Counterbalancing linkage mechanism

Patent metadata

Field	Value
Publication number	US-2016236359-A1
Application number	US-201615041428-A
Country	US
Kind code	A1
Filing date	Feb 11, 2016
Priority date	Feb 12, 2015
Publication date	Aug 18, 2016
Grant date	—

Abstract

A counterbalancing linkage mechanism includes a base link including a first joint; a second link forming a second joint to be rotatably connected to the base link; and a counter balancer having one portion disposed at the second joint and another portion movably disposed at the base link along a length direction of the second link. The counter balancer compensates a gravitational torque generated due to a weight of the second link when the second link rotates on the second joint. A third link is connected to the second link. The counter balancer comprises a counter balancer delivery portion connected to the second link and rotating by the rotation of the second link. A counter balancer driving portion is in contact with the counter balancer delivery portion, linearly moves by the rotation of the counter balancer delivery portion, and compensates the gravitational torque and a load capacity due to interaction with the counter balancer delivery portion.

First claim

What is claimed is:

1 . A counterbalancing linkage mechanism comprising:
a base link as a first link including a first joint; a second link forming a second joint which is rotatably connected to the base link so that a center of mass of the second link is spaced apart from the second joint; a counter balancer having one portion disposed at the second joint and another portion movably disposed at the base link in a length direction of the second link, the counter balancer compensating a gravitational torque generated due to a weight of the second link when the second link rotates on the second joint; and a third link connected to the second link, wherein the counter balancer comprises: a counter balancer delivery portion connected to the second link and rotating by the rotation of the second link; a counter balancer driving portion contacting the counter balancer delivery portion, linearly moving by the rotation of the counter balancer delivery portion, and compensating the gravitational torque generated due to the weight of the second link and a load capacity due to interaction with the counter balancer delivery portion.

2 . The counterbalancing linkage mechanism of claim 1 , wherein the counter balancer delivery portion includes: a delivery gear portion moving together with the second link; and a delivery crank portion connected to the delivery gear portion, and
wherein the delivery crank portion includes: a delivery crank coaxially connected to the delivery gear portion; and a delivery roller rotatably connected to and contacting the counter balancer driving portion.

3 . The counterbalancing linkage mechanism of claim 2 , wherein the counter balancer driving portion includes:
a moving base frame fixedly mounted at the base link; a moving block linearly moving on the moving base frame and contacting the delivery roller; and a moving elastic portion elastically supporting the moving block toward the delivery crank portion.

4 . The counterbalancing linkage mechanism of claim 3 , wherein the moving elastic portion includes:
a moving elastic shaft fixedly mounted at the moving block and extending along a moving direction of the moving block; and a moving elastic member covering an external circumference of the moving elastic shaft and disposed between the moving base frame and the moving block.

5 . The counterbalancing linkage mechanism of claim 4 , wherein the counter balancer driving portion further includes:
a moving motion block attached to the moving block; and a moving motion rail connected to the moving motion block and relatively moving with each other in which the moving motion rail is parallel with the moving elastic shaft.

6 . The counterbalancing linkage mechanism of claim 4 , wherein the moving block includes:
a moving block body mounted at the moving motion block; and a moving block plate attached to the moving block body and contacting the delivery roller.

7 . The counterbalancing linkage mechanism of claim 1 , wherein the second link includes:
a second upper link having one end rotatably connected to the base link and the opposite end rotatably connected to the third link; and a second lower link having one end rotatably connected to the base link and the opposite end rotatably connected to the third link, the second lower link spaced apart from the second upper link.

8 . The counterbalancing linkage mechanism of claim 7 , further comprising:
a second driver supplying a driving torque to the second upper link.

9 . The counterbalancing linkage mechanism of claim 8 , wherein the second lower link is connected to the counter balancer delivery portion.

10 . The counterbalancing linkage mechanism of claim 9 , wherein the counter balancer delivery portion includes: a delivery gear portion rotating together with the second link; and a delivery crank portion connected to the delivery gear portion, and
wherein the delivery gear portion includes: a delivery lower gear coaxially connected to the second lower link; and a delivery upper gear engaged with the delivery lower gear and coaxially connected to the delivery crank portion.

11 . The counterbalancing linkage mechanism of claim 7 , wherein a second upper joint portion is formed at one end of the second upper link and is rotatably connected to the base link,
a second lower joint portion is formed at one end of the second lower link and is rotatably connected to the base link, a third upper joint portion is formed at the opposite end of the second upper link and is rotatably connected to the third link, and a third lower joint portion is formed at the opposite end of the second lower link and is rotatably connected to the third link.

12 . The counterbalancing linkage mechanism of claim 11 , further comprising:
a fourth link connected to one end portion of the third link and moving on a plane perpendicular to a length direction of the third link.

13 . The counterbalancing linkage mechanism of claim 12 , further comprising:
a fifth link disposed at an end portion of the fourth link, wherein the fifth link is moved on a plane in parallel with a length direction of the fourth link.

14 . The counterbalancing linkage mechanism of claim 13 , further comprising:
a sixth link connected to an end portion of the fifth link, wherein the sixth link rotates base on a rotation axis of the length direction of the fifth link.

15 . The counterbalancing linkage mechanism of claim 1 , further comprising:
a base driver supplying a driving torque to the first joint.

Assignees

• Univ Korea Res & Bus Found
• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Song Jae-Bok
• Lee Hyun Soo
• Kim Hwi-Su
• Song Seung Woo

Classifications

• B25J19/0016 Primary

  using springs · CPC title

• B25J9/1065

  with parallelograms · CPC title

• F16H37/12

  Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types (gearings with cranks, eccentrics, or like members fixed to one rotary member and guided along tracks on the other F16H21/14; crank or eccentric gearings with cams or additional guides, or with members having rolling contact F16H21/28, F16H21/30) · CPC title

• Y10S901/48

  Counterbalance · CPC title

• B25J9/1055

  by gravity · CPC title