Manipulator Balancing with Adjustable Counterweights
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Solution Overview
Problem
Existing manipulators with deformable parallelograms face manufacturing complexities due to dimensional constraints, making it difficult to adjust counterweights for precise balancing, leading to a cumbersome design that hinders manipulation.
Innovation Solution
A manipulator with multiple counterweights, including adjustable ones, allows for separate balancing of the structure and load, enabling precise compensation of weight and occupying minimal space, with counterweights positioned to ensure alignment with the load application point and rotation axis, and using spring systems for force compensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the counterweight position is fixed based on geometric constraints, then the manipulator structure is simplified, but the balancing precision deteriorates due to manufacturing uncertainties
Solution Approach 1:
The patent makes the counterweight position adjustable rather than fixed, allowing dynamic adaptation to manufacturing variations. The counterweight can be repositioned along the counterbar to achieve precise balancing despite geometric constraints and manufacturing uncertainties.
Solution Approach 2:
The patent changes the parameter of counterweight position from fixed to variable, enabling adjustment of the balancing point. This allows the system to compensate for manufacturing tolerances and achieve precise balancing by modifying the position parameter of the counterweight.
2Manufacturing precision
If the counterweight value and position are adjusted to compensate for manufacturing uncertainties, then the balancing precision is improved, but the device complexity increases
Solution Approach 1:
The patent introduces adjustable counterweights that can be repositioned and reweighted, transforming a static balancing system into a dynamic one. This allows precise balancing to be achieved through adjustment rather than requiring extremely tight manufacturing tolerances, thereby managing complexity through adaptability.
Solution Approach 2:
The patent divides the balancing function into separate adjustable components (multiple counterweights with independent position and value adjustment). This segmentation allows each component to be optimized independently and adjusted separately, simplifying the overall adjustment process compared to a monolithic balancing mechanism.
3Reliability
If the counterweight is positioned several meters from the rotation axis to balance the manipulator, then the balancing effect is improved, but the manipulator becomes cumbersome and harder to manipulate
Solution Approach 1:
The patent enables dynamic adjustment of the counterweight position, allowing the operator to optimize the balancing configuration for different operational scenarios. This can achieve effective balancing with counterweights positioned closer to the rotation axis, improving maneuverability while maintaining balancing effectiveness through adjustment capability.
Solution Approach 2:
The patent adds the dimension of adjustability to the counterweight system, transforming a single-position balancing solution into a multi-position system. This allows the counterweight to be positioned optimally for both balancing effectiveness and manipulation ease, rather than being constrained to a fixed distant position.
4Manufacturing precision
If multiple counterweights are used to achieve separate balancing of structure and load, then the balancing precision is improved, but the device complexity increases
Solution Approach 1:
The patent segments the balancing function into separate counterweights that can independently compensate for structural weight and load weight. This segmentation allows each counterweight to be optimized for its specific function and adjusted independently, achieving precise separate balancing of structure and load.
Solution Approach 2:
The patent designs the counterweight system to serve multiple functions: balancing structural weight, balancing load weight, and providing adjustment capability for both. This multi-functionality is achieved through a unified adjustable mechanism that handles multiple balancing requirements, managing complexity through functional integration.
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
This design allows for simple and precise balancing, reducing manufacturing uncertainties and minimizing the manipulator's size, while maintaining effective load compensation across the workspace.
Implementation Method 1
a first counterweight the weight of which is applied at an application point in line with the application point of the force due to the load, at its free end, with the point defined by the intersection of the horizontal axis and the plane containing the deformable parallelogram
Implementation Method 2
a second counterweight the weight of which is applied onto the boom arm or the return arm
Implementation Method 3
This may also relate to springs fixed to the return arm and the boom arm so as to apply a force capable of balancing the manipulator at no load
Data Source
AI summary
Load manipulator comprising a boom arm (1) and a return arm (3) parallel to each other, a loading bar (2) and a counterbar (4) so as to form a deformable parallelogram, an approximately horizontal pivot axis on which one of the arms of the parallelogram is articulated, and balancing means (8) applying a force at an compensation application point (C) to compensate for the force due to the load, said point being a point on the return arm (3) and a point on the counterbar such that it is always in line with point (M) on the loading bar at which the force due to the load is applied and the rotation axis, in which the balancing means (8) comprise a first counterweight (10) and a second counterweight (12) and a jack to compensate for the value of the force due to the load, the first counterweight (10) and the jack applying a force onto the compensation application point (C) and the second counterweight (12) applying a force on the boom arm (1).