Self-adaptive counterweight flexible joint force control device

Abstract

The utility model discloses a self-adaptive counterweight flexible joint force control device which comprises a base, a rotary table is arranged on the upper portion of the base, a fixing base is arranged on the upper portion of the rotary table, the fixing base is rotationally connected with the base through the rotary table, a fixing column is arranged on the upper portion of the fixing base, and a telescopic column is arranged on the surface of the fixing column. A fixing plate is arranged on the side face of the fixing column, and a first telescopic cylinder is arranged on the surface of the fixing plate. The sliding block is arranged on the surface of the screw rod, the connecting column is arranged on the upper portion of the sliding block, the counterweight discs are arranged on the surface of the connecting column, the fixing nut is arranged on the surface of the top of the connecting column, the fixing nut is in threaded connection with the connecting column, and the screw rod is driven by the motor to rotate. The sliding block in threaded connection with the supporting rod can drive the balance weight disc to move, the balance weight can be adjusted in a self-adaptive mode along with inclination of the supporting rod, and the supporting rod can be continuously used under the non-stop condition.

Description

Technical Field

[0001] This utility model relates to the field of flexible joint force control device technology, and more specifically to an adaptive counterweight flexible joint force control device. Background Technology

[0002] Flexible joint force control devices are high-performance robot components that integrate advanced technology and innovative design. They are designed to achieve more precise, safe, and flexible force control, with excellent load capacity and durability, enabling them to work continuously in various harsh environments while reducing the impact and wear that may occur on traditional rigid joints.

[0003] In existing force control devices, the counterweight mechanism cannot adaptively adjust during use, requiring a shutdown operation. Therefore, a new technical solution is needed to address this issue. Utility Model Content

[0004] The purpose of this invention is to provide an adaptive counterweight flexible joint force control device, which solves the problem that the counterweight mechanism of the force control device in the prior art cannot be adaptively adjusted during use and requires a shutdown operation.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an adaptive counterweight flexible joint force control device, comprising: a base, a turntable disposed on the upper part of the base and a fixed seat disposed on the upper part of the turntable, the fixed seat being rotatably connected to the base via the turntable; a fixed column disposed on the upper part of the fixed seat and a telescopic column disposed on the surface of the fixed column; a fixed plate disposed on the side of the fixed column and a first telescopic cylinder disposed on the surface of the fixed plate; a connecting block disposed on the side of the telescopic column and connected to the power output end of the first telescopic cylinder; a mounting frame disposed on the upper part of the telescopic column and fixedly connected to the telescopic column; a support rod disposed on the inner side of the mounting frame and a rotating shaft disposed between the support rod and the mounting frame; the support rod being rotatably connected to the mounting frame via the rotating shaft; and a connector disposed on the longer end of the support rod. The lower part of the connector is provided with an adjusting rod, which is rotatably connected to the connector. The lower part of the support rod is provided with a first fixing frame, and the side of the adjusting rod is provided with a second fixing frame. A second telescopic cylinder is provided between the first fixing frame and the second fixing frame. The longer end of the support rod is provided with a telescopic rod, and the two sides of the telescopic rod are provided with plug-in posts. The surface of the plug-in post is provided with a fixed counterweight, and the surface of the plug-in rod is provided with a locking nut. The surface of the support rod is provided with a support plate, and the inner side of the support plate is provided with a screw. One end of the screw extends to the outside of the support plate and is equipped with a motor. The surface of the screw is provided with a sliding block, and the upper part of the sliding block is provided with a connecting post. The surface of the connecting post is provided with a counterweight plate, and several sets of counterweight plates are provided. The top surface of the connecting post is provided with a fixing nut, and the fixing nut is threadedly connected to the connecting post.

[0006] In a preferred embodiment of the present invention, a support frame is provided around the base and a moving mechanism is provided at the lower part of the support frame.

[0007] In a preferred embodiment of the present invention, an operating table is provided on the side of the base, and the operating table is electrically connected to the control hardware inside the base.

[0008] In a preferred embodiment of this utility model, the fixed base is provided with reinforcing plates around its perimeter, and the reinforcing plates are fixedly connected to the turntable and the fixed base.

[0009] In a preferred embodiment of this utility model, the mounting bracket has several sets of through holes inside, and fastening bolts are installed inside the through holes. The fastening bolts pass through the through holes and are in contact with the support rod.

