CN105179887A - Anti-bumping two-dimensional automatic balancing instrument - Google Patents
Anti-bumping two-dimensional automatic balancing instrument Download PDFInfo
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- CN105179887A CN105179887A CN201510485564.3A CN201510485564A CN105179887A CN 105179887 A CN105179887 A CN 105179887A CN 201510485564 A CN201510485564 A CN 201510485564A CN 105179887 A CN105179887 A CN 105179887A
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- belt wheel
- rotating shaft
- framework
- stepper motor
- base plate
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Abstract
The invention discloses an anti-bumping two-dimensional automatic balancing instrument. The instrument comprises a base plate, wherein a frame is installed above the base plate, a first rotary shaft is installed in the frame in the direction of one symmetry axis of the frame, and a stabilized platform is installed on the first rotary shaft; a second connecting shaft is connected to the frame in the direction of another symmetry axis of the frame, and a gyro sensor and a second stepping motor are installed on the base plate; an output shaft of the second stepping motor is connected with a belt wheel installed on the second rotary shaft through a belt wheel in a rotary mode, and an output shaft of a first stepping motor is connected with a belt wheel installed on the first rotary shaft through a belt wheel in a rotary mode; the two stepping motors are connected with drivers respectively, signals are generated by the gyro sensor, transmitted to a stepping motor control unit, and then output to the drivers of the stepping motors by the stepping motor control unit, and then the stepping motors are driven to rotate by a fixed angle in the preset direction. By the adoption of the instrument, the problem that force distribution is uneven during mechanical transfer is solved.
Description
Technical field
The present invention relates to a kind of equilibristat, particularly relate to a kind of bidimensional automatic balance instrument.
Background technique
The research contents relating to equilibristat device is at present mainly used on testing instrument technical field, electro-mechanical arts, device technique field, signal analyzer field, medical apparatus, bodily fuctions's measurement and realia, for the patent of traffic and transport field except " vehicle balancing apparatus ", the Liu Liye of Xu Fengming, " a kind of calibrating installation of steering wheel equilibristat " of Zhai capital of the ancient state of Chu and Jiang Zhaojun " a kind of automobile tire pressure balancing instrument ", there are no the relevant report relating to commodity carrying Equilibrator aspect.Existing Equilibrator Technology design has and uses magnet magnetic attraction to keep balance as " a kind of magnetic relative balancing instrument for physics " of Yan Ni; Have and adopt multistage resonant eliminator to improve detection balance quality as " resonant filtration direct positioning type balancing apparatus " of Wang Jingyi; Have and realize " a kind of automatic balancing arrangement of flange type grinder autobalance instrument " of autobalance as Cai An equality people by gear transmission.Having for balancing damping technical elements utilizes Universal active device and guide structure to keep the balance of hand-held camera The Cloud Terrace plate as " shock-absorbing balancing instrument of hand-held camera " of the people such as Li Lipeng, but its structure and complexity thereof.Known Equilibrator is difficult to control equilibrium assignment strength in mechanical transport process in design, and use sensor, detection board carry out Level tune, and the validity of article posture balance is limited.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, a kind of anti-bidimensional autobalance instrument apparatus that jolts with good real-time stabilization equilibrium function is provided.
The present invention is achieved by the following technical solutions:
The anti-bidimensional autobalance instrument apparatus that jolts of one of the present invention, it comprises base plate, above described base plate, framework is installed, in described framework, on framework symmetry axis direction, the first rotating shaft is installed, the first described rotating shaft is provided with stabilized platform, along on another symmetry axis direction of described framework, described framework is connected with the second rotating shaft, the second described shaft axis is vertical with the first described rotating shaft, described base plate is provided with gyro sensor and the second stepper motor, the output shaft of the second described stepper motor is rotatedly connected by the belt wheel that belt wheel and the second rotating shaft are installed, described framework is provided with the first stepper motor, the output shaft of the first described stepper motor is rotatedly connected by the belt wheel that belt wheel and the first rotating shaft are installed, two stepper motors are connected with driver respectively, when framework generation is rocked, produce simulation digital signal by gyro sensor and pass to step motor control unit, analogue signal is converted into output of pulse signal to the driver of stepper motor by step motor control unit, the driver receiving the stepper motor of pulse signal thereupon Driving Stepping Motor rotates a fixing angle by the direction of setting.
