Pitching arm active hanging spring complete gravity compensation device
By designing a pitch arm active wire complete gravity compensation device, the motor drives the screw and slider movement, combined with the wire coil assembly and displacement sensor, the problem of short life and low accuracy of the coil spring gravity compensation mechanism is solved, and precise gravity compensation in three-dimensional space is achieved.
Patent Information
- Application Number
- CN202422261411.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2025-08-26
- Estimated Expiration
- 2034-09-14
AI Technical Summary
The existing hanging wire method uses a coil spring gravity compensation mechanism with a short service life and low compensation accuracy.
A complete gravity compensation device for active lifting wires with pitch arm is designed, including an active arm, motor, screw rod, slider, pulley, wire junction and compensation assembly. The screw rod and slider movement are driven by the motor, and the length of the lifting wire is accurately controlled with the wire coil assembly and the displacement sensor to achieve three-dimensional space gravity compensation.
It improves the service life and compensation accuracy of the wire hanging method, and can achieve accurate gravity compensation in three-dimensional space to adapt to the gravity needs of different loads.
Smart Images
Figure CN223268250U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of industrial technology, in particular to a pitching arm active hanging wire complete gravity compensation device. Background Art
[0002] Currently, the mainstream methods commonly used for low-gravity compensation of ground-based manipulators include air flotation, water flotation, and the hanging wire method. The air flotation method uses the reaction force of jet thrust to offset the weight of the manipulator. While simple and easy to use, the air flotation method only provides functional testing within two degrees of freedom in a two-dimensional space and places certain requirements on the manipulator's motion. The water flotation method utilizes the buoyancy generated by water and, with appropriate counterweights, suspends the space robot system in water, effectively compensating for the effects of gravity on the robot through the buoyancy of water. This method enables physical simulation of the space robot's three-dimensional workspace, but requires high system sealing and high maintenance costs. The hanging wire method uses the tension of the hanging wire to offset the manipulator's weight. This tension is provided by the weight of the counterweight or by the tension generated by the active retraction and extension of the hanging wire by a drum. Depending on how the hanging wire tension follows the movement of the experimental object, the hanging wire method can achieve three-dimensional gravity compensation for the manipulator. It primarily relies on a plane tracking device and a drum retraction and extension mechanism for the hanging wire, resulting in a relatively complex system.
[0003] The existing wire hanging method adopts a coil spring gravity compensation mechanism, but the coil spring gravity compensation mechanism has a short service life and low compensation accuracy. Utility Model Content
[0004] The purpose of the utility model is to provide a pitch arm active hanging wire complete gravity compensation device, which solves the problems of the existing hanging wire method using a coil spring gravity compensation mechanism, but the coil spring gravity compensation mechanism has a short service life and low compensation accuracy.
[0005] To achieve the above-mentioned objectives, the utility model provides a pitch arm active hanging wire complete gravity compensation device, including a mounting base, a frame and an adjustment mechanism, the adjustment mechanism including an active arm, a first motor, a screw rod, a slider, a first pulley, a winding assembly, a second pulley, a wire combiner and two compensation components, the active arm is rotatably connected to the frame and is located on one side of the frame, the first motor is fixedly connected to the active arm and is located at one end of the active arm, the screw rod is connected to the output end of the first motor and is located above the active arm, the slider is threadedly connected to the screw rod and covered on the surface of the screw rod, the first pulley is arranged above the slider, the winding assembly is arranged on one side of the active arm, the second pulley is arranged on one side of the frame, the wire combiner is connected to the frame and is located on one side of the frame, and the two compensation components are arranged on one side of the wire combiner.
[0006] In which, the winding assembly includes a second motor, a coupling, a mounting frame, a winding reel and a winding wheel, the mounting frame is connected to the active arm and is located on one side of the active arm, the second motor is connected to the mounting frame and is located on one side of the mounting frame, one end of the coupling is connected to the output end of the second motor, the other end of the coupling is connected to the winding wheel, and the winding reel is connected to the mounting frame and is located on one side of the winding reel.
