CN103116362A - Full coupling dynamic balancing device - Google Patents
Full coupling dynamic balancing device Download PDFInfo
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- CN103116362A CN103116362A CN2012105769232A CN201210576923A CN103116362A CN 103116362 A CN103116362 A CN 103116362A CN 2012105769232 A CN2012105769232 A CN 2012105769232A CN 201210576923 A CN201210576923 A CN 201210576923A CN 103116362 A CN103116362 A CN 103116362A
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- 230000008878 coupling Effects 0.000 title abstract description 9
- 238000010168 coupling process Methods 0.000 title abstract description 9
- 238000005859 coupling reaction Methods 0.000 title abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 241000239290 Araneae Species 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 3
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Abstract
Provided is a full coupling dynamic balancing device which comprises a base seat and a working table, wherein a first linear guideway is installed on the bottom face of the working table, a second linear guideway is installed on the top surface of a moving platform, the top surface of a universal joint pin sliding block can be installed on the first linear guideway in a sliding mode, the bottom face of the universal joint pin sliding block can be installed on the second linear guideway in a sliding mode, the working table is connected with the base seat through a X-axis moving branched chain which is used for driving the moving platform to move along the first linear guideway, and a Y-axis moving branched chain which is used for driving the moving platform to move along the second linear guideway, the bottom of the moving platform is connected with the base seat through a Z-axis lifting branched chain, and the moving platform is further connected with the base seat through a X-axis rotary branched chain, a Y-axis rotary branched chain and a Z-axis rotary branched chain. The full coupling dynamic balancing device is good in processing and assembly techniques, and effectively eliminates movement coupling.
Description
Technical field
The present invention relates to a kind of balance device, especially a kind of dynamic balancer.
Background technology
Dynamic balancer has a wide range of applications in fields such as navigation aviations.At present, the mechanism form of space dynamic balancer mainly adopts serial mechanism and parallel institution.Wherein, serial mechanism has the weak points such as the complex structure motional inertia is large, causes real-time poor, is difficult to reach Real-time Balancing; The advantage such as that parallel institution has is simple in structure, motional inertia is little, mobile equilibrium in real time.The most employing of dynamic balancer in parallel Stewart parallel institution is prototype, has the weak points such as processing is poor with assembly process process, sports coupling.As, Xie Zhijiang has proposed parallel decoupling mechanism with 6 degree of freedom (CN201010563130.8), and this mechanism holds in ability smaller, is mainly used in the multi-degree of freedom measurement aspect; The six-degree-of-freedom parallel connection mechanism (CN201020520076.4) of lifting a sail and having proposed decoupling zero, this mechanism structure are too complicated and install inconvenient; Shen Huiping has proposed a kind of Six-freedom-degree full resolution partial decoupling parallel operation mechanism (CN201210060035.5), and this mechanism has the weak points such as mechanism kinematic coupling.
Summary of the invention
With assembly process process is poor, the deficiency of sports coupling, the invention provides a kind of process and assembly technology well, is effectively eliminated the full decoupling dynamic balancer of sports coupling for the processing that overcomes existing dynamic balancer.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of full decoupling dynamic balancer, described balance device comprises pedestal and worktable, the first line slideway is installed in described worktable bottom surface, the end face of described moving platform is installed the second line slideway, the end face of joint spider slide block is slidably mounted on the first line slideway, the bottom surface of described joint spider slide block is slidably mounted on the second line slideway, and described worktable is by moving side chain in order to drive the X-axis that moving platform moves along the first line slideway, being used for driving moving platform and being connected with pedestal along the moving side chain of y-axis shift that the second line slideway moves; Described moving platform bottom is connected with pedestal by Z axis lifting side chain, and described moving platform also rotates side chain, Y-axis by X-axis and rotates side chain and be connected side chain with Z axis and be connected with pedestal;
Described X-axis moves side chain, the moving side chain of y-axis shift, X-axis rotation side chain, Y-axis rotation side chain and Z axis rotation side chain and is the first movement branched chain, described the first movement branched chain comprises the first servomotor, the first traveling priority pair, the first spherical hinge and the first connecting-rods with constant lengh, described the first servomotor is arranged on pedestal, the first servomotor is connected with the first traveling priority is secondary, described the first traveling priority is secondary to be connected with described the first spherical hinge, described the first spherical hinge is connected with the lower end of described the first connecting-rods with constant lengh, and the upper end of described the first connecting-rods with constant lengh is connected with worktable with moving platform;
Z axis lifting side chain is the second movement branched chain, described the second movement branched chain comprises the first servomotor, the first traveling priority is secondary and the first spherical hinge, described the first servomotor is arranged on pedestal, the first servomotor is connected with the first traveling priority is secondary, described the first traveling priority is secondary to be connected with described the first spherical hinge, and described the first spherical hinge is connected with the bottom of moving platform.
