CN103116362B - Full coupling dynamic balancing device - Google Patents
Full coupling dynamic balancing device Download PDFInfo
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- CN103116362B CN103116362B CN201210576923.2A CN201210576923A CN103116362B CN 103116362 B CN103116362 B CN 103116362B CN 201210576923 A CN201210576923 A CN 201210576923A CN 103116362 B CN103116362 B CN 103116362B
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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 35
- 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 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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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 Spatial distributions balance device mainly adopts serial mechanism and parallel institution.Wherein, serial mechanism has the weak points such as complex structure motional inertia is large, causes poor real, is difficult to reach Real-time Balancing; Parallel institution has the advantages such as structure is simple, motional inertia is little, can mobile equilibrium in real time.Dynamic balancer majority in parallel adopts Stewart parallel institution to be prototype, has the weak points such as processing is poor with assembly process process, sports coupling.As, Xie Zhijiang proposes parallel decoupling mechanism with 6 degree of freedom (CN201010563130.8), and this mechanism holds in ability smaller, is mainly used in multi-degree of freedom measurement aspect; Lift a sail the six-degree-of-freedom parallel connection mechanism (CN201020520076.4) proposing decoupling zero, this mechanism structure is too complicated and install inconvenient; Shen Huiping proposes 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
In order to the processing and assembly process process that overcome existing dynamic balancer are poor, the deficiency of sports coupling, the invention provides a kind of processing and good, the effective full decoupling dynamic balancer eliminating sports coupling of assembly technology.
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 installs 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 order to drive moving platform to move side chain along the X-axis of the first line slideway movement, be connected with pedestal for driving moving platform to move side chain along the Y-axis of the second line slideway movement; Be connected with pedestal by Z axis lifting side chain bottom described moving platform, described moving platform also rotates side chain by X-axis, Y-axis rotation side chain rotates side chain with Z axis and is connected with pedestal;
Described X-axis moves side chain, Y-axis moves side chain, X-axis rotates side chain, Y-axis rotates side chain and Z axis rotation side chain is the first movement branched chain, described first movement branched chain comprises the first servomotor, the first rectilinear movement pair, the first spherical hinge and the first connecting-rods with constant lengh, described first servomotor is arranged on pedestal, first servomotor and first moves linearly secondary connection, described first rectilinear movement is secondary to be connected with described first spherical hinge, described first spherical hinge is connected with the lower end of described first connecting-rods with constant lengh, and the upper end of described 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 second movement branched chain comprises the first servomotor, the first rectilinear movement pair and the first spherical hinge, described first servomotor is arranged on pedestal, first servomotor and first moves linearly secondary connection, described first rectilinear movement is secondary to be connected with described first spherical hinge, and described 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, effectively eliminate sports coupling.
Accompanying drawing explanation
Fig. 1 is the structural drawing of full decoupling dynamic balancer.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
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 surface, the end face of moving platform 6 installs 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 passes through in order to drive moving platform to move side chain 9 along the X-axis of the first line slideway movement, move side chain 10 for driving moving platform along the Y-axis of the second line slideway movement to be connected with pedestal 1, be connected with pedestal 1 by Z axis lifting side chain 2 bottom described moving platform 6, described moving platform also rotates side chain 3 by X-axis, Y-axis rotation side chain 4 rotates side chain 5 with Z axis and is connected with pedestal 1,
Described X-axis moves side chain 9, Y-axis moves side chain 10, X-axis rotates side chain 3, Y-axis rotates side chain 4 and Z axis rotation side chain 5 is the first movement branched chain, described first movement branched chain comprises the first servomotor 31, first rectilinear movement secondary 32, first spherical hinge 33 and the first connecting-rods with constant lengh 34, described first servomotor is arranged on pedestal, first servomotor and first moves linearly secondary connection, described first rectilinear movement is secondary to be connected with described first spherical hinge, described first spherical hinge is connected with the lower end of described first connecting-rods with constant lengh, the upper end of described 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 second movement branched chain comprises the first servomotor, the first rectilinear movement pair and the first spherical hinge, described first servomotor is arranged on pedestal, first servomotor and first moves linearly secondary connection, described first rectilinear movement is secondary to be connected with described first spherical hinge, and described 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 moved side chain 10 with Y-axis and be connected with pedestal 1, form decoupling-structure; Be connected with moving platform 6 by joint spider slide block 8 below worktable 7, worktable 7 and moving platform 6 install line slideway, and joint spider slide block 8 can along these two slide.Moving platform 6 rotates side chain 3 by four movement branched chain Z axis lifting side chains 2, X-axis, Y-axis rotates side chain 4 and is connected with pedestal 1 with Z axis rotation side chain 5, forms decoupling-structure.