[0007] In which, the compensation assembly includes a fixed seat, a sliding shaft, two limit plates, a compression spring and a flange linear bearing. The fixed seat is connected to the mounting seat and is located below the line combiner. The flange linear bearing is arranged at the upper end of the fixed seat. The sliding shaft is slidably connected to the flange linear bearing and is located inside the fixed seat. The two limit plates are respectively arranged at the two ends of the sliding shaft. The compression spring covers the two ends of the sliding shaft and is located between the corresponding limit plates and the flange linear bearing.
[0008] Among them, the pitch arm active hanging wire complete gravity compensation device also includes a fixing part, a driven arm and a lifting ring. The fixing part is connected to the frame and is located on one side of the frame. The driven arm is rotatably connected to the fixing part and is located below the active arm. The lifting ring is connected to the driven arm and covers the surface of the driven arm.
[0009] Wherein, the pitch arm active wire hanging complete gravity compensation device also includes a displacement sensor, which is connected to the active arm and is located on one side of the winding reel.
[0010] The utility model provides a pitch arm active hanging wire complete gravity compensation device, the active arm is rotatably connected to the frame and is located on one side of the frame, the first motor is fixedly connected to the active arm and is located at one end of the active arm, the screw rod is connected to the output end of the first motor and is located above the active arm, the slider is threadedly connected to the screw rod and covered on the surface of the screw rod, the first pulley is arranged above the slider, the winding assembly is arranged on one side of the active arm, the second pulley is arranged on one side of the frame, the wire combiner is connected to the frame and is located on one side of the frame, and the two compensation assemblies are arranged on one side of the wire combiner. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0012] Figure 1 It is a structural schematic diagram of the active lifting wire complete gravity compensation device for the pitching arm of the present invention.
[0013] Figure 2 It is a structural schematic diagram of the winding assembly of the present utility model.
[0014] Figure 3 It is a structural diagram of the compensation component of the utility model.
[0015] Figure 4 This is a working principle diagram of the active lifting wire complete gravity compensation device for the pitching arm of the utility model.
[0016] Figure 5 It is a working principle diagram of the winding wheel of the present utility model.
[0017] 1-mounting base, 2-frame, 3-active arm, 4-first motor, 5-screw, 6-slider, 7-first pulley, 8-second pulley, 9-cable combiner, 10-second motor, 11-coupling, 12-mounting frame, 13-reel, 14-reel, 15-fixed base, 16-sliding shaft, 17-limiting plate, 18-compression spring, 19-flange linear bearing, 20-fixing part, 21-driven arm, 22-lifting ring, 23-displacement sensor. DETAILED DESCRIPTION
[0018] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.
[0019] See also Figures 1 to 3The utility model provides a pitch arm active hanging wire complete gravity compensation device, including a mounting base 1, a frame 2 and an adjusting mechanism, the adjusting mechanism including an active arm 3, a first motor 4, a screw rod 5, a slider 6, a first pulley 7, a winding assembly, a second pulley 8, a wire combiner 9 and two compensation assemblies, the active arm 3 is rotatably connected to the frame 2 and is located on one side of the frame 2, the first motor 4 is fixedly connected to the active arm 3 and is located at one end of the active arm 3, the screw rod 5 is connected to the output end of the first motor 4 and is located above the active arm 3, the slider 6 is threadedly connected to the screw rod 5 and covered on the surface of the screw rod 5, the first pulley 7 is arranged above the slider 6, the winding assembly is arranged on one side of the active arm 3, the second pulley 8 is arranged on one side of the frame 2, the wire combiner 9 is connected to the frame 2 and is located on one side of the frame 2, and the two compensation assemblies are arranged on one side of the wire combiner 9.
