Dual mode pneumatic gravity compensation device

Abstract

The application discloses a dual-mode pneumatic gravity compensation device and relates to the technical field of gravity compensation, which comprises a load-bearing arm, one end of the load-bearing arm is used for being connected with a required compensation load, and the other end of the load-bearing arm is connected with a first load arm; a first gear is fixed on the first load arm, and a first pulley is arranged on the first gear; a second gear is engaged with the first gear, a second pulley and a third pulley are arranged on the second gear, the first pulley and the second pulley are connected through a first rope, the third pulley is located at the center of the second gear, and the third pulley is coaxially fixed with the second gear, and the third pulley and the second pulley are connected through a second rope; a cylinder body is provided with a fourth pulley at the telescopic end of the cylinder body, and the third pulley and the fourth pulley are connected through a third rope; and a rotary driving device is provided with a torque sensor connected with an output shaft of the rotary driving device. The application has two working modes of active and passive, and is suitable for different working conditions and performance requirements.

Description

Technical Field

[0001] This invention relates to the field of gravity compensation technology, and in particular to a dual-mode pneumatic gravity compensation device. Background Technology

[0002] Gravity compensation technology is a key technology in mechanical system design. By reducing or eliminating the impact of external gravity on the system, it can significantly reduce the system's demand for external energy and improve energy efficiency. This technology has wide applications in industrial production, robotics, aerospace, and medical rehabilitation. However, with the continuous expansion of its applications, gravity compensation technology faces increasing challenges, especially in adapting to varying operating conditions and improving compensation accuracy.

[0003] In existing solutions, passive gravity compensation devices typically employ counterweight and spring methods. These methods do not rely on external energy input, but they are difficult to adjust and adapt to load changes in real time. Active gravity compensation devices, on the other hand, utilize motors or pneumatic / hydraulic systems, providing high adjustment flexibility and effective compensation, but they depend on external energy, affecting their portability and battery life.

[0004] Therefore, these shortcomings of existing technologies limit their application under varying operating conditions and their practicality in environments with unstable energy supply or where no external energy is required.

[0005] Therefore, there is an urgent need in this field for a dual-mode pneumatic gravity compensation device to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a dual-mode pneumatic gravity compensation device to solve the problems existing in the prior art. It has both active and passive working modes to adapt to different working conditions and performance requirements, and effectively improves the control accuracy and response speed of the system.

[0007] To achieve the above objectives, the present invention provides the following solution:

[0008] This invention discloses a dual-mode aerodynamic gravity compensation device, comprising:

[0009] A load-bearing arm, one end of which is connected to the required compensation load, and the other end of which is connected to a first load arm;

[0010] A first gear is fixed to a first load arm, and a first pulley is provided on the first gear, which can slide along a straight line on the first gear.

[0011] The second gear meshes with the first gear. The second gear is equipped with a second pulley and a third pulley. The second pulley can slide in a straight line on the second gear. The first pulley and the second pulley are connected by a first rope. The third pulley is located at the center of the second gear and is coaxially fixed with the second gear. The third pulley and the second pulley are connected by a second rope.

[0012] A cylinder body, wherein the telescopic end of the cylinder body is provided with a fourth pulley, and the third pulley and the fourth pulley are connected by a third rope; and

[0013] A rotation drive device is provided, wherein the output shaft of the rotation drive device is connected to a torque sensor, and the end of the torque sensor away from the rotation drive device is connected to the center of the first gear.

[0014] Preferably, the rotation drive device includes a servo motor and a reducer, the output shaft of the servo motor is connected to the input shaft of the reducer, and the output end of the reducer is connected to one end of the torque sensor.

[0015] Preferably, two parallel first linear slide rails are fixed on the first gear, and a first linear slider is slidably connected to each first linear slide rail. A first connecting plate is fixed between the two first linear sliders, and the first pulley is disposed on the first connecting plate.

[0016] The second gear has two parallel second linear slide rails fixed on it. Each second linear slide rail has a second linear slider and a fixing block. The second linear slider is slidably connected to the second linear slide rail, and the fixing block is fixed to the second linear slide rail. A second connecting plate is fixed between the two second linear sliders. A second pulley is set on the second connecting plate. A third connecting plate is fixed between the two fixing blocks, and the third pulley is set on the third connecting plate.

[0017] Preferably, the first gear has a first rotating shaft at its center, and the second gear has a second rotating shaft at its center;

[0018] It also includes a support base, through which both the first and second rotating shafts pass, with the end of the first rotating shaft away from the first gear connected to one end of the torque sensor.

[0019] Preferably, one end of the first rotating shaft is connected to one end of the torque sensor via a first coupling, and the other end of the torque sensor is connected to the rotation drive device via a second coupling.

[0020] Preferably, both the first coupling and the second coupling are cloverleaf couplings.

[0021] Preferably, a second load arm is also fixed on the second rotating shaft.

[0022] Preferably, both the first and second rotating shafts are rotatably connected to the support base via bearings.

[0023] Preferably, the support base is mounted on the profile base.

[0024] Preferably, the cylinder body is fixed on the cylinder bracket, and the cylinder bracket is fixed on the profile base.

[0025] The present invention achieves the following technical effects compared to the prior art:

[0026] First, it is highly adaptable: because the device has both active and passive working modes, it can adapt to more varied working conditions and environments, and is applicable to both dynamic environments that require real-time adjustment and energy-constrained occasions.

[0027] Second, it is highly flexible: the dynamic pressure regulation mechanism in active mode allows for a rapid response to changes in the required compensation load, while passive mode provides a reliable compensation method that does not rely on external energy.

[0028] Third, improved accuracy: Through the dynamic error compensation strategy of air pressure compensation, the device can reduce compensation errors during the movement process and improve the overall accuracy and stability of the system.

[0029] Fourth, energy consumption is reduced: In active mode, unnecessary energy consumption is reduced through precise air pressure regulation; while in passive mode, atmospheric pressure is used for compensation, which hardly increases additional energy consumption. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the dual-mode pneumatic gravity compensation device according to an embodiment of the present invention;

[0032] Figure 2 This is a top view of the dual-mode pneumatic gravity compensation device according to an embodiment of the present invention;

[0033] Figure 3 This is a side view of the dual-mode pneumatic gravity compensation device according to an embodiment of the present invention;

[0034] Figure 4 This is a partial enlarged view of the first gear and the second gear in the dual-mode pneumatic gravity compensation device according to an embodiment of the present invention;

[0035] In the diagram: 1-Required compensation load; 2-Load-bearing arm; 3-First load arm; 4-First gear; 5-Second gear; 6-Second load arm; 7-Cylinder bracket; 8-Cylinder body; 9-Support base; 10-First coupling; 11-Torque sensor; 12-Second coupling; 13-Motor bracket; 14-Reducer; 15-Servo motor; 16-First linear slide rail; 17-First linear slider; 18-First pulley; 19-First rope; 20-Second pulley; 21-Second rope; 22-Third pulley; 23-Third rope; 24-Fourth pulley; 25-First connecting plate; 26-Second linear slide rail; 27-Second connecting plate; 28-Third connecting plate. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The purpose of this invention is to provide a dual-mode pneumatic gravity compensation device to solve the problems existing in the prior art. It has both active and passive working modes to adapt to different working conditions and performance requirements, and effectively improves the control accuracy and response speed of the system.

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-4 As shown, this embodiment provides a dual-mode pneumatic gravity compensation device, including the following structure:

[0040] The load-bearing arm 2 has one end connected to the required compensation load 1. The connection method between the load-bearing arm 2 and the required compensation load 1 can vary depending on the specific load, including but not limited to common welding or bolt connections. The other end of the load-bearing arm 2 is connected to the first load arm 3 via bolts.

[0041] The first gear 4 is bolted to the first load arm 3. The first load arm 3 includes a rectangular portion and a circular portion. The rectangular portion of the first load arm 3 is used to connect with the load-bearing arm 2, while the circular portion of the first load arm 3 is coaxially fixed to the first gear 4, meaning that the two can rotate synchronously (i.e., at the same angular velocity). The first gear 4 is provided with a first pulley 18, which can slide along the first gear 4 in a straight line.

[0042] The second gear 5 is located to one side of the first gear 4 and meshes with it. The second gear 5 is equipped with a second pulley 20 and a third pulley 22. The second pulley 20 can slide along a straight line on the second gear 5. The first pulley 18 and the second pulley 20 are connected by a first rope 19, which is a closed-loop structure that can pass over the first pulley 18 and the second pulley 20. The first pulley 18 and the second pulley 20 are located at their inner ends, respectively. The third pulley 22 is located at the center of the second gear 5 and is coaxially fixed to the second gear 5, meaning they can rotate synchronously. The third pulley 22 and the second pulley 20 are connected by a second rope 21, which is the same as the connection method of the first rope 19—a sleeve connection—and will not be described further here.

[0043] The cylinder body 8 can be any existing cylinder of suitable model. The telescopic end of the cylinder body 8 is provided with a fourth pulley 24. The third pulley 22 and the fourth pulley 24 are connected by a third rope 23. The connection method of the third rope 23 is the same as that of the first rope 19 and the second rope 21, so it will not be described further.