Beneficial effect of the present invention is mainly manifested in: processing and assembly technology well, are effectively eliminated sports coupling.
Description of drawings
Fig. 1 is the structural drawing of full decoupling dynamic balancer.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
with reference to Fig. 1, a kind of full decoupling dynamic balancer, described balance device comprises pedestal 1 and worktable 7, the first line slideway is installed in described worktable 7 bottom surfaces, the end face of moving platform 6 is installed the second line slideway, the end face of joint spider slide block 8 is slidably mounted on the first line slideway, the bottom surface of described joint spider slide block 8 is slidably mounted on the second line slideway, described worktable 7 is by moving side chain 9 in order to drive the X-axis that moving platform moves along the first line slideway, being used for driving moving platform is connected with pedestal 1 along the moving side chain 10 of y-axis shift that the second line slideway moves, described moving platform 6 bottoms are connected with pedestal 1 by Z axis lifting side chain 2, and described moving platform also rotates side chain 3, Y-axis by X-axis and rotates side chain 4 and be connected side chain 5 with Z axis and be connected with pedestal 1,
described X-axis moves side chain 9, y-axis shift moves side chain 10, X-axis rotation side chain 3, Y-axis rotation side chain 4 and Z axis rotation side chain 5 are the first movement branched chain, described the first movement branched chain comprises the first servomotor 31, the first traveling priority pair 32, the first spherical hinge 33 and the first connecting-rods with constant lengh 34, described the first servomotor is arranged on pedestal, the first servomotor is connected with the first traveling priority is secondary, described the first traveling priority is secondary to be connected with described the first spherical hinge, described the first spherical hinge is connected with the lower end of described the first connecting-rods with constant lengh, the upper end of described the first connecting-rods with constant lengh is connected with worktable with moving platform,
Z axis lifting side chain 2 is the second movement branched chain, described the second movement branched chain comprises the first servomotor, the first traveling priority is secondary and the first spherical hinge, described the first servomotor is arranged on pedestal, the first servomotor is connected with the first traveling priority is secondary, described the first traveling priority is secondary to be connected with described the first spherical hinge, and described the first spherical hinge is connected with the bottom of moving platform.
In the present embodiment, worktable 7 two ends are moved side chain 9 by X-axis and are connected with pedestal 1 with the moving side chain 10 of y-axis shift, the formation decoupling-structure; Worktable 7 belows are connected with moving platform 6 by joint spider slide block 8, on worktable 7 and moving platform 6, line slideway are installed, and joint spider slide block 8 can slide along these two guide rails.Moving platform 6 is connected with pedestal 1 by four movement branched chain Z axis lifting side chains 2, X-axis rotation side chain 3, Y-axis rotation side chain 4 and Z axis rotation side chain 5, consists of decoupling-structure.
Wherein, Z axis lifting side chain 2 can realize that the vertical direction of moving platform 7 moves, X-axis moves side chain 9 and the moving side chain 10 of y-axis shift can be realized the movement of two other direction of moving platform 7 respectively, Z axis rotation side chain 5 can be realized the rotation of moving platform 7, X-axis rotation side chain 3, Y-axis rotation side chain 4 can be realized the rotation of two other direction of moving platform 7 respectively, realize the full decoupling of 6 direction motions of moving platform 7.That this full decoupling dynamic balancer has is simple in structure, load-bearing capacity strong, motion full decoupling, motional inertia are little, processing and the advantage such as assembly process process is good.