[0020] In this embodiment, after the heavy object is hoisted, the first motor 4 drives the screw rod 5 to rotate. Under the restriction of the active arm 3, the slider 6 moves along the screw rod 5, driving the heavy object to move. The length of the suspension line is adjusted by the winding assembly so that the active arm 3 is in a horizontal state, and the wire combiner 9 combines the suspension lines of the two compensation mechanisms.
[0021] Furthermore, the winding assembly includes a second motor 10, a coupling 11, a mounting frame 12, a winding reel 13 and a winding wheel 14, the mounting frame 12 is connected to the active arm 3 and is located on one side of the active arm 3, the second motor 10 is connected to the mounting frame 12 and is located on one side of the mounting frame 12, one end of the coupling 11 is connected to the output end of the second motor 10, the other end of the coupling 11 is connected to the winding wheel 14, the winding reel 13 is connected to the mounting frame 12 and is located on one side of the winding reel 13.
[0022] In this embodiment, the second motor 10 drives the winding wheel 14 to rotate to adjust the length of the suspension line. Limiting holes are provided on both sides of the winding wheel 13, and the positions of the limiting holes limit the position of the suspension line.
[0023] Furthermore, the compensation component includes a fixed seat 15, a sliding shaft 16, two limit plates 17, a compression spring 18 and a flange linear bearing 19. The fixed seat 15 is connected to the mounting seat 1 and is located below the line combiner 9. The flange linear bearing 19 is arranged at the upper end of the fixed seat 15. The sliding shaft 16 is slidingly connected to the flange linear bearing 19 and is located inside the fixed seat 15. The two limit plates 17 are respectively arranged at the two ends of the sliding shaft 16. The compression spring 18 is covered at both ends of the sliding shaft 16 and is located between the corresponding limit plates 17 and the flange linear bearing 19.
[0024] In this embodiment, when the reel 14 reels in the line, the suspension line pulls the two sliding shafts 16, and the limiting piece 17 compresses the compression spring 18 to provide a certain pulling force so that the gravity on both sides is balanced.
[0025] Furthermore, the pitch arm active hanging wire complete gravity compensation device also includes a fixing part 20, a driven arm 21 and a lifting ring 22. The fixing part 20 is connected to the frame 2 and is located on one side of the frame 2. The driven arm 21 is rotatably connected to the fixing part 20 and is located below the active arm 3. The lifting ring 22 is connected to the driven arm 21 and is covered on the surface of the driven arm 21.
[0026] In this embodiment, a heavy object is fixed on the lifting ring 22, and a lifting line connecting the active boom 3 and the slave boom 21 is always parallel.
[0027] Furthermore, the pitch arm active wire hanging complete gravity compensation device also includes a displacement sensor 23 , which is connected to the active arm 3 and is located on one side of the winding drum 13 .
[0028] In this embodiment, the displacement sensor 23 detects the distance of the slider 6 and accurately controls the second motor 10 so that the take-up wheel can accurately pay out or take up the line.
[0029] The working principle of this utility model is as follows: Figure 4 As shown, 22 The horizontal position relative to o 12 The position of the offset pulley radius r, that is, the connecting rod o 11 o 12 Length is longer than connecting rod o 21 o 22 The length of r, o 12 o 13 o 21 o 22 Form a parallelogram structure. 13The center of mass of the turntable pitch arm load is also the hanging wire point, and a1, a2, a3, and a4 are the tangent points between the hanging wire and the pulley. 22 and pulley o 23 The radii are equal. Let a1 be the hanging point o 13 The length of the hanging wire is d, where The length is l3.
[0030]
[0031] So a4o 13 Vertical X-axis.
[0032]
[0033] When the pitch axis rotates by angle γ, a′1 is the angle between the hanging wire and the pulley o′ 23 The tangent point:
[0034]
[0035] So a′4o′ 13 Vertical X-axis.
[0036]
[0037] In the above formula: h2—wire length; l3—o 12 to o 13 distance; r—pulley radius.