Advantage of the present invention:
1. this device uses frame structure, moves and power, define the newtype of belt drives of comprehensive belt transmission, chain transmission gear transmission advantage, solve strength in mechanical transport process and distribute unbalanced problem to be meshed to transmit with the teeth groove of belt wheel with tooth;
2. with pulse number controlled angle displacement amount, pulse frequency controls motor rotation speed and acceleration, to the control accuracy higher (attitude measurement accuracy reaches 0.01 degree in theory) of position, speed, acceleration and power, can real-time implementation bidimensional autobalance;
3. this device assembly is few, decrease the data calculation procedure between gyroscope and stepper motor, thus the time difference of reducing reception adjustment instruction is ageing to improve, and also can reduce packaging space, any weight can be placed within the scope of load-carrying, very be applicable to mobile operational process or field rescue.
Accompanying drawing explanation
Accompanying drawing is the structural representation of a kind of anti-bidimensional autobalance instrument apparatus that jolts of the present invention.
Embodiment
Describe the present invention below in conjunction with the drawings and specific embodiments.
The anti-bidimensional autobalance instrument apparatus that jolts of one of the present invention as shown in drawings, it comprises base plate, framework 1 is installed above described base plate, in described framework 1, on a symmetry axis direction of framework 1, first rotating shaft is installed, the first described rotating shaft is provided with stabilized platform 8, along on another symmetry axis direction of described framework 1, described framework 1 is connected with the second rotating shaft, the second described shaft axis is vertical with the first described rotating shaft, described base plate is provided with gyro sensor (as adopted MPU6050) and the second stepper motor, the output shaft of the second described stepper motor is rotatedly connected by the belt wheel that belt wheel and the second rotating shaft are installed, described framework 1 is provided with the first stepper motor, the output shaft of the first described stepper motor is rotatedly connected by the belt wheel 4 that belt wheel and the first rotating shaft are installed, two stepper motors 5 are connected with driver 6 respectively, when framework 1 generation is rocked, produce simulation digital signal by gyro sensor 7 and pass to step motor control unit 2, analogue signal is converted into output of pulse signal to the driver of stepper motor by step motor control unit, the driver receiving the stepper motor of pulse signal thereupon Driving Stepping Motor rotates a fixing angle by the direction of setting, control program the most predetermined, instruction changes the mechanical motion of expection into, realize the accurate positioning control of mechanical motion, the control of speeds control and acceleration and power, bidimensional autobalance is realized on a platform.
This device has good real-time stabilization equilibrium function, can be used for the carrying valuables such as automobile, steamer, aircraft, keep article stable equilibrium in the external environment of rocking, preventing article from suffering damage because rocking, playing a positive role in guarantee carries out various tasks.According to the aufbauprinciple of this device, a stretcher can be transformed into, for transfer in MEDEVAC and the transport wounded, keep wounded's attitude steady, avoiding causing secondary injury because jolting to it, non-combat casualty rate can be reduced largely, thus improve combat effectiveness of the troops.
The foregoing is only the schematic embodiment of the present invention; and be not used to limit scope of the present invention; any those skilled in the art, the equivalent variations done under the prerequisite not departing from design of the present invention and principle and amendment, all should belong to the scope of protection of the invention.
