Device capable of balancing gravity of cantilever

Abstract

The invention provides a device capable of balancing the gravity of a cantilever, which comprises a fixed plate used for being fixed at a preset position on the cantilever, the fixed plate is fixedly connected with one end of a constant force supply mechanism, the other end of the constant force supply mechanism is provided with a connecting hole, a steel wire rope penetrates through the connecting hole and bypasses a pulley, and the axis of the connecting hole is perpendicular to the axis of the pulley. The steel wire rope forms a closed loop; the pulley is rotationally connected to the supporting shaft, the supporting shaft is fixed to the locking seat, an assembling hole is formed in the locking seat and used for fixedly assembling the fixing shaft, the axis of the fixing shaft is marked as the rotating center axis, and the cantilever can rotate relative to the fixing shaft. When the device is assembled on the cantilever and the fixed shaft, the central point of the pulley is marked as a point, the end, fixed relative to the cantilever, of the constant force supply mechanism is marked as a point, the axis of the constant force supply mechanism is located on the connecting line of A and a, and the connecting line Aa is parallel to the vertical line from the gravity center of the cantilever to the rotating central axis in real time. The device can balance the gravity of the cantilever.

Description

Technical Field

[0001] The invention relates to the technical field of cantilever gravity balancing, and in particular to a device capable of balancing the cantilever gravity. Background Art

[0002] In existing laparoscopic surgical systems, the robotic arm at the doctor's operating end is mostly a cantilever structure. When the doctor operates the robotic arm, the weight of the cantilever will seriously affect the doctor's physical strength and energy. In order to improve the accuracy and comfort of the operation, it is necessary to balance the gravity of the cantilever.

[0003] Traditional ways to balance the gravity of the cantilever include: 1) adding counterweights to balance the gravity of the cantilever. Although this solution can completely balance the gravity of the cantilever structure, the overall weight of the structure is doubled, which increases the inertia of movement, which is not conducive to improving the accuracy of the surgery. 2) Adding a motor or other drive device to compensate for gravity. This solution has problems such as complex structure, difficult to solve the problem of motor heating, and potential safety hazards when the power is off. 3) Adding elastic parts such as tension springs and compression springs to balance the gravity of the cantilever. However, since the elastic force of the spring increases linearly with the elongation, and the effective gravity of the cantilever changes as a trigonometric function with the rotation angle, the spring can only balance the gravity of the cantilever at a specific position. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present application proposes a device capable of balancing the gravity of a cantilever, so as to achieve balancing the gravity of the cantilever when the cantilever is rotated to any position within a limited angle range.

[0005] In order to achieve the above-mentioned purpose, the present application proposes a device capable of balancing the gravity of a cantilever, comprising a fixing plate, wherein the fixing plate is used to be fixed at a preset position on the cantilever, and the fixing plate is also fixedly connected to one end of a constant force supply mechanism, and the other end of the constant force supply mechanism is provided with a connecting hole, and the above-mentioned two ends of the constant force supply mechanism are both located on the axis of the constant force supply mechanism, and the constant force supply mechanism is used to provide a force with a constant direction and a constant magnitude, and the direction of the force provided by the constant force supply mechanism is on the axis of the constant force supply mechanism, and a steel wire rope passes through the connecting hole, and the steel wire rope also bypasses a pulley, and the axis of the connecting hole The axis of the pulley is perpendicular to each other, and the wire rope forms a closed loop; the pulley is rotatably connected to the support shaft, the pulley is coaxial with the support shaft, and the support shaft is fixed on the locking seat, and the locking seat is also provided with an assembly hole, and the assembly hole is used to assemble the fixed shaft so that the locking seat is fixedly connected to the fixed shaft, the assembly hole is coaxial with the fixed shaft, and the axis is recorded as the rotation center axis, the axis of the support shaft is parallel to the rotation center axis, and the two are at a preset distance, and the cantilever can rotate relative to the fixed shaft; when the cantilever rotates, the cantilever rotates around the rotation center axis;

[0006] When the device capable of balancing the gravity of the cantilever is assembled on the cantilever and the fixed axis, the center point of the pulley is recorded as point a, and the end of the constant force supply mechanism fixed relative to the cantilever is recorded as point A. The axis of the constant force supply mechanism is on the line connecting A and a. When the cantilever rotates around the rotation center axis within a limited angle range, the line connecting A and a is parallel to the vertical line from the center of gravity of the cantilever to the rotation center axis in real time.