[0010] In a preferred embodiment of this utility model, the support rod is provided with a locking bolt inside, and the locking bolt passes through the support rod and the telescopic rod and contacts each other.

[0011] In a preferred embodiment of this utility model, limit rods are provided on both sides of the screw, and the limit rods pass through the sliding block and are fixedly connected to the support plate.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] This utility model features a turntable on the upper part of a base, with a fixed seat on top of the turntable. The fixed seat is rotatably connected to the base via the turntable. A fixed column is positioned above the fixed seat, and a telescopic column is mounted on its surface. A fixed plate is positioned on the side of the fixed column, and a first telescopic cylinder is mounted on its surface. A connecting block is positioned on the side of the telescopic column, and the connecting block is connected to the power output end of the first telescopic cylinder. The first telescopic cylinder allows the telescopic column and the fixed column to move up and down, thereby adjusting the height. A mounting frame is positioned above the telescopic column, and the mounting frame is fixedly connected to the telescopic column. A support rod is positioned inside the mounting frame, and a rotating shaft is positioned between the support rod and the mounting frame. The support rod is rotatably connected to the mounting frame via the rotating shaft. A connector is positioned at the longer end of the support rod, and an adjusting rod is positioned below the connector, rotatably connected to the connector. A first fixed frame is positioned below the support rod, and a second fixed frame is positioned on the side of the adjusting rod. The first fixed frame and... A second telescopic cylinder is installed between the second fixed frames. The extension and retraction of the second telescopic cylinder can drive the adjusting rod to adjust the angle. A telescopic rod is installed at the longer end of the support rod, and plug-in posts are installed on both sides of the telescopic rod. Fixed counterweight blocks are installed on the surface of the plug-in posts, and locking nuts are installed on the surface of the plug-in rod. The counterweight is controlled by adjusting the length of the telescopic rod or increasing the number of fixed counterweight blocks. A support plate is installed on the surface of the support rod, and a screw is installed on the inner side of the support plate. One end of the screw extends to the outside of the support plate and is equipped with a motor. A sliding block is installed on the surface of the screw, and a connecting post is installed on the upper part of the sliding block. A counterweight plate is installed on the surface of the connecting post, and several sets of counterweight plates are installed. A fixing nut is installed on the top surface of the connecting post, and the fixing nut is threadedly connected to the connecting post. The motor drives the screw to rotate, so that the sliding block threaded to it can drive the counterweight plate to move. The counterweight can be adaptively adjusted according to the tilt of the support rod, so that it can continue to be used without stopping the machine. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a side view of the structure of this utility model;

[0016] Figure 3 This is a top view of the structure of this utility model.