[0044] The system includes a rotary drive mechanism, the output shaft of which is connected to a torque sensor 11. The end of the torque sensor 11 furthest from the rotary drive mechanism is connected to the center of the first gear 4. The torque sensor 11 can measure the gravity from the required compensation load 1 and also transmit the rotational force of the rotary drive mechanism to the first gear 4. Furthermore, if necessary, a controller can be added. The aforementioned rotary drive mechanism, torque sensor 11, and the electrically controlled valves and other electrical control devices used in the cylinder body 8 are all electrically connected to the controller, thereby enabling remote unified control by the operator.

[0045] When in passive operating mode, such as Figure 3As shown, the weight of the required compensation load 1 is applied to the first gear 4 through the load-bearing arm 2 and the first load arm 3, causing the first gear 4 to have a counterclockwise rotational tendency, while the second gear 5 will also have a counterclockwise rotational tendency. Simultaneously, to compensate for the weight of the required compensation load 1, the cylinder body 8 provides a rightward pulling force to the second gear 5 and the third pulley 22 through the fourth pulley 24 and the third rope 23. Under the combined action of the friction between the third pulley 22 and the third rope 23, the pulling force of the first pulley 18 on the second pulley 20, and the pulling force between the second pulley 20 and the third pulley 22, a counterclockwise force is provided to the second gear 5 to compensate for the weight of the required compensation load 1.

[0046] When in active operating mode, it is based on passive operating mode. When the first gear 4 is subjected to the gravity of the required compensation load 1 or when the load force of the required compensation load 1 changes, the torque sensor 11 measures the torque and then provides passive compensation by adjusting the extension and retraction of the cylinder body 8. However, if the compensation is not accurate by relying solely on the extension and retraction of the cylinder body 8, the rotation drive device is used to provide additional rotational force to the first gear 4 to achieve accurate compensation, thereby ensuring that the gravity of the required compensation load 1 is balanced under the working action of the rotation drive device and the cylinder body 8.

[0047] In this embodiment, as Figure 3 As shown, the cylinder body portion of the cylinder body 8 is closer to the second gear 5 than the telescopic end (i.e., piston rod) of the cylinder body 8. That is, when the cylinder body 8 extends, the distance between the fourth pulley 24 and the third pulley 22 increases, thereby increasing the pulling force applied to the third pulley 22, which is used to compensate for the required compensation load 1 for the larger gravity; conversely, if the required load decreases, the telescopic end of the cylinder body 8 can be retracted.

[0048] In this embodiment, the rotation drive device includes a conventional servo motor 15 and a reducer 14. The output shaft of the servo motor 15 is connected to the input shaft of the reducer 14, and the output end of the reducer 14 is connected to one end of the torque sensor 11. When in active working mode, the servo motor 15 is started, and the output shaft of the servo motor 15 can drive the first gear 4 to rotate in the expected direction through the reducer 14, thereby achieving precise control for compensation.

[0049] In this embodiment, as Figure 4As shown, in order to realize the reciprocating movement of the first pulley 18 on the first gear 4, two parallel first linear slide rails 16 are fixed on the first gear 4 by bolts. The two first linear slide rails 16 are located on both sides of the center of the first gear 4. A first linear slider 17 is slidably connected on each first linear slide rail 16. A C-shaped first connecting plate 25 is fixed between the two first linear sliders 17. The first pulley 18 is rotatably mounted on the first connecting plate 25.

[0050] Similarly, to achieve the reciprocating movement of the second pulley 20 on the second gear 5, two parallel second linear slide rails 26 are bolted to the second gear 5, located on either side of the center of the second gear 5. Each second linear slide rail 26 is equipped with a second linear slider and a fixing block, with the second linear slider positioned above the fixing block in the figure. The second linear slider is slidably connected to the second linear slide rail 26, while the fixing block is fixed to the second linear slide rail 26. A second connecting plate 27 is fixed between the two second linear sliders, and the second pulley 20 is mounted on the second connecting plate 27. A third connecting plate 28 is fixed between the two fixing blocks, and a third pulley 22 is mounted on the third connecting plate 28, with the third pulley 22 located at the center of the second gear 5.

[0051] In this embodiment, in order to achieve rotational support for the first gear 4 and the second gear 5, the center of the first gear 4 is provided with a first rotating shaft, and similarly, the center of the second gear 5 is provided with a second rotating shaft.

[0052] It also includes a support base 9, which is a rectangular block structure. Both the first and second rotating shafts pass through the support base 9 and are rotatably connected to it. The end of the first rotating shaft away from the first gear 4 is connected to one end of the torque sensor 11, while the end of the second rotating shaft away from the second gear 5 is connected to a bearing housing, thereby supporting the second rotating shaft.