Claims (1)
1. the anti-bidimensional autobalance instrument apparatus that jolts, it comprises base plate, it is characterized in that: above described base plate, framework is installed, in described framework, on framework symmetry axis direction, the first rotating shaft is installed, the first described rotating shaft is provided with stabilized platform, along on another symmetry axis direction of described framework, described framework is connected with the second rotating shaft, the second described shaft axis is vertical with the first described rotating shaft, described base plate is provided with gyro sensor and the second stepper motor, the output shaft of the second described stepper motor is rotatedly connected by the belt wheel that belt wheel and the second rotating shaft are installed, described framework is provided with the first stepper motor, the output shaft of the first described stepper motor is rotatedly connected by the belt wheel that belt wheel and the first rotating shaft are installed, two stepper motors are connected with driver respectively, when framework generation is rocked, produce simulation digital signal by gyro sensor and pass to step motor control unit, analogue signal is converted into output of pulse signal to the driver of stepper motor by step motor control unit, the driver receiving the stepper motor of pulse signal thereupon Driving Stepping Motor rotates a fixing angle by the direction of setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510485564.3A CN105179887A (en) | 2015-08-07 | 2015-08-07 | Anti-bumping two-dimensional automatic balancing instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510485564.3A CN105179887A (en) | 2015-08-07 | 2015-08-07 | Anti-bumping two-dimensional automatic balancing instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105179887A true CN105179887A (en) | 2015-12-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510485564.3A Pending CN105179887A (en) | 2015-08-07 | 2015-08-07 | Anti-bumping two-dimensional automatic balancing instrument |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105527970A (en) * | 2015-12-28 | 2016-04-27 | 南京农业大学 | Vehicle-mounted self-balancing method and device for crop growth sensor |
| CN106760682A (en) * | 2016-12-27 | 2017-05-31 | 中国人民解放军第二军医大学第二附属医院 | Anti- inclination, the anti-operating room that jolts |
| CN106763453A (en) * | 2017-01-13 | 2017-05-31 | 上海化工研究院有限公司 | A kind of pendulum type gyroscope stabilization vehicle-mounted precision instrument workbench of combined vibration-damping |
| US10539437B2 (en) | 2015-12-28 | 2020-01-21 | Nanjing Agricultural University | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
| CN113163996A (en) * | 2018-10-11 | 2021-07-23 | 小马智行 | Alternative wiper mechanism for removing rain on sensor housing |
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| GB1506180A (en) * | 1975-12-10 | 1978-04-05 | Ferranti Ltd | Gyroscopic apparatus |
| CN87102335A (en) * | 1987-03-31 | 1988-11-02 | 航天工业部第一研究院第十三设计所 | Vehicle dynamic testing apparatus |
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| CN201362348Y (en) * | 2009-03-06 | 2009-12-16 | 上海海事大学 | Marine horizontal platform |
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| CN104351107A (en) * | 2014-11-14 | 2015-02-18 | 浙江海洋学院 | Feeding balance equipment for ship |
| CN204829150U (en) * | 2015-08-07 | 2015-12-02 | 中国人民武装警察部队后勤学院 | Two -dimensional automatic balance appearance device of preventing jolting |
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2015
- 2015-08-07 CN CN201510485564.3A patent/CN105179887A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB856685A (en) * | 1957-12-13 | 1960-12-21 | Commerciale Eca Soc | Improvements in or relating to gyroscopic devices for indicating the true vertical |
| GB1506180A (en) * | 1975-12-10 | 1978-04-05 | Ferranti Ltd | Gyroscopic apparatus |
| CN87102335A (en) * | 1987-03-31 | 1988-11-02 | 航天工业部第一研究院第十三设计所 | Vehicle dynamic testing apparatus |
| CN2413266Y (en) * | 2000-02-17 | 2001-01-03 | 大连方舟科贸有限公司 | Multi-purpose horizontal stable platform |
| CN201362348Y (en) * | 2009-03-06 | 2009-12-16 | 上海海事大学 | Marine horizontal platform |
| CN103148886A (en) * | 2013-03-07 | 2013-06-12 | 德州学院 | Fully-automatic self-adaption portable working platform |
| CN104351107A (en) * | 2014-11-14 | 2015-02-18 | 浙江海洋学院 | Feeding balance equipment for ship |
| CN204829150U (en) * | 2015-08-07 | 2015-12-02 | 中国人民武装警察部队后勤学院 | Two -dimensional automatic balance appearance device of preventing jolting |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105527970A (en) * | 2015-12-28 | 2016-04-27 | 南京农业大学 | Vehicle-mounted self-balancing method and device for crop growth sensor |
| CN105527970B (en) * | 2015-12-28 | 2018-07-13 | 南京农业大学 | The vehicle-mounted self-balance method of plant growth sensor and device |
| US10539437B2 (en) | 2015-12-28 | 2020-01-21 | Nanjing Agricultural University | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
| CN106760682A (en) * | 2016-12-27 | 2017-05-31 | 中国人民解放军第二军医大学第二附属医院 | Anti- inclination, the anti-operating room that jolts |
| CN106763453A (en) * | 2017-01-13 | 2017-05-31 | 上海化工研究院有限公司 | A kind of pendulum type gyroscope stabilization vehicle-mounted precision instrument workbench of combined vibration-damping |
| CN106763453B (en) * | 2017-01-13 | 2019-11-12 | 上海化工研究院有限公司 | A kind of stable vehicle-mounted precision instrument workbench of combined vibration-damping of pendulum type gyroscope |
| CN113163996A (en) * | 2018-10-11 | 2021-07-23 | 小马智行 | Alternative wiper mechanism for removing rain on sensor housing |
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Application publication date: 20151223 |
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