[0017] In the diagram: 1. Base; 2. Support frame; 3. Moving mechanism; 4. Operating table; 5. Turntable; 6. Fixed seat; 7. Fixed column; 8. Telescopic column; 9. Fixed plate; 10. First telescopic cylinder; 11. Connecting block; 12. Mounting frame; 13. Support rod; 14. Connector; 15. Adjusting rod; 16. Reinforcing plate; 17. Rotating shaft; 18. Fastening bolt; 19. Locking bolt; 20. Insertion column; 21. Fixed counterweight block; 22. Locking nut; 23. First fixed frame; 24. Second telescopic cylinder; 25. Telescopic rod; 26. Motor; 27. Support plate; 28. Screw; 29. ​​Limiting rod; 30. Sliding block; 31. Connecting column; 32. Counterweight plate; 33. Fixed nut. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-3This utility model provides a technical solution: an adaptive counterweight flexible joint force control device, comprising: a base 1, a turntable 5 disposed on the upper part of the base 1, and a fixed seat 6 disposed on the upper part of the turntable 5, the fixed seat 6 being rotatably connected to the base 1 via the turntable 5; a fixed column 7 disposed on the upper part of the fixed seat 6, and a telescopic column 8 disposed on the surface of the fixed column 7; a fixed plate 9 disposed on the side of the fixed column 7, and a first telescopic cylinder 10 disposed on the surface of the fixed plate 9; a connecting block 11 disposed on the side of the telescopic column 8, and the connecting block 11 being connected to the power output end of the first telescopic cylinder 10; a mounting frame 12 disposed on the upper part of the telescopic column 8, and the mounting frame 12 being fixedly connected to the telescopic column 8; the mounting frame 12... A support rod 13 is provided on the inner side of the mounting bracket 12, and a rotating shaft 17 is provided between the support rod 13 and the mounting bracket 12. The support rod 13 is rotatably connected to the mounting bracket 12 through the rotating shaft 17. A connector 14 is provided at the longer end of the support rod 13, and an adjusting rod 15 is provided at the lower part of the connector 14. The adjusting rod 15 is rotatably connected to the connector 14. A first fixing frame 23 is provided at the lower part of the support rod 13, and a second fixing frame is provided on the side of the adjusting rod 15. A second telescopic cylinder 24 is provided between the first fixing frame 23 and the second fixing frame. A telescopic rod 25 is provided at the longer end of the support rod 13, and insertion posts 20 are provided on both sides of the telescopic rod 25. The surface of the insertion posts 20 is provided with a fixed... A fixed counterweight 21 and a locking nut 22 are provided on the surface of the plug rod. A support plate 27 is provided on the surface of the support rod 13, and a screw 28 is provided on the inner side of the support plate 27. One end of the screw 28 extends to the outside of the support plate 27 and is equipped with a motor 26. A sliding block 30 is provided on the surface of the screw 28, and a connecting post 31 is provided on the upper part of the sliding block 30. A counterweight plate 32 is provided on the surface of the connecting post 31, and several sets of counterweight plates 32 are provided. A fixing nut 33 is provided on the top surface of the connecting post 31, and the fixing nut 33 is threadedly connected to the connecting post 31. A turntable 5 is provided on the upper part of the base 1, and a fixed seat 6 is provided on the upper part of the turntable 5. The fixed seat 6 is rotatably connected to the base 1 through the turntable 5. A fixed column 7 is provided on the upper part of the fixed base 6, and a telescopic column 8 is provided on the surface of the fixed column 7. A fixed plate 9 is provided on the side of the fixed column 7, and a first telescopic cylinder 10 is provided on the surface of the fixed plate 9. A connecting block 11 is provided on the side of the telescopic column 8, and the connecting block 11 is connected to the power output end of the first telescopic cylinder 10. The first telescopic cylinder 10 can drive the telescopic column 8 to move up and down between the fixed column 7, thereby adjusting the height. A mounting frame 12 is provided on the upper part of the telescopic column 8, and the mounting frame 12 is fixedly connected to the telescopic column 8. A support rod 13 is provided on the inner side of the mounting frame 12, and a rotating shaft 17 is provided between the support rod 13 and the mounting frame 12. The support rod 13 is rotatably connected to the mounting frame 12 through the rotating shaft 17.A connector 14 is provided at the longer end of the support rod 13, and an adjusting rod 15 is provided at the lower part of the connector 14. The adjusting rod 15 is rotatably connected to the connector 14. A first fixing frame 23 is provided at the lower part of the support rod 13, and a second fixing frame is provided on the side of the adjusting rod 15. A second telescopic cylinder 24 is provided between the first fixing frame 23 and the second fixing frame. The extension and retraction of the second telescopic cylinder 24 can drive the adjusting rod 15 to adjust its angle. A telescopic rod 25 is provided at the longer end of the support rod 13, and plug-in posts 20 are provided on both sides of the telescopic rod 25. A fixed counterweight 21 is provided on the surface of the plug-in post 20, and a locking nut 22 is provided on the surface of the plug-in rod. The angle can be adjusted by adjusting the length of the telescopic rod 25 or increasing the number of fixed counterweights 21. To control the counterweight, a support plate 27 is provided on the surface of the support rod 13, and a screw 28 is provided on the inner side of the support plate 27. One end of the screw 28 extends to the outside of the support plate 27 and is equipped with a motor 26. A sliding block 30 is provided on the surface of the screw 28, and a connecting post 31 is provided on the upper part of the sliding block 30. A counterweight plate 32 is provided on the surface of the connecting post 31, and several sets of counterweight plates 32 are provided. A fixing nut 33 is provided on the top surface of the connecting post 31, and the fixing nut 33 is threadedly connected to the connecting post 31. The motor 26 drives the screw 28 to rotate, so that the sliding block 30 connected to it can drive the counterweight plate 32 to move. The counterweight can be adaptively adjusted according to the tilt of the support rod 13, so that it can continue to be used without stopping the machine.

