CN103895881A - Driven cross-shaped rotating hanging bracket device - Google Patents
Driven cross-shaped rotating hanging bracket device Download PDFInfo
- Publication number
- CN103895881A CN103895881A CN201410150521.5A CN201410150521A CN103895881A CN 103895881 A CN103895881 A CN 103895881A CN 201410150521 A CN201410150521 A CN 201410150521A CN 103895881 A CN103895881 A CN 103895881A
- Authority
- CN
- China
- Prior art keywords
- bearing
- directions
- rod
- passive type
- type cross
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to a hanging bracket device, in particular to a driven cross-shaped rotating hanging bracket device in order to solve the problems that through an existing hanging device, compensation force cannot pass a certain determined position of the motion axis of an object which is compensated for, and the existing hanging device cannot rotate around the perpendicular axes of the object which is compensated for. The driven cross-shaped rotating hanging bracket device comprises a hanging rod, two slide ways, two bottom rotating bearing assemblies, two connecting rods, two top hinging bearing assemblies, four connecting lifting lugs and four pins. The hanging rod is horizontally arranged, the two ends of the hanging rod are connected with the upper ends of the two connecting rods through the two top hinging bearing assemblies, the lower end of each connecting rod is connected with one bottom rotating bearing assembly, one slide way is inserted in each bottom rotating bearing assembly, and the two ends of each slide way are connected with the upper ends of the two corresponding connecting lifting lugs through two pins, and the lower ends of the four connecting lifting lugs are all connected with a mechanical arm. The driven cross-shaped rotating hanging bracket device is used in a low gravity simulation experiment.
Description
Technical field
The present invention relates to a kind of hanger device, be specifically related to a kind of passive type cross revolution hanger device.
Background technology
Low gravity simulation experiment is applied in the ground experiment of deep space probing widely, and large-scale space manipulator, because the gravity of self can produce very large moment at joint, in ground simulating, can produce destruction to joint connector and motor.The motion of space manipulator is three-dimensional, and adopt the mode of suspention to carry out low gravity simulation, therefore need a set of erecting by overhang that can connect the low gravity compensation of mechanical arm, existing erecting by overhang can not make balancing force pass through to be compensated a certain definite position of object axis of movement, and can not realize around being rotated by the orthogonal axis of compensation object.
Summary of the invention
The present invention solves existing erecting by overhang can not make balancing force pass through to be compensated a certain definite position of object axis of movement, and can not realize around the problem of being rotated by the orthogonal axis of compensation object, and then proposes a kind of passive type cross revolution hanger device.
The present invention addresses the above problem the technical scheme of taking to be: the present invention includes suspending rod, two slideways, two bottom swing bearing assemblies, two connecting rods, two top anchor bearing assemblies, four connect hanger and four pins, suspending rod is horizontally disposed with, the two ends of suspending rod are connected with the upper end of two connecting rods by two top anchor bearing assemblies, the lower end of each connecting rod is respectively connected with a bottom swing bearing assembly respectively, slideway of the each plug-in mounting of difference in the swing bearing assembly of each bottom, the two ends of each slideway are connected hanger by two pins upper end with two connects, four lower ends that connect hanger are all connected with mechanical arm.
The invention has the beneficial effects as follows: one, apparatus of the present invention can be followed the motion of compensation object passively, wherein directions X bearing, Y-direction bearing and hoist cable reverse and provide 3 rotational freedoms for it, the connecting rod of hanger device is remained vertically, finally make the balancing force acting on compensation object remain vertical; Two, the particular design of the parallel four-bar linkage connection bearing in apparatus of the present invention and suspending rod can realize balancing force by a certain definite position of rotation axis, has solved by outside point of suspension balancing force is acted on to inner this problem of rotation axis of mechanical arm; Three, apparatus of the present invention have been improved suspension bracket in conventional spreader device and by the interference problem between compensation object mechanical part, have been solved the target compensation difficult suspention limited for connecting interface and a difficult problem for bad suspention.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention, and Fig. 2 is front view of the present invention, and Fig. 3 is the left view of Fig. 2, and Fig. 4 is the cutaway view of bottom swing bearing assembly, and Fig. 5 is 4 left cutaway view, and Fig. 6 is the hinged cutaway view of being pumped into assembly in top.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1 to Fig. 5, described in present embodiment, a kind of passive type cross revolution hanger device comprises suspending rod 8, two slideways 4, two bottom swing bearing assemblies 5, two connecting rods 6, two top anchor bearing assemblies 7, four connect hanger 2 and four pins 3, suspending rod 8 is horizontally disposed with, the two ends of suspending rod 8 are connected with the upper end of two connecting rods 6 by two top anchor bearing assemblies 7, the lower end of each connecting rod 6 is respectively connected with a bottom swing bearing assembly 5 respectively, slideway 4 of each bottom swing bearing assembly each plug-in mounting of 5 interior difference, the two ends of each slideway 4 are connected hanger 2 by two pins 3 upper end with two connects, four lower ends that connect hanger 2 are all connected with mechanical arm 1.
