 1 (thereby the bearing 32 is radially positioned by the contact between the inner and outer rings), and the second connecting rod 2 is fixedly connected with the end of the rotating shaft 31. Thus, the second connecting rod 2 can freely rotate relative to the first connecting rod 1.

[0046] Since the balancing force of the torsional spring is not enough to perfectly balance the torque caused by the gravity of the load G, based on the motion joint provided in the above embodiment, the application further provides a motion joint with stop, which additionally designs a damping increasing mechanism. As shown in the drawings, Figure 8 , Figure 9 The damping increasing mechanism comprises a guide screw 51 arranged on the first connecting rod 1 and capable of being screwed in or out along the radial direction of the first connecting rod 1, a friction block 53 radially movable and circumferentially non-rotatable arranged outside the rotating shaft 31, and a contact interface existing between the friction block 53 and the rotating shaft 31, and a gap existing between the friction block 53 and the guide screw 51, and a compression spring 52 arranged between the guide screw 51 and the friction block 53. Thus, when the guide screw 51 is screwed in or out, the distance between the guide screw 51 and the friction block 53 can be changed, thereby changing the compression amount of the compression spring 52 to change the pressure of the friction block 53 on the rotating shaft 31, so as to control the size of the frictional damping received by the rotating shaft 31 when rotating.

[0047] In the above embodiment, preferably, the guide screw 51 comprises a guide rod and a screw head integrally formed at one end of the guide rod, the compression spring 52 is sleeved on the guide rod, and one end of the compression spring 52 abuts against the screw head, and the other end of the compression spring 52 abuts against the friction block 53.

[0048] In the above embodiment, preferably, the friction block 53 comprises a guide column and a friction sheet integrally formed at one end of the guide column, the friction sheet has a friction surface in contact with the rotating shaft 31, and the friction surface is an arc surface matched with the external contour of the rotating shaft 31; the friction block 53 is provided with a stepped hole arranged along the radial direction of the rotating shaft 31, the thick section of the stepped hole forms a positioning hole of the compression spring 52, and the thin section of the stepped hole forms a guide hole of the guide screw 51.

[0049] In the above embodiments, preferably, the first connecting rod 1 is provided with mounting through holes for mounting the guide screws 51 and the friction blocks 53, a portion of the mounting through holes forms a threaded hole, the outer periphery of the screw head is provided with external threads matched with the threaded hole, and the screw head is screwed into the threaded hole; another portion of the mounting through holes forms a guide hole, and the guide column of the friction block 53 is slidingly fitted into the guide hole to limit the circumferential movement of the friction block 53 but not limit the radial movement of the friction block 53 along the rotation axis 31.

[0050] In the above embodiments, preferably, the guide screws 51 are multiple, and the multiple guide screws 51 are uniformly arranged on the first connecting rod 1 in the circumferential direction; meanwhile, the friction blocks 53 are also multiple, and the multiple friction blocks 53 are uniformly arranged outside the rotation axis 31 in the circumferential direction, and the friction blocks 53 correspond to the guide screws 51 one by one.

[0051] The above embodiments are only used for describing the present application, and the structure, connection mode and manufacturing process of each component can be changed. Any equivalent transformation and improvement based on the technical scheme of the present application shall not be excluded from the protection scope of the present application.

Claims

1. A balancing device for connecting two movable parts (1, 2) which are relatively rotatable, characterized in that The balancing device comprises: a rotating connecting part for pivoting the two movable parts (1, 2) and rotating with the second movable part (2); a limiting part arranged in the first movable part (1); a resilient part limited in the first movable part (1) through the limiting part; a blocking part arranged on the rotating connecting part; when an external force drives the second movable part (2) to rotate relative to the first movable part (1), the blocking part rotates with the rotating connecting part; the first movable part (1) is formed with a containing space for mounting the rotating connecting part, and the rotating connecting part comprises a rotating shaft (31); the resilient part is a torsion spring (41), the torsion spring (41) is sleeved outside the rotating connecting part, and at least one end of the torsion spring (41) can contact the blocking part; the blocking part is used for positioning and compressing the torsion spring (41); the limiting part comprises two limiting baffles (44) arranged in the first movable part (1) at intervals, the two limiting baffles (44) are formed with limiting grooves for limiting the movement of the torsion spring (41) within a given angle range, and the two ends of the torsion spring (41) are respectively movably limited in the limiting grooves of the two limiting baffles (44); the blocking part is two stop nails (42, 43) respectively formed on the rotating shaft (31) close to the two limiting baffles (44); when an external force drives the second movable part (2) to rotate relative to the first movable part (1) in a first direction, the first end of the torsion spring (41) moves along the corresponding limiting groove under the pressing of the first stop nail corresponding to the first end, the second end of the torsion spring (41) is limited by the limiting groove corresponding to the second end, thereby compressing the torsion spring (41), the torsion spring (41) generates a counterforce equivalent to the external force to achieve force balance; when an external force drives the second movable part (2) to rotate relative to the first movable part (1) in a second direction, the second end of the torsion spring (41) moves along the corresponding limiting groove under the pressing of the second stop nail corresponding to the second end, the first end of the torsion spring (41) is limited by the limiting groove corresponding to the first end, thereby compressing the torsion spring (41), the torsion spring (41) generates a counterforce equivalent to the external force to achieve force balance.