[0020] Further improvements, such as Figure 1 As shown: The base 1 is surrounded by a support frame 2 and the lower part of the support frame 2 is provided with a moving mechanism 3. The support frame 2 provides additional support for the device and enhances the stability of the structure, while the moving mechanism 3 allows the device to be easily moved to a designated position when needed, improving the flexibility and convenience of use.

[0021] Further improvements, such as Figure 1 As shown: An operating table 4 is provided on the side of the base 1 and is electrically connected to the control hardware inside the base 1. The operation of the operating table 4 makes it easier for the operator to control the operation of the device.

[0022] Further improvements, such as Figure 2 As shown: The fixed base 6 is provided with reinforcing plates 16 around its perimeter, and the reinforcing plates 16 are fixedly connected to the turntable 5 and the fixed base 6. The setting of the reinforcing plates 16 enhances the connection strength between the fixed base 6 and the turntable 5, and improves the overall stability of the device.

[0023] Further improvements, such as Figure 2As shown: The mounting bracket 12 has several sets of through holes inside, and fastening bolts 18 are installed inside the through holes. The fastening bolts 18 pass through the through holes and are in contact with the support rod 13, providing fixed support for the support rod 13 when not in use.

[0024] Further improvements, such as Figure 2 As shown: The support rod 13 is provided with a locking bolt 19 inside, and the locking bolt 19 passes through the support rod 13 and contacts the telescopic rod 25. The locking bolt 19 allows the telescopic rod 25 to be firmly locked in the desired position after the length is adjusted.

[0025] Further improvements, such as Figure 3 As shown: Limiting rods 29 are provided on both sides of the screw 28, and the limiting rods 29 pass through the sliding block 30 and are fixedly connected to the support plate 27. When the motor 26 drives the screw 28 to rotate, the sliding block 30 will move along the surface of the screw 28, while the limiting rods 29 ensure that the sliding block 30 will not leave the range of the screw 28 or the support plate 27.

[0026] Working principle: This utility model has a turntable 5 on the upper part of the base 1, and a fixed seat 6 on the upper part of the turntable 5. The fixed seat 6 is rotatably connected to the base 1 through the turntable 5. A fixed column 7 is provided on the upper part of the fixed seat 6, and a telescopic column 8 is provided on the surface of the fixed column 7. A fixed plate 9 is provided on the side of the fixed column 7, and a first telescopic cylinder 10 is provided on the surface of the fixed plate 9. A connecting block 11 is provided on the side of the telescopic column 8, and the connecting block 11 is connected to the power output end of the first telescopic cylinder 10. The first telescopic cylinder 10 can drive the telescopic column 8 and the fixed column 7 to move up and down, thereby adjusting the height. The telescopic column 8 has a mounting frame 12 fixedly connected to its upper part. A support rod 13 is provided inside the mounting frame 12, and a rotating shaft 17 is provided between the support rod 13 and the mounting frame 12. The support rod 13 is rotatably connected to the mounting frame 12 via the rotating shaft 17. A connector 14 is provided at the longer end of the support rod 13, and an adjusting rod 15 is provided below the connector 14. The adjusting rod 15 is rotatably connected to the connector 14. A first fixing frame 23 is provided below the support rod 13, and a second fixing frame is provided on the side of the adjusting rod 15. The first fixing frame 23... A second telescopic cylinder 24 is provided between the second fixed frame and the support rod 13. The extension and retraction of the second telescopic cylinder 24 can drive the adjusting rod 15 to adjust the angle. A telescopic rod 25 is provided at the longer end of the support rod 13, and plug-in posts 20 are provided on both sides of the telescopic rod 25. Fixed counterweights 21 are provided on the surface of the plug-in posts 20, and locking nuts 22 are provided on the surface of the plug-in rod. The counterweight is controlled by adjusting the length of the telescopic rod 25 or increasing the number of fixed counterweights 21. A support plate 27 is provided on the surface of the support rod 13, and a screw 28 is provided on the inner side of the support plate 27. One end of the screw 28 extends to... A motor 26 is installed on the outside of the support plate 27. A sliding block 30 is provided on the surface of the screw 28, and a connecting column 31 is provided on the upper part of the sliding block 30. A counterweight plate 32 is provided on the surface of the connecting column 31, and several sets of counterweight plates 32 are provided. A fixing nut 33 is provided on the top surface of the connecting column 31, and the fixing nut 33 is threadedly connected to the connecting column 31. The motor 26 drives the screw 28 to rotate, so that the sliding block 30 threadedly connected to it can drive the counterweight plate 32 to move. The counterweight can be adaptively adjusted according to the tilt of the support rod 13, so that it can continue to be used without stopping the machine.