Suspending rod in present embodiment 8, two connecting rods 6 with.Mechanical arm 1 forms parallel four-bar linkage, the center cambered surface axis of two slideways 4 with by target compensation S. A. conllinear, the center camber line of two slideways 4 is on the same face of cylinder, slideway 4 provides slideway for the bottom swing bearing assembly 5 of parallel four-bar linkage bottom on the one hand, on the other hand as the virtual base of parallel four-bar linkage.
The specific embodiment two: present embodiment is described in conjunction with Fig. 4 and Fig. 5, described in present embodiment, a kind of each bottom swing bearing assembly 5 of passive type cross revolution hanger device comprises bearing seat 5-1, directions X swivel bearing 5-2, roller bearing end cap 5-4 and four Y-direction swivel bearing unit 5-3, each bearing seat 5-1 connects with the lower end of a corresponding connecting rod 6, directions X swivel bearing 5-2 is arranged on bearing seat 5-1, and the dead in line of the axis of directions X swivel bearing 5-2 and bearing seat 5-1 inner circle, in four uniform interior ring 5-22 that are arranged on directions X swivel bearing 5-2 of Y-direction swivel bearing unit 5-3, roller bearing end cap 5-4 spiral-lock is on bearing seat 5-1.
The technique effect of present embodiment is: so arrange, can realize suspension gear is that directions X and vertical direction are that Y-direction is rotated around horizontal direction.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: present embodiment is described in conjunction with Fig. 4 and Fig. 5, described in present embodiment, a kind of each Y-direction swivel bearing unit 5-3 of passive type cross revolution hanger device comprises retainer 5-31 and two little bearing 5-32, and two little bearing 5-32 are installed in parallel in the interior ring 5-21 of directions X swivel bearing 5-2 side by side by retainer 5-31.
In present embodiment, in order to prevent that the groove on little bearing 5-32 and retainer 5-31 from rubbing, be equipped with end ring at the two ends of little bearing 5-32, so can avoid the wearing and tearing of little bearing 5-32, extend its service life.Other composition and annexation are identical with the specific embodiment two.
The specific embodiment four: present embodiment is described in conjunction with Fig. 6, described in present embodiment, a kind of each top anchor bearing assembly 7 of passive type cross revolution hanger device comprises tie bolt 7-1 and two little bearing 7-2 in inside, the two ends of suspending rod 8 are equipped with slot 8-1, the upper end of each connecting rod 6 is the little bearing 7-2 in two inside of each setting-in respectively, the upper end of each connecting rod 6 is respectively inserted in a corresponding slot 8-1 by a tie bolt 7-1 respectively, and each tie bolt 7-1 is successively through corresponding slot 8-1 and two little bearing 7-2 in inside.
In present embodiment, between two little bearing 7-2 in inside, be provided with end ring.Other composition and annexation are identical with the specific embodiment one.
Claims (4)
1. a passive type cross revolution hanger device, it is characterized in that: described a kind of passive type cross revolution hanger device comprises suspending rod (8), two slideways (4), two bottom swing bearing assemblies (5), two connecting rods (6), two top anchor bearing assemblies (7), four connect hanger (2) and four pins (3), suspending rod (8) is horizontally disposed with, the two ends of suspending rod (8) are connected with the upper end of two connecting rods (6) by two top anchor bearing assemblies (7), the lower end of each connecting rod (6) is respectively connected with a bottom swing bearing assembly (5) respectively, a difference slideway of each plug-in mounting (4) in each bottom swing bearing assembly (5), the two ends of each slideway (4) are connected hanger (2) by two pins (3) upper end with two connects, four lower ends that connect hanger (2) are all connected with mechanical arm (1).
2. a kind of passive type cross turns round hanger device according to claim 1, it is characterized in that: each bottom swing bearing assembly (5) comprises bearing seat (5-1), directions X swivel bearing (5-2), roller bearing end cap (5-4) and four Y-direction swivel bearing unit (5-3), each bearing seat (5-1) connects with the lower end of a corresponding connecting rod (6), directions X swivel bearing (5-2) is arranged on bearing seat (5-1), and the dead in line of the axis of directions X swivel bearing (5-2) and bearing seat (5-1) inner circle, in the uniform interior ring (5-22) that is arranged on directions X swivel bearing (5-2) in four Y-direction swivel bearing unit (5-3), roller bearing end cap (5-4) spiral-lock is on bearing seat (5-1).