[0038] In o 12 o 13 o 22 o 23 In a parallelogram structure, when the pitch arm is horizontal, the sum of the angles between the suspension wire and the two pulleys is 180°; when the turntable pitch axis and the synchronous arm pitch axis rotate in the same direction by angle γ, the angle between the left pulley and the suspension wire decreases (increases) by γ, while the angle between the right pulley and the suspension wire increases (decreases) by γ, and the angle between the two pulleys and the suspension wire is 180°. Therefore, when the pitch arm rotates by angle γ, a4o 13 The hanging wire remains vertical, and the Y-axis position of the center of mass of the counterweight remains unchanged. If the two pulleys are fully sliding, the two pulleys are relative to the rod o 22 o 23 No rotation.
[0039] like Figure 5 As shown, for the winding assembly, the change in wire length measured by the displacement sensor 23 is exactly twice the actual change in the length of the wire, greatly facilitating the adjustment and precision of the wire length throughout the assembly. Furthermore, the presence of the wire closer 9 allows the operator to adjust the number of compression springs 18 connected in parallel to accommodate greater gravity compensation requirements.
[0040] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made in accordance with the claims of the present invention are still within the scope of the utility model.
Claims
1. A pitch arm active hanging wire complete gravity compensation device, comprising a mounting base and a frame, wherein the frame is fixedly connected to the mounting base and is located above the mounting base, characterized in that: It also includes an adjusting mechanism, which includes an active arm, a first motor, a screw rod, a slider, a first pulley, a winding assembly, a second pulley, a wire combiner and two compensation assemblies. The active arm is rotatably connected to the frame and is located on one side of the frame. The first motor is fixedly connected to the active arm and is located at one end of the active arm. The screw rod is connected to the output end of the first motor and is located above the active arm. The slider is threadedly connected to the screw rod and covered on the surface of the screw rod. The first pulley is arranged above the slider, the winding assembly is arranged on one side of the active arm, the second pulley is arranged on one side of the frame, the wire combiner is connected to the frame and is located on one side of the frame, and two compensation assemblies are arranged on one side of the wire combiner.
2. The active lifting wire full gravity compensation device for the pitching arm according to claim 1, characterized in that: The winding assembly includes a second motor, a coupling, a mounting frame, a winding reel and a winding wheel. The mounting frame is connected to the active arm and is located on one side of the active arm. The second motor is connected to the mounting frame and is located on one side of the mounting frame. One end of the coupling is connected to the output end of the second motor, and the other end of the coupling is connected to the winding wheel. The winding reel is connected to the mounting frame and is located on one side of the winding reel.
3. The active lifting wire full gravity compensation device for the pitching arm according to claim 2, characterized in that: The compensation assembly includes a fixed seat, a sliding shaft, two limit plates, a compression spring and a flange linear bearing. The fixed seat is connected to the mounting seat and is located below the line combiner. The flange linear bearing is arranged at the upper end of the fixed seat. The sliding shaft is slidably connected to the flange linear bearing and is located inside the fixed seat. The two limit plates are respectively arranged at both ends of the sliding shaft. The compression spring covers both ends of the sliding shaft and is located between the corresponding limit plates and the flange linear bearing.
4. The active lifting wire full gravity compensation device for the pitching arm as claimed in claim 3, characterized in that: The pitch arm active hanging wire complete gravity compensation device also includes a fixing part, a driven arm and a lifting ring. The fixing part is connected to the frame and is located on one side of the frame. The driven arm is rotatably connected to the fixing part and is located below the active arm. The lifting ring is connected to the driven arm and covers the surface of the driven arm.
5. The active lifting wire complete gravity compensation device for the pitching arm according to claim 4, characterized in that: The pitch arm active wire hanging complete gravity compensation device also includes a displacement sensor, which is connected to the active arm and is located on one side of the winding drum.