[0027] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0028] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can refer to mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc., are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0029] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive counterweight flexible joint force control device, characterized in that: include: A base (1) is provided with a turntable (5) on its upper part and a fixed seat (6) on its upper part. The fixed seat (6) is rotatably connected to the base (1) through the turntable (5). A fixed column (7) is provided on the upper part of the fixed seat (6) and a telescopic column (8) is provided on the surface of the fixed column (7). A fixed plate (9) is provided on the side of the fixed column (7) and a first telescopic cylinder (10) is provided on the surface of the fixed plate (9). A connecting block (11) is provided on the side of the telescopic column (8) and the connecting block (11) is connected to the first telescopic cylinder (10). The telescopic column (8) is connected to the power output end. A mounting bracket (12) is provided on the upper part of the telescopic column (8), and the mounting bracket (12) is fixedly connected to the telescopic column (8). A support rod (13) is provided on the inner side of the mounting bracket (12), and a rotating shaft (17) is provided between the support rod (13) and the mounting bracket (12). The support rod (13) is rotatably connected to the mounting bracket (12) through the rotating shaft (17). A connector (14) is provided at the longer end of the support rod (13), and an adjusting rod (15) is provided at the lower part of the connector (14). The adjusting rod (15) Rotatably connected to the connector (14), the lower part of the support rod (13) is provided with a first fixing frame (23) and the side of the adjusting rod (15) is provided with a second fixing frame, a second telescopic cylinder (24) is provided between the first fixing frame (23) and the second fixing frame, the longer end of the support rod (13) is provided with a telescopic rod (25) and the two sides of the telescopic rod (25) are provided with plug-in posts (20), the surface of the plug-in post (20) is provided with a fixed counterweight (21) and the surface of the plug-in rod is provided with a locking nut (22), the surface of the support rod (13) is provided with a locking nut (22). A support plate (27) is provided, and a screw (28) is provided on the inner side of the support plate (27). One end of the screw (28) extends to the outside of the support plate (27) and is equipped with a motor (26). A sliding block (30) is provided on the surface of the screw (28), and a connecting column (31) is provided on the upper part of the sliding block (30). A counterweight plate (32) is provided on the surface of the connecting column (31), and several sets of counterweight plates (32) are provided. A fixing nut (33) is provided on the top surface of the connecting column (31), and the fixing nut (33) is threadedly connected to the connecting column (31).

2. The adaptive counterweight flexible joint force control device according to claim 1, characterized in that: The base (1) is surrounded by a support frame (2), and a moving mechanism (3) is provided at the bottom of the support frame (2).

3. The adaptive counterweight flexible joint force control device according to claim 1, characterized in that: An operating table (4) is provided on the side of the base (1), and the operating table (4) is electrically connected to the control hardware inside the base (1).

4. The adaptive counterweight flexible joint force control device according to claim 1, characterized in that: The fixed base (6) is provided with reinforcing plates (16) around its perimeter, and the reinforcing plates (16) are fixedly connected to the turntable (5) and the fixed base (6).

5. The adaptive counterweight flexible joint force control device according to claim 1, characterized in that: The mounting bracket (12) has several sets of through holes inside, and fastening bolts (18) are installed inside the through holes. The fastening bolts (18) pass through the through holes and are in contact with the support rod (13).

6. The adaptive counterweight flexible joint force control device according to claim 1, characterized in that: The support rod (13) is provided with a locking bolt (19) inside, and the locking bolt (19) passes through the support rod (13) and contacts the telescopic rod (25).

7. The adaptive counterweight flexible joint force control device according to claim 1, characterized in that: Limiting rods (29) are provided on both sides of the screw (28), and the limiting rods (29) pass through the sliding block (30) and are fixedly connected to the support plate (27).

Images