Gravity compensation device and robot

Abstract

The utility model provides a gravity compensation device and a robot. The gravity compensation device comprises a base, a connecting piece and a gravity compensation mechanism. The connecting piece is rotationally connected with the base, and the connecting piece is configured to be capable of being connected with a load of the robot; the gravity compensation mechanism is movably connected with the base and comprises an elastic structure, a mounting structure and a transmission part, the base and the mounting structure abut against the elastic structure, the mounting structure is movably connected with the base, and the mounting structure can move in the preset direction relative to the base so that the elastic structure can elastically deform. The transmission part is connected with the mounting structure; the connecting piece comprises a body part and a side wall part, the body part is rotationally connected with the base, the side wall part is arranged on the body part in a protruding mode, the inner wall, facing the rotating center of the body part, of the side wall part is in contact fit with the transmission piece, and the distances between different positions of the inner wall and the rotating center are different. According to the gravity compensation device and the robot, the structural design is reasonable, the gravitational torque of a load can be compensated, and the occupied space is small.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a gravity compensation device and a robot. Background Technology

[0002] Robots have wide applications in various fields, not only improving production efficiency but also replacing humans in dangerous and complex environments, ensuring human safety. The moving parts of a robot (such as the head, waist, or robotic arm) are typically driven by motors or other drive components. Some moving parts are at an angle to the ground or base. Due to gravity, additional torque is generated at the joints, reducing the dynamic characteristics of the moving parts. Therefore, most moving parts typically require gravity compensation devices to compensate for the additional torque generated at the joints, reducing the impact of gravity on the output torque of the drive components. However, current gravity compensation devices often have poor structural designs, making it difficult to balance compensating for the gravitational torque of the load with a small footprint. Utility Model Content

[0003] This invention provides a gravity compensation device and a robot to solve the above-mentioned problems.

[0004] This utility model provides a gravity compensation device, comprising:

[0005] Base;

[0006] The connector, rotatably connected to the base, is configured to connect to the robot's load.

[0007] A gravity compensation mechanism is movably connected to the base. The gravity compensation mechanism includes an elastic structure, a mounting structure, and a transmission component. The base and the mounting structure abut against the elastic structure. The mounting structure is movably connected to the base and can move relative to the base in a preset direction to cause elastic deformation of the elastic structure. The transmission component is connected to the mounting structure and can move synchronously with the mounting structure in the preset direction.

[0008] The connector includes a body and a sidewall. The body is rotatably connected to the base. The sidewall protrudes from the body. The inner wall of the sidewall facing the rotation center of the body contacts and engages with the transmission component. The distance between the inner wall and the rotation center varies at different positions.

[0009] In the gravity compensation device of this utility model embodiment, the main body is cam-shaped, and the side wall is provided along the edge of the main body.

[0010] In the gravity compensation device of this utility model embodiment, the main body and the side wall form a hollow space, and the transmission component is located in the hollow space.

[0011] In the gravity compensation device of this utility model embodiment, the connecting member and the elastic structure at least partially overlap along the preset direction.

[0012] In the gravity compensation device of this utility model embodiment, the direction of the supporting force of the inner wall of the side wall on the transmission member does not point to the rotation center of the connecting member.

[0013] In the gravity compensation device of this utility model embodiment, the mounting structure is slidably connected to the base, one of the mounting structure and the base is provided with a guide rail, and the other is provided with a groove that slidably engages with the guide rail; the elastic structure includes:

[0014] The elastic element has one end abutting against the mounting structure and the other end abutting against the base.

[0015] The guide rod is connected at one end to the base and at the other end to the mounting structure, and the guide rod passes through the elastic element.

[0016] In the gravity compensation device of this utility model embodiment, the transmission component includes at least one of the following: ball bearings, rollers, or wheels.

[0017] In the gravity compensation device of this utility model embodiment, the number of transmission components includes two, the number of connecting components includes two, each transmission component is in contact with the inner wall of the side wall portion of one of the connecting components, and both connecting components are rotatably connected to the base and connected to the load.

[0018] In the gravity compensation device of this utility model embodiment, the base includes:

[0019] Main body;

[0020] First side beam;

[0021] The second side beam, the first side beam and the second side beam are connected to the main body at intervals, the connector is connected to one of the main body, the first side beam and the second side beam, and at least one of the first side beam and the second side beam is movably connected to the mounting structure;

[0022] A crossbeam, the two ends of which are respectively connected to the end of the first side beam away from the main body and the end of the second side beam away from the main body. The main body, the first side beam, the crossbeam and the second side beam enclose an accommodating space. The mounting structure and the elastic structure are at least partially disposed within the accommodating space. The end of the elastic structure away from the mounting structure abuts against the crossbeam.

[0023] A second aspect of this utility model provides a robot, comprising: a load, a motor, and a gravity compensation device as described in any of the preceding claims; the motor is disposed on the base, and the connector is connected to the load.

[0024] The gravity compensation device and robot provided by this utility model have a unique feature: the transmission component and the connecting component of the gravity compensation mechanism are in contact and cooperate, and the distance between different positions of the inner wall of the connecting component that contacts the transmission component and the rotation center is different. Therefore, when the connecting component rotates, the transmission component moves along a preset direction following the change in the radius of the inner wall of the connecting component. This causes the transmission component to drive the installation structure to move along the preset direction, thereby causing the elastic structure to deform. The compensation torque of the elastic structure can offset the gravitational torque of the load acting on the rotating shaft of the connecting component, thus achieving the gravity compensation effect. In this way, the gravity of the load is at least partially compensated for the torque of the motor used to drive the load through gravity compensation, reducing or even eliminating the influence of the load's gravity on the motor drive. When the motor drives the load through the connecting component, it is less affected or even unaffected by the gravity of the load, reducing the requirements for the motor. This ensures that the size of the motor does not increase due to the increase in the size of the load connected to the connecting component. The gravity compensation device occupies less space and has high stability and a reasonable structural design.

[0025] In addition, in the scheme where the outer wall of the opposite side wall or the main body contacts the transmission component for transmission, in this embodiment, the inner wall of the side wall of the connector facing the rotation center of the main body contacts and cooperates with the transmission component. This contact transmission method between the connector and the transmission component makes full use of the space occupied by the connector, making the structure more compact, which is conducive to reducing the overall volume of the gravity compensation device and realizing the miniaturization design of the product.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a structural schematic diagram of a gravity compensation device provided in an embodiment of the present invention, wherein the gravity compensation device is connected to a motor and a load;

[0029] Figure 2 This is a cross-sectional view of a gravity compensation device provided in an embodiment of the present invention, wherein the connecting member is rotated to a first position;

[0030] Figure 3 This is a cross-sectional view of a gravity compensation device provided in an embodiment of the present invention, wherein the connecting member is rotated to a first position;

[0031] Figure 4 This is a cross-sectional view of a gravity compensation device provided in an embodiment of the present invention, wherein the connecting member is rotated to a second position;

[0032] Figure 5 This is a cross-sectional view of a gravity compensation device provided in an embodiment of the present invention, wherein the connecting member is rotated to a second position;

[0033] Figure 6 This is an exploded view of a gravity compensation device provided in an embodiment of the present invention, which also shows a motor and a load;

[0034] Figure 7 yes Figure 3 A magnified schematic diagram of the gravity compensation device at point A.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100. Gravity compensation device;

[0037] 10. Base; 11. Guide rail; 12. Main body; 13. First side beam; 14. Second side beam; 15. Crossbeam; 16. Accommodation space;

[0038] 20. Connecting component; 21. Main body; 22. Side wall; 23. Hollow space; 24. Assembly shaft;

[0039] 30. Gravity compensation mechanism; 31. Elastic structure; 311. Elastic component; 312. Guide rod; 32. Mounting structure; 321. Slide groove; 322. First seat; 323. Second seat; 324. Limiting space; 33. Transmission component; 34. Connecting shaft;

[0040] 200, load; 300, motor. Detailed Implementation

[0041] 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, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0042] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0043] Please see Figures 1 to 3 This utility model provides a gravity compensation device 100, including a base 10, a connector 20, and a gravity compensation mechanism 30. The connector 20 is rotatably connected to the base 10 and is configured to connect to the load 200 of a robot. The gravity compensation mechanism 30 is movably connected to the base 10 and includes an elastic structure 31, a mounting structure 32, and a transmission member 33. The base 10 and the mounting structure 32 abut against the elastic structure 31, and the mounting structure 32 is movably connected to the base 10. The mounting structure 32 can move relative to the base 10 in a preset direction, so that the elastic structure 31 undergoes elastic deformation. The transmission member 33 is connected to the mounting structure 32, and the transmission member 33 and the mounting structure 32 can move synchronously in the preset direction. The connector 20 includes a body portion 21 and a side wall portion 22. The body portion 21 is rotatably connected to the base 10. The side wall portion 22 protrudes from the body portion 21. The inner wall of the side wall portion 22 facing the rotation center of the body portion 21 contacts and engages with the transmission member 33. The distance between the inner wall of the side wall portion 22 and the rotation center varies at different positions.

[0044] The gravity compensation device 100 of the above embodiment, since the transmission component 33 of the gravity compensation mechanism 30 is in contact with the connecting component 20, and the distance between different positions of the inner wall of the connecting component 20 in contact with the transmission component 33 and the rotation center is different, when the connecting component 20 rotates, the transmission component 33 moves along a preset direction following the change in the radius of the inner wall of the connecting component 20. This causes the transmission component 33 to drive the mounting structure 32 to move along the preset direction, thereby causing the elastic structure 31 to deform. The compensation torque of the elastic structure 31 can counteract the gravitational torque of the load 200 acting on the rotating shaft of the connecting component 20, thus achieving a gravity compensation effect. Gravity compensation at least partially compensates for the torque exerted by the load 200 on the motor 300 (used to drive the load 200), reducing or even eliminating the impact of the load 200's gravity on the motor 300's operation. When the motor 300 drives the load 200 via the connector 20, the impact of the load 200's gravity is minimal or negligible, reducing the requirements on the motor 300. This ensures that the size of the motor 300 does not increase due to the increased size of the load 200 connected to the connector 20. The gravity compensation device 100 occupies less space and has a reasonable structural design. Understandably, the minimal or negligible impact of the load 200's gravity on the motor 300's operation via the connector 20 effectively prevents the load 200 from falling under gravity when the motor 300 is powered off. Simultaneously, it ensures higher precision for the motor 300 and facilitates control.

[0045] Furthermore, in the scheme where the side wall portion 22 of the connector 20 or the outer wall of the body portion 21 contacts the transmission member 33 for transmission, in this embodiment, the inner wall of the side wall portion 22 of the connector 20 facing the rotation center of the body portion 21 contacts and cooperates with the transmission member 33. This contact transmission method between the connector 20 and the transmission member 33 makes full use of the space occupied by the connector 20, making the structure more compact and helping to reduce the overall volume of the gravity compensation device 100, thus realizing the miniaturization design of the product.

[0046] For example, the preset direction is as follows Figure 2 The Y-direction is shown in the diagram. For example, the preset direction is the vertical direction of the robot. For example, the preset direction is the direction of gravity of the gravity compensation device 100 or the load 200.

[0047] For example, when connector 20 rotates to Figure 2 or Figure 3 In the first position shown, the positions of the elastic structure 31, the mounting structure 32, and the transmission component 33 are as follows: Figure 2 or Figure 3 As shown. When connector 20 rotates to Figure 4 or Figure 5In the second position shown, the positions of the elastic structure 31, the mounting structure 32, and the transmission component 33 are as follows: Figure 4 or Figure 5 As shown.

[0048] Understandably, Figures 1-5 The structure, shape and / or size of the load 200 in the text are merely illustrative. In actual applications, the structure, shape and / or size of the load 200 can be set according to actual needs, and no restrictions are imposed here.

[0049] In some embodiments, the body portion 21 is cam-shaped, and the sidewall portion 22 is disposed along the edge of the body portion 21. Since the cam-shaped body portion 21 itself has a varying radius, and the sidewall portion 22 is disposed along the edge of the body portion 21, the distance between different positions of the inner wall of the sidewall portion 22 and the rotation center is different, thereby enabling the transmission member 33 to move up and down via the connector 20. This type of connector 20 has a simple and compact structure, high force transmission efficiency, and the contour curve of the cam-shaped connector 20 can be designed according to actual needs, facilitating more flexible control of the motion characteristics of the transmission member 33.

[0050] Please see Figure 3 and Figure 6 In some embodiments, the body portion 21 and the side wall portion 22 enclose a hollow space 23, and the transmission member 33 is located in the hollow space 23. The inner wall of the side wall portion 22 contacts and engages with the transmission member 33, which is located in the hollow space 23. This allows the connecting member 20 to drive the transmission member 33 to move along a preset direction, causing the elastic structure 31 to deform. This contact transmission method between the connecting member 20 and the transmission member 33 allows the transmission member 33 to be at least partially located within the hollow space 23. Furthermore, it allows the movement space of the mounting structure 32 and the transmission member 33, and / or the deformation stroke of the elastic structure 31, to at least partially overlap with the space occupied by the connecting member 20 along the preset direction. This effectively reduces the size of the base 10 along the preset direction, thus effectively reducing the size of the gravity compensation device 100 along the preset direction. This results in a more compact overall structure, reducing the overall volume and weight of the gravity compensation device 100, which is beneficial for miniaturization and weight reduction of the product.

[0051] For example, the body 21 is rotatably connected to the base 10 via the assembly shaft 24. See also... Figure 6 and Figure 7 The assembly shaft 24 is connected to the main body 21, and the assembly shaft 24 can be rotatably connected to the base 10 via a bearing.

[0052] Please see Figure 2In some embodiments, the connector 20 and the elastic structure 31 at least partially overlap along a preset direction. Thus, the combined dimensions of the connector 20 and the elastic structure 31 along the preset direction are less than the sum of their dimensions, effectively reducing their overall size and making the gravity compensation device 100 more compact. Furthermore, since the connector 20 is rotatably connected to the base 10 and the elastic structure 31 is connected to the base 10, the reduction in the dimensions of the connector 20 and the elastic structure 31 along the preset direction also reduces the size of the base 10 along the preset direction, further reducing the size of the gravity compensation device 100 along the preset direction, thereby further reducing the overall size and weight of the gravity compensation device 100.

[0053] In some embodiments, the direction of the supporting force of the inner wall of the sidewall portion 22 on the transmission member 33 does not point to the rotation center B of the connector 20, so as to ensure that the compensation torque of the elastic structure 31 on the connector 20 through the transmission member 33 can offset at least part of the gravitational torque on the connector 20, thereby achieving the gravity compensation effect. For example, the rotation of the connector 20 drives the transmission component 33 to move in a preset direction, causing the elastic structure 31 to deform and generate an elastic force. The decomposition force of the support force of the connector 20 on the transmission component 33 is balanced with the elastic force. The support force generated by the contact between the transmission component 33 and the connector 20 does not pass through the rotation center of the connector 20, so as to ensure that the support force can generate a torque. The torque generated by the support force is equal in magnitude and opposite in direction to the gravitational torque of the load 200. Therefore, the gravity compensation mechanism 30 can completely compensate for the gravitational torque of the load 200 without the need for the motor 300 to provide a balancing torque to balance the gravitational torque. This achieves complete compensation and balance of the gravity on the connector 20, and minimizes or even eliminates the influence of the gravity on the connector 20, especially the gravity of the load 200, on the drive of the motor 300.

[0054] Please see Figure 4 For example, F N =F k / cosθ. Where F N F is the supporting force of the inner wall of the side wall 22 on the transmission component 33. k The elastic force transmitted from the elastic element 311 of the elastic structure 31 to the transmission element 33 is θ, where θ is the elastic force between line segment e and F. N The angle between the two points is given by line segment e, which is the line connecting the center of transmission component 33 and the rotation center B of connector 20.

[0055] For example, F N *s=mgL, where, F N The supporting force of the inner wall of the side wall 22 on the transmission member 33 is s, where s is the rotation center B to F of the connecting member 20.N The perpendicular distance along the line is m, where m is the mass of load 200 and L is the distance from the center of mass of load 200 to the rotation center B of connector 20.

[0056] Please see Figure 6 and Figure 7 In some embodiments, the mounting structure 32 is slidably connected to the base 10. One of the mounting structure 32 and the base 10 is provided with a guide rail 11, and the other is provided with a groove 321 that slidably engages with the guide rail 11. The mounting structure 32 and the base 10 are slidably connected to the guide rail 11 via the groove 321. The structure is simple, and the guide rail 11 or the groove 321 can guide the movement of the mounting structure 32 in a preset direction. No additional guiding structure is required to ensure that the mounting structure 32 can reliably and stably move in the preset direction, thereby ensuring that the mounting structure 32 can stably cause the elastic element 311 of the elastic structure 31 to undergo elastic deformation.

[0057] Please see Figure 6 and Figure 7 For example, the mounting structure 32 includes a first seat 322 and a second seat 323. The first seat 322 and / or the second seat 323 are movably connected to the base 10. The first seat 322 is connected to one end of the elastic structure 31 and is also connected to the transmission member 33. The second seat 323 and the first seat 322 enclose a limiting space 324, and a portion of the elastic structure 31 is disposed within the limiting space 324. For example, one end of the elastic element 311 of the elastic structure 31 is disposed in the limiting space 324, and the inner wall of the limiting space 324 can limit the elastic element 311. For example, one of the first seat 322 and the base 10 is provided with a guide rail 11, and the other is provided with a groove 321 that slides with the guide rail 11. One of the second seat 323 and the base 10 is provided with a guide rail 11, and the other is provided with a groove 321 that slides with the guide rail 11. Thus, the mounting structure 32 can move more stably and reliably relative to the base 10 along a preset direction. The first base 322 and the second base 323 are integrally formed and connected, or they can be set separately. For example, the connection method between the first base 322 and the second base 323 includes at least one of the following: snap-fit ​​connection, adhesive connection, magnetic connection, screw locking connection, etc.

[0058] Please see Figure 3 , Figure 6 and Figure 7In some embodiments, the elastic structure 31 includes an elastic element 311 and a guide rod 312. One end of the elastic element 311 abuts against the mounting structure 32, and the other end abuts against the base 10. One end of the guide rod 312 is connected to the base 10, and the other end is connected to the mounting structure 32. The guide rod 312 passes through the elastic element 311. The guide rod 312 can guide and limit the elastic element 311, so that the direction of the elastic force of the elastic element 311 is along a preset direction, ensuring the stability of the gravity compensation force provided by the elastic element 311. Exemplarily, the extension and retraction direction of the elastic element 311 is parallel to the preset direction. Exemplarily, the elastic element 311 includes at least one of the following: a spring, an elastic rope, or any other suitable structure with elasticity. The spring may include at least one of the following: a tension spring, a compression spring, a coil spring, etc.

[0059] In some embodiments, the transmission element 33 includes at least one of the following: balls, rollers, or wheels. With this structure, the transmission element 33 and the connecting element 20 are in rolling contact, resulting in a low coefficient of friction and minimal wear during transmission.

[0060] In some embodiments, the number of transmission members 33 includes two, and the number of connecting members 20 includes two. Each transmission member 33 contacts and engages with the inner wall of the side wall portion 22 of one connecting member 20. Both connecting members 20 are rotatably connected to the base 10, and both connecting members 20 are connected to the load 200. By connecting the two connecting members 20 to the load 200, the load 200 can be driven to move more stably. Exemplarily, the two transmission members 33 are spaced apart and arranged on opposite sides of the mounting structure 32, and the arrangement direction of the two transmission members 33 is parallel to the rotation axis of the connecting member 20. Exemplarily, the rotation axes of the two connecting members 20 coincide, so that the structure of the gravity compensation device 100 is more compact. Exemplarily, the same motor 300 is driven and connected to the two connecting members 20.

[0061] Please see Figure 6 and Figure 7 In some embodiments, the gravity compensation device 100 further includes a connecting shaft 34, through which the mounting structure 32 and two transmission members 33 pass, respectively located on opposite sides of the mounting structure 32. The connecting shaft 34 facilitates quick and precise assembly of the transmission members 33 and the mounting structure 32. Of course, in other embodiments, the connecting shaft 34 may be omitted, and the transmission members 33 may be directly connected to the mounting structure 32.

[0062] Please see Figure 5In some embodiments, the base 10 includes a main body 12, a first side beam 13, a second side beam 14, and a crossbeam 15. The first side beam 13 and the second side beam 14 are spaced apart and connected to the main body 12. A connector 20 is connected to one of the main body 12, the first side beam 13, and the second side beam 14. At least one of the first side beam 13 and the second side beam 14 is movably connected to the mounting structure 32. The two ends of the crossbeam 15 are respectively connected to the end of the first side beam 13 away from the main body 12 and the end of the second side beam 14 away from the main body 12. The main body 12, the first side beam 13, the crossbeam 15, and the second side beam 14 enclose an accommodating space 16. The mounting structure 32 and the elastic structure 31 are at least partially disposed within the accommodating space 16. The end of the elastic structure 31 away from the mounting structure 32 abuts against the crossbeam 15. Since the mounting structure 32 and the elastic structure 31 are at least partially located within the accommodating space 16, the space occupied by the base 10 can be fully utilized, making the gravity compensation device 100 more compact and further reducing the overall size of the product. In addition, the main body 12, the first side beam 13, the crossbeam 15, and the second side beam 14 enclosing the accommodating space 16 can also reduce the weight of the base 10, achieving product lightweighting.