[0053] In this embodiment, one end of the first rotating shaft is connected to the torque sensor 11 via a first coupling 10, and the other end of the torque sensor 11 is connected to the reducer 14 in the rotation drive device via a second coupling 12, thereby realizing the transmission of rotational force. Of course, those skilled in the art can also use other fixing methods, as long as the transmission of rotational force can be achieved.

[0054] In this embodiment, the first coupling 10 and the second coupling 12 are both existing cloverleaf couplings. Of course, other types of couplings can also be used, and it is not limited to just this one.

[0055] In this embodiment, a second load arm 6 is also fixed on the second rotating shaft. The second load arm 6 has the same structure as the first load arm 3 and is symmetrically arranged. In the actual connection, the second load arm 6, the third pulley 22, and the second gear 5 are all coaxially fixed to achieve synchronous rotation. The purpose of setting the second load arm 6 is to add a counterweight to the second load arm 6, which can further compensate for gravity.

[0056] In this embodiment, both the first and second rotating shafts are rotatably connected to the support base 9 via bearings. The support base 9 has corresponding through holes through which the first and second rotating shafts pass. The outer ring of the bearing is fixed to the inner wall of the through hole, while the inner ring of the bearing is fixed to either the first or second rotating shaft.

[0057] In this embodiment, the support base 9 is installed on the profile base. As the name suggests, the profile base is a frame structure made of profiles, and all the above-mentioned devices are installed on the profile base.

[0058] In this embodiment, the cylinder body 8 is fixed to the cylinder bracket 7, and the cylinder bracket 7 is fixed to the profile base. In addition, the reducer 14 is fixed to the motor bracket 13, and the motor bracket 13 is also fixed to the profile base.

[0059] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A dual-mode pneumatic gravity compensation device, characterized in that, include: A load-bearing arm, one end of which is connected to the required compensation load, and the other end of which is connected to a first load arm; A first gear is fixed to a first load arm, and a first pulley is provided on the first gear, which can slide along a straight line on the first gear. The second gear meshes with the first gear. The second gear is equipped with a second pulley and a third pulley. The second pulley can slide in a straight line on the second gear. The first pulley and the second pulley are connected by a first rope. The third pulley is located at the center of the second gear and is coaxially fixed with the second gear. The third pulley and the second pulley are connected by a second rope. A cylinder body, wherein a fourth pulley is provided at the telescopic end of the cylinder body, and the third pulley and the fourth pulley are connected by a third rope; and A rotation drive device is provided, wherein the output shaft of the rotation drive device is connected to a torque sensor, and the end of the torque sensor away from the rotation drive device is connected to the center of the first gear.

2. The dual-mode pneumatic gravity compensation device according to claim 1, characterized in that: The rotation drive device includes a servo motor and a reducer. The output shaft of the servo motor is connected to the input shaft of the reducer, and the output end of the reducer is connected to one end of the torque sensor.

3. The dual-mode pneumatic gravity compensation device according to claim 1, characterized in that: Two parallel linear slide rails are fixed on the first gear. A first linear slider is slidably connected to each first linear slide rail. A first connecting plate is fixed between the two first linear sliders. The first pulley is disposed on the first connecting plate. The second gear has two parallel second linear slide rails fixed on it. Each second linear slide rail has a second linear slider and a fixing block. The second linear slider is slidably connected to the second linear slide rail, and the fixing block is fixed to the second linear slide rail. A second connecting plate is fixed between the two second linear sliders. A second pulley is set on the second connecting plate. A third connecting plate is fixed between the two fixing blocks, and the third pulley is set on the third connecting plate.

4. The dual-mode pneumatic gravity compensation device according to claim 1, characterized in that: The first gear has a first rotating shaft at its center, and the second gear has a second rotating shaft at its center; It also includes a support base, through which both the first and second rotating shafts pass, with the end of the first rotating shaft away from the first gear connected to one end of the torque sensor.

5. The dual-mode pneumatic gravity compensation device according to claim 4, characterized in that: The first rotating shaft is connected to one end of the torque sensor via a first coupling, and the other end of the torque sensor is connected to the rotation drive device via a second coupling.

6. The dual-mode pneumatic gravity compensation device according to claim 5, characterized in that: Both the first coupling and the second coupling are plum blossom couplings.

7. The dual-mode pneumatic gravity compensation device according to claim 4, characterized in that: A second load arm is also fixed on the second rotating shaft.

8. The dual-mode pneumatic gravity compensation device according to claim 4, characterized in that: Both the first and second rotating shafts are rotatably connected to the support base via bearings.

9. The dual-mode pneumatic gravity compensation device according to claim 4, characterized in that: The support base is installed on the profile base.

10. The dual-mode pneumatic gravity compensation device according to claim 9, characterized in that: The cylinder body is fixed to the cylinder bracket, and the cylinder bracket is fixed to the profile base.

Images