Claims (1)
1. full decoupling dynamic balancer, it is characterized in that: described balance device comprises pedestal and worktable, the first line slideway is installed in described worktable bottom surface, the end face of moving platform is installed the second line slideway, the end face of joint spider slide block is slidably mounted on the first line slideway, the bottom surface of described joint spider slide block is slidably mounted on the second line slideway, and described worktable is by moving side chain in order to drive the X-axis that moving platform moves along the first line slideway, being used for driving moving platform and being connected with pedestal along the moving side chain of y-axis shift that the second line slideway moves; Described moving platform bottom is connected with pedestal by Z axis lifting side chain, and described moving platform also rotates side chain, Y-axis by X-axis and rotates side chain and be connected side chain with Z axis and be connected with pedestal;
Described X-axis moves side chain, the moving side chain of y-axis shift, X-axis rotation side chain, Y-axis rotation side chain and Z axis rotation side chain and is the first movement branched chain, described the first movement branched chain comprises the first servomotor, the first traveling priority pair, the first spherical hinge and the first connecting-rods with constant lengh, described the first servomotor is arranged on pedestal, the first servomotor is connected with the first traveling priority is secondary, described the first traveling priority is secondary to be connected with described the first spherical hinge, described the first spherical hinge is connected with the lower end of described the first connecting-rods with constant lengh, and the upper end of described the first connecting-rods with constant lengh is connected with worktable with moving platform;
Described Z axis lifting side chain is the second movement branched chain, described the second movement branched chain comprises the first servomotor, the first traveling priority is secondary and the first spherical hinge, described the first servomotor is arranged on pedestal, the first servomotor is connected with the first traveling priority is secondary, described the first traveling priority is secondary to be connected with described the first spherical hinge, and described the first spherical hinge is connected with the bottom of moving platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210576923.2A CN103116362B (en) | 2012-12-26 | 2012-12-26 | Full coupling dynamic balancing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210576923.2A CN103116362B (en) | 2012-12-26 | 2012-12-26 | Full coupling dynamic balancing device |
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| CN103116362A true CN103116362A (en) | 2013-05-22 |
| CN103116362B CN103116362B (en) | 2015-03-04 |
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| CN201210576923.2A Active CN103116362B (en) | 2012-12-26 | 2012-12-26 | Full coupling dynamic balancing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106958590A (en) * | 2016-08-08 | 2017-07-18 | 哈尔滨工业大学 | The high-precision linear movement reference device of gas/solid combined type of multiple degrees of freedom decoupling driving |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| CN1730235A (en) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | Redundant parallel mechanism with six degrees of freedom |
| CN201111957Y (en) * | 2007-10-12 | 2008-09-10 | 深圳市大族精密机电有限公司 | Three-axis movement platform |
| CN101439514A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| JP2011045984A (en) * | 2009-08-28 | 2011-03-10 | Tokyo Institute Of Technology | Parallel mechanism with six-degree of freedom |
| CN102794662A (en) * | 2012-08-10 | 2012-11-28 | 安徽工程大学 | Six-degree-of-freedom position posture full-decoupling adjustable clamp |
-
2012
- 2012-12-26 CN CN201210576923.2A patent/CN103116362B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| CN1730235A (en) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | Redundant parallel mechanism with six degrees of freedom |
| CN201111957Y (en) * | 2007-10-12 | 2008-09-10 | 深圳市大族精密机电有限公司 | Three-axis movement platform |
| CN101439514A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| JP2011045984A (en) * | 2009-08-28 | 2011-03-10 | Tokyo Institute Of Technology | Parallel mechanism with six-degree of freedom |
| CN102794662A (en) * | 2012-08-10 | 2012-11-28 | 安徽工程大学 | Six-degree-of-freedom position posture full-decoupling adjustable clamp |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106958590A (en) * | 2016-08-08 | 2017-07-18 | 哈尔滨工业大学 | The high-precision linear movement reference device of gas/solid combined type of multiple degrees of freedom decoupling driving |
| CN106958590B (en) * | 2016-08-08 | 2019-02-05 | 哈尔滨工业大学 | The gas/solid combined type high-precision linear movement reference device of multiple degrees of freedom decoupling driving |
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| CN103116362B (en) | 2015-03-04 |
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Effective date of registration: 20191226 Address after: No. 2388, xinqun Road, Pinghu Economic Development Zone, Jiaxing City, Zhejiang Province Patentee after: PINGHU SHENGJIA ELECTRONICS Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20191226 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: The city Zhaohui six districts Chao Wang Road Hangzhou City, Zhejiang province 310014 18 Patentee before: Zhejiang University of Technology |
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Effective date of registration: 20210203 Address after: 445000 No.46, group 2, quannongting village, Yesanguan Town, Badong County, Enshi Tujia and Miao Autonomous Prefecture, Hubei Province Patentee after: Deng Aimei Address before: No.2388, xinqun Road, Pinghu Economic Development Zone, Jiaxing City, Zhejiang Province, 314200 Patentee before: PINGHU SHENGJIA ELECTRONICS Co.,Ltd. |
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