[0063] Understandably, the connector 20 can be directly connected to the load 200, or it can be connected to the load 200 through an intermediate structure; there is no limitation on this. The load 200 can be other components of the robot, such as at least one of the following: the robot's joints, torso, robotic arm, etc.

[0064] Please see Figure 1 This utility model embodiment also provides a robot, including: a load 200, a motor 300, and a gravity compensation device 100 as described in any of the above embodiments; the motor 300 is disposed on the base 10, and the connecting member 20 is connected to the load 200. The motor is used to drive the connecting member 20 to move, thereby driving the load 200 to move.

[0065] For example, the robot may include an indoor robot or an outdoor robot.

[0066] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0067] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0068] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," "mechanical coupling," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Mechanical coupling or coupling of two components includes direct coupling and indirect coupling, such as a direct fixed connection or a connection through a transmission mechanism. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0069] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0070] The foregoing disclosure provides many different embodiments or examples for implementing various structures of this utility model. To simplify the disclosure, specific examples of components and arrangements are described above. These are merely examples and are not intended to limit the scope of the utility model. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this utility model; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0071] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0072] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A gravity compensation device, characterized in that, include: Base; The connector, rotatably connected to the base, is configured to connect to the robot's load. A gravity compensation mechanism is movably connected to the base. The gravity compensation mechanism includes an elastic structure, a mounting structure, and a transmission component. The base and the mounting structure abut against the elastic structure. The mounting structure is movably connected to the base and can move relative to the base in a preset direction to cause elastic deformation of the elastic structure. The transmission component is connected to the mounting structure and can move synchronously with the mounting structure in the preset direction. The connector includes a body and a sidewall. The body is rotatably connected to the base. The sidewall protrudes from the body. The inner wall of the sidewall facing the rotation center of the body contacts and engages with the transmission component. The distance between the inner wall and the rotation center varies at different positions.

2. The gravity compensation device according to claim 1, characterized in that, The main body is cam-shaped, and the sidewall is provided along the edge of the main body.

3. The gravity compensation device according to claim 2, characterized in that, The main body and the side wall form a hollow space, and the transmission component is located in the hollow space.

4. The gravity compensation device according to claim 1, characterized in that, Along the preset direction, the connector and the elastic structure at least partially overlap.

5. The gravity compensation device according to claim 1, characterized in that, The direction of the supporting force exerted by the inner wall of the sidewall on the transmission component does not point towards the rotation center of the connector.

6. The gravity compensation device according to claim 1, characterized in that, The mounting structure is slidably connected to the base, and one of the mounting structure and the base is provided with a guide rail, while the other is provided with a groove that slidably engages with the guide rail; the elastic structure includes: The elastic element has one end abutting against the mounting structure and the other end abutting against the base. The guide rod is connected at one end to the base and at the other end to the mounting structure, and the guide rod passes through the elastic element.

7. The gravity compensation device according to claim 1, characterized in that, The transmission component includes at least one of the following: balls, rollers, or wheels.

8. The gravity compensation device according to claim 1, characterized in that, The number of transmission components includes two, and the number of connecting components includes two. Each transmission component contacts and engages with the inner wall of the side wall portion of one of the connecting components. Both connecting components are rotatably connected to the base and connected to the load.

9. The gravity compensation device according to any one of claims 1-8, characterized in that, The base includes: Main body; First side beam; The second side beam, the first side beam and the second side beam are connected to the main body at intervals, the connector is connected to one of the main body, the first side beam and the second side beam, and at least one of the first side beam and the second side beam is movably connected to the mounting structure; A crossbeam, the two ends of which are respectively connected to the end of the first side beam away from the main body and the end of the second side beam away from the main body. The main body, the first side beam, the crossbeam and the second side beam enclose an accommodating space. The mounting structure and the elastic structure are at least partially disposed within the accommodating space. The end of the elastic structure away from the mounting structure abuts against the crossbeam.

10. A robot, characterized in that, include: The load, the motor, and the gravity compensation device as described in any one of claims 1 to 9; the motor is disposed on the base, and the connector is connected to the load.

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