2. The balancing device of claim 1, wherein The rotating axis of the rotating connecting part is perpendicular to the length direction of the first movable part (1) and parallel to the length direction of the second movable part (2).

3. The balancing device of claim 1, wherein The limiting baffle (44) is an annular plate, the limiting baffle (44) is sleeved outside the rotating shaft (31), and the limiting baffle (44) is integrally formed with or fixedly connected to the first movable part (1).

4. The balancing apparatus of claim 1, wherein The limiting groove on the limiting baffle (44) is arc-shaped, and two ends of the limiting groove are respectively formed with stop ends for limiting the movement of the ends of the torsion spring (41).

5. A counterbalance device according to claim 3 or 4, characterised in that, The rotating connecting part further comprises: A bearing (32) is mounted in the first movable member (1), and the outer ring of the bearing (32) is in contact with the first movable member (1); The rotating shaft (31) is in contact with the inner ring of the bearing (32), and the end of the rotating shaft (31) is connected with the second movable member (2).

6. A kinematic joint, characterized by The joint comprises two movable members (1, 2) capable of relative rotation, and the balancing device according to any one of claims 1 to 5.

7. A passive motion joint, characterized by The joint comprises the balancing device according to any one of claims 1 to 5, the joint according to claim 6, and a damping increasing mechanism; the damping increasing mechanism comprises: A guide member (51) is arranged on the first movable member (1) and is capable of being screwed in or out along the radial direction of the first movable member (1); A friction member (53) is arranged radially movably and circumferentially non-rotatably outside the rotating shaft (31), and there is a contact interface between the friction member (53) and the rotating shaft (31), and a gap is left between the friction member (53) and the guide member (51); An elastic member (52) is arranged between the guide member (51) and the friction member (53).

8. The range of motion joint of claim 7, wherein, The guide member (51) is a guide screw comprising a guide rod and a screw head integrally formed at one end of the guide rod; the elastic member (52) is a compression spring, which is sleeved on the guide rod, and one end of the compression spring abuts against the screw head, and the other end of the compression spring abuts against the friction member (53).

9. The range of motion joint of claim 7, wherein, The guide member (51) is a plurality of guide members, which are uniformly arranged on the first movable member (1) in the circumferential direction; meanwhile, the friction member (53) is also a plurality of friction members, which are uniformly arranged outside the rotating shaft (31) in the circumferential direction, and the friction members (53) correspond to the guide members (51) one by one.

10. The range of motion joint of claim 8, wherein, The friction member (53) comprises a guide column and a friction sheet integrally formed at one end of the guide column, and the friction sheet has a friction surface in contact with the rotating shaft (31), and the friction surface is an arc surface matched with the outer contour of the rotating shaft (31); the friction member (53) is provided with a stepped hole arranged along the radial direction of the rotating shaft (31), a thick section of the stepped hole forms a positioning hole of the compression spring, and a thin section of the stepped hole forms a guide hole of the guide screw.

11. The range of motion joint of claim 8, wherein, The first movable member (1) is provided with a mounting through hole for mounting the guide screw and the friction member (53), a part of the mounting through hole forms a threaded hole, the outer periphery of the screw head has an external thread matched with the threaded hole, and the screw head is screwed into the threaded hole; another part of the mounting through hole forms a guide hole, and the guide column of the friction member (53) is slidingly fitted in the guide hole to restrict the circumferential movement of the friction member (53) but not to restrict the radial movement of the friction member (53) along the rotating shaft (31).

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