[0007] In some embodiments, both ends of the steel wire rope are connected to a steel wire rope locker so that the steel wire rope forms a closed loop.

[0008] In some embodiments, the constant force supply mechanism adopts a constant force magnetic spring, which includes a stator part and a mover part that cooperate with each other. The stator part is also fixedly connected to the adapter, and the adapter is fixedly connected to the fixed plate. The mover part is provided with the connecting hole, and the wire rope passes through the connecting hole.

[0009] In some embodiments, a threaded hole is opened on the locking seat, and a shoulder screw is fixedly connected to the threaded hole. The shoulder screw is the support shaft. The pulley is assembled on the shoulder screw via a bearing, and gaskets are respectively provided on both sides of the bearing along its axial direction to prevent the bearing from shifting along its axial direction.

[0010] The beneficial effect of the solution of the present application is that the device capable of balancing the gravity of the cantilever has the advantages of simple structure, flexible movement, low cost, easy operation, sensitive response, reliable operation, etc. After the device is assembled on the cantilever and the fixed shaft, when the cantilever is rotated to any position within a limited angle range, the device can balance the gravity of the cantilever; the device can meet the requirements of the staff for operating the cantilever lightly and conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic diagram of the structure of a device capable of balancing the cantilever gravity in an embodiment is shown.

[0012] Figure 2 A schematic structural diagram of a constant force magnetic spring in an embodiment is shown.

[0013] Figure 3 A schematic diagram of a partial cross-sectional structure of a device capable of balancing the cantilever gravity in an embodiment is shown.

[0014] Figure 4 A schematic diagram showing the device capable of balancing the cantilever's gravity after being assembled to the cantilever in the embodiment.

[0015] Figure 5 A schematic diagram of the balancing principle of a device capable of balancing the weight of a cantilever is shown.

[0016] Figure markings: 1-fixed plate, 2-adapter, 3-constant force magnetic spring, 301-statator part, 302-moving part, 303-connecting hole, 4-wire rope, 5-wire rope locker, 6-locking seat, 7-threaded hole, 8-shoulder screw, 9-gasket, 10-bearing, 11-pulley, M-cantilever, M01-fixed shaft. DETAILED DESCRIPTION

[0017] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0018] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0019] like Figures 1 to 4 As shown, the device capable of balancing the cantilever gravity involved in the present application includes a fixing plate 1, and the fixing plate 1 is used to be fixed at a preset position on the cantilever M. For example, the fixing plate 1 is fixed at a preset position on the cantilever M by a connecting piece such as a screw, and the fixing plate 1 is also fixedly connected to one end of a constant force supply mechanism, and the other end of the constant force supply mechanism is provided with a connecting hole, and the above-mentioned two ends of the constant force supply mechanism are both on the axis of the constant force supply mechanism, and the constant force supply mechanism is used to provide a force with a constant direction and a constant magnitude, and the direction of the force provided by the constant force supply mechanism is on the axis of the constant force supply mechanism, and a steel wire rope 4 passes through the connecting hole, and the steel wire rope 4 also bypasses a pulley 11, and the axis of the connecting hole is aligned with the pulley 1 1, the axes of the steel wire rope 4 are perpendicular to each other, and both ends of the steel wire rope 4 are connected to the steel wire rope locker 5, so that the steel wire rope 4 forms a closed loop; the pulley 11 is rotatably connected to the support shaft, and the pulley 11 is coaxial with the support shaft, and the support shaft is fixed on the locking seat 6. The locking seat 6 is also provided with an assembly hole, and the assembly hole is used to assemble the fixed shaft M01, so that the locking seat 6 is fixedly connected with the fixed shaft M01. The assembly hole is coaxial with the fixed shaft M01, and the axis is recorded as the rotation center axis. The axis of the support shaft is parallel to the rotation center axis, and the two are separated by a preset distance, which is recorded as I. The fixed shaft M01 is used to be fixed on the relevant equipment, so that the cantilever M can rotate relative to the fixed shaft M01. When the cantilever M rotates, the cantilever M rotates around the fixed shaft M01, that is, it rotates around the rotation center axis.

[0020] When the device capable of balancing the gravity of the cantilever is assembled on the cantilever M and the fixed axis M01, the center point of the pulley 11 is recorded as point a, the preset position on the cantilever M is recorded as point A', and the position corresponding to point A' in the fixed plate 1 is recorded as point A". Since the cantilever M, the fixed plate 1 and the constant force supply mechanism are fixedly connected in sequence, the end of the constant force supply mechanism fixed relative to the cantilever M is recorded as point A, that is, the end of the constant force supply mechanism fixedly connected to the fixed plate 1 is recorded as point A. The axis of the constant force supply mechanism is on the line connecting A and a. When the cantilever M rotates around the rotation center axis within a limited angle range, the line Aa connecting A and a is parallel to the vertical line from the center of gravity of the cantilever M to the rotation center axis in real time.

[0021] In this embodiment, the constant force supply mechanism adopts a constant force magnetic spring 3, and the constant force magnetic spring 3 includes a stator part 301 and a mover part 302 that cooperate with each other. The stator part 301 is also fixedly connected to the adapter 2, and the adapter 2 is fixedly connected to the fixed plate 1. The mover part 302 is provided with the connecting hole 303, and the wire rope 4 passes through the connecting hole 303. The constant force magnetic spring 3 utilizes the interaction force of the permanent magnets inside the stator part 301 and the mover part 302 to provide a force with a constant direction and constant magnitude within a specified range of travel, and the response is rapid and without delay. The outer ring of the stator part 301 is provided with a thread, which is fixedly connected to the internal thread of the adapter 2. Since the cantilever M, the fixed plate 1, the adapter 2 and the constant force supply mechanism are fixedly connected in sequence, the end of the constant force supply mechanism fixed relative to the cantilever M is recorded as point A, that is, the end of the constant force supply mechanism fixedly connected to the adapter 2 is recorded as point A.

[0022] In this embodiment, a threaded hole 7 is provided on the locking seat 6, and a shoulder screw 8 is fixedly connected to the threaded hole 7. The shoulder screw 8 is the support shaft. The pulley 11 is assembled on the shoulder screw 8 via a bearing 10. Washers 9 are provided on both sides of the bearing 10 along its axial direction to prevent the bearing 10 from shifting along its axial direction. Specifically, the washers 9 and the bearing 10 are sleeved on the shoulders of the shoulder screw 8.

[0023] like Figure 5 As shown, the principle of balancing the cantilever gravity involved in the present application is as follows: L is the vertical distance from the center of gravity of the cantilever M to the rotation center axis, and the intersection of the perpendicular line from the center of gravity of the cantilever M to the rotation center axis and the rotation center axis is recorded as point O, wherein L is a known, determined and fixed value, and the cantilever M can rotate around the rotation center axis within a limited angle range. Figure 5 G is the gravity of the cantilever M, which has a constant magnitude and a direction that is always perpendicular to the ground. Figure 5Where θ is the angle between the vertical line from the center of gravity of the cantilever M to the rotation center axis and the horizontal plane, which changes with the rotation of the cantilever M around the rotation center axis. In order to balance the gravity of the cantilever when the cantilever M rotates to any position around the rotation center axis within a limited angle range, a torque is required to balance the gravity moment: a fixed rod is set at point O (ignore the diameter of the rod and regard the rod as a line segment), fixedly connected to point O, the rod is perpendicular to the rotation center axis, the length and direction of the rod are fixed, and the direction is always perpendicular to the ground, the end of the rod far from point O is recorded as point a, and the distance between point O and point a is I; a fixed point A is set on the cantilever M, and a force F is provided between Aa, and the angle between it and the horizontal plane is α, which changes with the rotation of the cantilever M. When the cantilever M rotates within a limited angle range, α is always equal to θ, and the line between point A and point a is always parallel to the vertical line from the center of gravity of the cantilever M to the rotation center axis.

[0024] The gravity moment of the cantilever M is G×cosθ×L, and the moment set to balance the gravity moment is F×cosα×I. According to the geometric relationship, θ and α are the same in magnitude. To balance the gravity of the cantilever, G×cosθ×L=F×cosα×I is required, that is, the magnitude of F needs to remain unchanged.

[0025] In the device involved in the present application, the equation G×cosθ×L=F×cosα×I can be always established within the effective service life of the constant force magnetic spring 3. Therefore, the device involved in the present application can balance the gravity of the cantilever, and the constant force magnetic spring 3 is easy to install and disassemble, which is convenient for later replacement and maintenance.

[0026] The device capable of balancing the cantilever gravity involved in the present application has the advantages of simple structure, flexible movement, low cost, easy operation, sensitive response, reliable operation, etc. After the device is assembled on the cantilever and the fixed axis, when the cantilever is rotated to any position within a limited angle range, the device can balance the cantilever gravity; the device can meet the requirements of the staff to operate the cantilever lightly and conveniently.

[0027] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A device capable of balancing the gravity of a cantilever, characterized in that: It includes a fixing plate, which is used to be fixed at a preset position on the cantilever. The fixing plate is also fixedly connected to one end of the constant force supply mechanism. The other end of the constant force supply mechanism is provided with a connecting hole. The above two ends of the constant force supply mechanism are both on the axis of the constant force supply mechanism. The constant force supply mechanism is used to provide a force with a constant direction and constant magnitude. The direction of the force provided by the constant force supply mechanism is on the axis of the constant force supply mechanism. The wire rope passes through the connecting hole. The wire rope also bypasses the pulley. The axis of the connecting hole is perpendicular to the axis of the pulley. The wire rope forms a closed loop; the pulley is rotatably connected to the support shaft, the pulley is coaxial with the support shaft, the support shaft is fixed on the locking seat, and the locking seat is also provided with an assembly hole, the assembly hole is used to assemble the fixed shaft, so that the locking seat is fixedly connected to the fixed shaft, the assembly hole is coaxial with the fixed shaft, and the axis is recorded as the rotation center axis, the axis of the support shaft is parallel to the rotation center axis, and the two are at a preset distance, and the cantilever can rotate relative to the fixed shaft; when the cantilever rotates, the cantilever rotates around the rotation center axis; When the device capable of balancing the gravity of the cantilever is assembled on the cantilever and the fixed axis, the center point of the pulley is recorded as point a, and the end of the constant force supply mechanism fixed relative to the cantilever is recorded as point A. The axis of the constant force supply mechanism is on the line connecting A and a. When the cantilever rotates around the rotation center axis within a limited angle range, the line connecting A and a is parallel to the vertical line from the center of gravity of the cantilever to the rotation center axis in real time.

2. The device capable of balancing the cantilever gravity according to claim 1, characterized in that: Both ends of the steel wire rope are connected to the steel wire rope lockers, so that the steel wire rope forms a closed loop.

3. The device capable of balancing the cantilever gravity according to claim 1, characterized in that: The constant force supply mechanism adopts a constant force magnetic spring, which includes a stator part and a mover part that cooperate with each other. The stator part is also fixedly connected to the adapter, and the adapter is fixedly connected to the fixed plate. The mover part is provided with the connecting hole, and the steel wire rope passes through the connecting hole.

4. The device capable of balancing the cantilever gravity according to claim 1, characterized in that: A threaded hole is provided on the locking seat, and a shoulder screw is fixedly connected to the threaded hole. The shoulder screw is the support shaft. The pulley is assembled on the shoulder screw via a bearing. Gaskets are provided on both sides of the bearing along its axial direction to prevent the bearing from shifting along its axial direction.

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