Reversible Mechanical Arm Gravitational Torque Balancing
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Solution Overview
Problem
Traditional gravitational torque balancing devices for mechanical arms in medical rehabilitation equipment can only produce balance torque in a single direction, making it difficult to meet the requirements of mirror-image limbs, leading to motor overload and reduced design flexibility.
Innovation Solution
A reversible mechanical arm gravitational torque balancing device that includes a counterweight guide groove module, counterweight, mechanical arm joint, rope, guide pulley block, counterweight disc, and mechanical arm joint link, allowing for the reversal of balance torque direction by controlling the relative movement and rotation of the counterweight disc and mechanical arm joint, using a counterweight guide groove module to limit counterweight movement and convert gravitational torque into balancing torque.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional gravitational torque balancing devices are used, then the device structure is simple, but the balance torque can only be generated in a single direction, making it difficult to meet the requirements of mirror-image limbs
Solution Approach 1:
The counterweight guide groove module enables dynamic switching of the counterweight's movement direction through guide grooves with different orientations. The module can rotate to present guide grooves in different directions, allowing the balance torque to be generated in multiple directions while maintaining a relatively simple overall structure.
Solution Approach 2:
The counterweight guide groove module serves multiple functions: it guides the counterweight movement, determines the balance torque direction, and can be rotated to adapt to different operational requirements. This multi-functionality allows a single module to handle various balance torque direction requirements without needing multiple separate devices.
2Productivity
If the mechanical arm works with gravitational torque, then the mechanical arm can perform normal operations, but the superposition of gravitational torque and loads leads to motor overload at the joints
Solution Approach 1:
The counterweight generates a balance torque that opposes the gravitational torque of the mechanical arm. By positioning the counterweight through the guide groove module and connecting it via rope and pulley, the system creates an opposing force that reduces the net torque on the motor, thereby reducing motor overload while maintaining normal mechanical arm operation.
3Adaptability or versatility
If the counterweight guide groove module limits counterweight movement, then the balance torque direction can be controlled, but the counterweight movement is constrained
Solution Approach 1:
The guide groove module acts as an intermediary between the counterweight's gravitational force and the mechanical arm's operational requirements. It translates the counterweight's vertical movement into controlled directional balance torque through its guide groove geometry and rotation capability, mediating between the simple downward force of gravity and the complex directional requirements of the mechanical arm.
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
Enables the change of balance torque direction to cancel out gravitational torque during morphological transformations, simplifies control through positive and reverse rotations, and enhances design flexibility by generating balance torque through a guide pulley block and counterweight, reducing motor burden and improving equipment adaptability.
Implementation Method 1
the gravity of the counterweight and the counterweight mounting block and the reversing guide groove portion of the counterweight guide groove module is converted into a pulling force on the rope, and the pulling force is converted into, on the counterweight disc, a balance torque
Implementation Method 2
the rope is wound on the counterweight disc after passing through the guide pulley block mounted on the rack
Implementation Method 3
the mechanical arm joint link is also mounted on the output shaft of the motor of the mechanical arm joint and the gravity of the mechanical arm joint link produces a gravitational torque on the mechanical arm joint
Data Source
AI summary
The present invention belongs to the field of medical rehabilitation training equipment, and particularly discloses a reversible mechanical arm gravitational torque balancing device, comprising a counterweight guide groove module, a counterweight, a mechanical arm joint, a rope, a guide pulley block, a counterweight disc, a mechanical arm joint link and a rack. The counterweight guide groove module is mounted on the rack; the counterweight has a lower end mounted on the counterweight guide groove module and an upper end connected to the rope, and the rope is wound on the counterweight disc after passing through the guide pulley block mounted on the rack; the mechanical arm joint is mounted on the rack and internally provided with a motor; the counterweight disc is mounted on an output shaft of the motor of the mechanical arm joint; and the mechanical arm joint link is also mounted on the output shaft of the motor of the mechanical arm joint and the gravity of the mechanical arm joint link produces a gravitational torque on the mechanical arm joint. The present invention can change the direction of the provided balance torque when the mechanical arm performs the morphological transformation, and features simple, rapid and labor-saving operation as well as reliable structure.