Wherein, the vertical direction that Z axis lifting side chain 2 can realize moving platform 7 moves, X-axis moves side chain 9 and Y-axis moves the movement that side chain 10 can realize two other direction of moving platform 7 respectively, Z axis rotates the rotation that side chain 5 can realize moving platform 7, X-axis rotates side chain 3, Y-axis rotates the rotation that side chain 4 can realize two other direction of moving platform 7 respectively, realizes the full decoupling of 6 direction motions of moving platform 7.This full decoupling dynamic balancer has that structure is simple, load-bearing capacity is strong, motion full decoupling, motional inertia are little, processing and the advantage such as assembly process process is good.
Claims (1)
1. a 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 installs 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 order to drive moving platform to move side chain along the X-axis of the first line slideway movement, be connected with pedestal for driving moving platform to move side chain along the Y-axis of the second line slideway movement; Be connected with pedestal by Z axis lifting side chain bottom described moving platform, described moving platform also rotates side chain by X-axis, Y-axis rotation side chain rotates side chain with Z axis and is connected with pedestal;
Described X-axis moves side chain, Y-axis moves side chain, X-axis rotates side chain, Y-axis rotates side chain and Z axis rotation side chain is the first movement branched chain, described first movement branched chain comprises the first servomotor, the first rectilinear movement pair, the first spherical hinge and the first connecting-rods with constant lengh, described first servomotor is arranged on pedestal, first servomotor and first moves linearly secondary connection, described first rectilinear movement is secondary to be connected with described first spherical hinge, described first spherical hinge is connected with the lower end of described first connecting-rods with constant lengh, and the upper end of described first connecting-rods with constant lengh is connected with moving platform or worktable;
Described Z axis lifting side chain is the second movement branched chain, described second movement branched chain comprises the first servomotor, the first rectilinear movement pair and the first spherical hinge, described first servomotor is arranged on pedestal, first servomotor and first moves linearly secondary connection, described first rectilinear movement is secondary to be connected with described first spherical hinge, and described first spherical hinge is connected with the bottom of moving platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN201210576923.2A CN103116362B (en) | 2012-12-26 | 2012-12-26 | Full coupling dynamic balancing device |
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| CN103116362A CN103116362A (en) | 2013-05-22 |
| CN103116362B true CN103116362B (en) | 2015-03-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Citations (5)
| 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 |
| CN102794662A (en) * | 2012-08-10 | 2012-11-28 | 安徽工程大学 | Six-degree-of-freedom position posture full-decoupling adjustable clamp |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5397856B2 (en) * | 2009-08-28 | 2014-01-22 | 国立大学法人東京工業大学 | 6 DOF parallel mechanism |
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2012
- 2012-12-26 CN CN201210576923.2A patent/CN103116362B/en active Active
Patent Citations (5)
| 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 |
| CN102794662A (en) * | 2012-08-10 | 2012-11-28 | 安徽工程大学 | Six-degree-of-freedom position posture full-decoupling adjustable clamp |
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| CN103116362A (en) | 2013-05-22 |
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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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