Configurable Counterbalance Arm for Left-Right Load Balancing
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Solution Overview
Problem
Existing counterbalance mechanisms for load positioning systems in teleoperated systems are limited in their ability to reconfigure for left or right-handed use, especially when the load's center of gravity is far from the vertical axis of the counterbalance mechanism, leading to inconsistencies in performance and inefficiencies in production.
Innovation Solution
A configurable counterbalance mechanism that includes a spring, a tension element, and a rotatable configurable arm with pulleys, allowing the arm to be configured in different orientations to counterbalance loads with centers of gravity on either side of the mechanism, without requiring large changes in component placement or housing volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the lower pulley is moved to reconfigure the counterbalance mechanism for left or right-handed use, then the mechanism can accommodate different hand configurations, but the reconfiguring ability is limited by the available space in the housing
Solution Approach 1:
The patent applies the dynamics principle by making the configurable arm rotatable about the vertical axis, allowing it to change orientation dynamically between left-handed and right-handed configurations. This rotational capability enables the mechanism to adapt to different center of gravity locations without requiring large movements of other components, thus achieving high adaptability within a compact housing volume.
2Adaptability or versatility
If the lower pulley is moved by a larger amount to accommodate a center of gravity located far from the vertical axis, then the counterbalance mechanism can handle loads with extended portions, but the housing constraints prevent such large movements
Solution Approach 1:
The configurable arm's rotatability about the vertical axis provides a dynamic solution that allows the mechanism to reach extreme positions without large linear movements. This rotational degree of freedom enables the arm to extend its reach to accommodate far center of gravity locations while staying within housing constraints, making reconfiguration easier and more versatile.
Solution Approach 2:
The patent introduces rotation about the vertical axis as an additional dimensional degree of freedom. Instead of moving the lower pulley linearly in one dimension, the configurable arm rotates in a different dimension (azimuthal angle), allowing the mechanism to access a broader range of center of gravity positions without increasing housing volume requirements.
3Reliability
If different counterbalance mechanisms are produced for left-handed and right-handed use, then each configuration is optimized for its specific use, but production efficiency decreases
Solution Approach 1:
The patent implements universality by designing a single counterbalance mechanism that can function in both left-handed and right-handed configurations. The configurable arm can be rotated to different orientations to accommodate different hand configurations, allowing one mechanism design to serve multiple purposes. This eliminates the need for separate production lines for left-handed and right-handed versions, thereby improving production efficiency while maintaining configuration-specific performance.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The configurable counterbalance mechanism provides consistent gravity compensation in all configurations, reduces friction, and allows for easy reconfiguration to accommodate changes in the load's center of gravity, improving efficiency and reducing production costs.
Implementation Method 1
a spring and a tension element including a first end coupled to the spring
Implementation Method 2
to counterbalance the effects of gravity on the mechanical arm
Implementation Method 3
A first pulley is rotatably coupled to the first portion and rotatable about the first axis, and a second pulley is rotatably coupled to the second portion
Data Source
AI summary
Implementations relate to a configurable counterbalance mechanism. In some implementations, a counterbalance apparatus includes a spring, a tension element coupled between the spring and a mechanical ground, a base element coupled to a load, and a configurable arm rotatably coupled to the base element. A first pulley and a second pulley are rotatably coupled to the configurable arm, the second pulley orbitable about the first axis, and the tension element is at least partially wrapped around the first pulley and the second pulley. The configurable arm is rotatably configurable at either a first orientation or a second orientation, where the first orientation is associated with a center of gravity of the load located on a first side of the counterbalance apparatus and the second orientation is associated with the center of gravity of the load located on a second side of the counterbalance apparatus opposite to the first side.