3. a kind of passive type cross turns round hanger device according to claim 2, it is characterized in that: each Y-direction swivel bearing unit (5-3) comprises retainer (5-31) and two little bearings (5-32), two little bearings (5-32) are installed in parallel in the interior ring (5-21) of directions X swivel bearing (5-2) side by side by retainer (5-31).
4. a kind of passive type cross turns round hanger device according to claim 1, it is characterized in that: each top anchor bearing assembly (7) comprises tie bolt (7-1) and inner little bearing (7-2), the two ends of suspending rod (8) are equipped with slot (8-1), the upper end of each connecting rod (6) is a little bearing in inside of each setting-in (7-2) respectively, the upper end of each connecting rod (6) is respectively inserted in a corresponding slot (8-1) by a tie bolt (7-1) respectively, and each tie bolt (7-1) is successively through corresponding slot (8-1) and two little bearings in inside (7-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410150521.5A CN103895881B (en) | 2014-04-15 | 2014-04-15 | A kind of passive type cross revolution hanger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410150521.5A CN103895881B (en) | 2014-04-15 | 2014-04-15 | A kind of passive type cross revolution hanger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103895881A true CN103895881A (en) | 2014-07-02 |
| CN103895881B CN103895881B (en) | 2016-01-20 |
Family
ID=50987531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410150521.5A Active CN103895881B (en) | 2014-04-15 | 2014-04-15 | A kind of passive type cross revolution hanger device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103895881B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104389937A (en) * | 2014-09-12 | 2015-03-04 | 上海卫星工程研究所 | Tension spring and plate spring composite suspension system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614622A (en) * | 2009-07-28 | 2009-12-30 | 北京航空航天大学 | A kind of gravity unloading mechanism for solar array ground experiment |
| CN101789195A (en) * | 2010-02-24 | 2010-07-28 | 哈尔滨工业大学 | Suspension gear and hanger suspending method used in low gravity experiment of planetary rover |
| CN102009750A (en) * | 2010-12-02 | 2011-04-13 | 哈尔滨工业大学 | Carriage hanging and correction mechanism and method for low-gravity experimental system of planetary exploration vehicle |
-
2014
- 2014-04-15 CN CN201410150521.5A patent/CN103895881B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614622A (en) * | 2009-07-28 | 2009-12-30 | 北京航空航天大学 | A kind of gravity unloading mechanism for solar array ground experiment |
| CN101789195A (en) * | 2010-02-24 | 2010-07-28 | 哈尔滨工业大学 | Suspension gear and hanger suspending method used in low gravity experiment of planetary rover |
| CN102009750A (en) * | 2010-12-02 | 2011-04-13 | 哈尔滨工业大学 | Carriage hanging and correction mechanism and method for low-gravity experimental system of planetary exploration vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104389937A (en) * | 2014-09-12 | 2015-03-04 | 上海卫星工程研究所 | Tension spring and plate spring composite suspension system |
| CN104389937B (en) * | 2014-09-12 | 2016-08-24 | 上海卫星工程研究所 | Extension spring leaf spring composite suspension system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103895881B (en) | 2016-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204176291U (en) | Supporter for display device and medical diagnosis monitoring equipment | |
| CN106628887B (en) | Supporting device of small curve turning screw conveyor | |
| CN104772750B (en) | A kind of moving lifting machine people | |
| CN104458197A (en) | Wind tunnel testing model supporting mechanism based on parallelogram mechanism | |
| CN203765634U (en) | Structurally improved robot | |
| CN205254367U (en) | Cable embeds type spot welding machine people | |
| CN206703863U (en) | Robot chassis and robot | |
| CN103895881B (en) | A kind of passive type cross revolution hanger device | |
| CN203055223U (en) | Four freedom degree simulation driving simulation platform | |
| CN106926275A (en) | A kind of bidirectional balanced device of mechanical arm | |
| CN110345173A (en) | A kind of centrifugal speed control formula rotary part middle section attachment device | |
| CN103791205B (en) | A kind of display device rocking arm | |
| CN102267347B (en) | Oscillating connecting frame with large oscillating quantity for hinged type chassis | |
| CN202263309U (en) | Medical electronic linear accelerator rack | |
| CN207397222U (en) | Realize the compliant platform of virtual reality | |
| CN206893234U (en) | Eight arm Rotatable LED display screens | |
| CN203403450U (en) | Universal rotating anchor rope device of electric shovel | |
| CN204109993U (en) | A kind of large erecting brush assembly for automatic car washing machine | |
| CN204655988U (en) | A kind of suspension type multidimensional seat device | |
| CN205166928U (en) | Robot | |
| CN202674773U (en) | Novel rotary touch screen bracket | |
| CN201855218U (en) | Automatic vertical type hanging mechanism for window cleaning machine | |
| CN202247701U (en) | Rotatable middle support leg | |
| CN101695975A (en) | Rail bearing mechanism | |
| CN206318628U (en) | A kind of drivers' cab and crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |