CN107553432A - A kind of heavily loaded three-dimensional turntable for balancing tilting moment - Google Patents
A kind of heavily loaded three-dimensional turntable for balancing tilting moment Download PDFInfo
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- CN107553432A CN107553432A CN201710806709.4A CN201710806709A CN107553432A CN 107553432 A CN107553432 A CN 107553432A CN 201710806709 A CN201710806709 A CN 201710806709A CN 107553432 A CN107553432 A CN 107553432A
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Abstract
A kind of heavily loaded three-dimensional turntable for balancing tilting moment, including load installation rotating disk, inverted U bearing, U-shaped bottom seat, balanced connecting rod, weight slide block, orientation rotating cylinder, turret base, mainly realize ZYZ Eulerian angles three-dimensional posture adjustments.Wherein, upper position axle Z1 axles are formed between load installation rotating disk and inverted U bearing, inverted U bearing forms pitch axis Y-axis with U-shaped bottom seat, and orientation rotating cylinder forms lower azimuth axis Z2 axles with turret base.Z1, Z2 axle disclosure satisfy that circumferential rotation type, and pitch axis Y-axis can realize a wide range of pitch rotation.The counter weight device of balance tilting moment is installed, to balance due to tilting moment caused by pitching, so as to reduce the driving moment of pitch axis motor on pitch axis.The device has the characteristics that large carrying capacity, power-off overturn-preventing, Reliability of Mechanical System are high.
Description
Technical field
The present invention relates to a kind of posture adjustment platform, particularly the posture adjustment platform for Heavy Product test.
Background technology
During for radar or airborne electronic equipment system testing, work of the test product under different postures is generally required
State, so needing that such product can be carried out in the device or equipment of pose adjustment.It is big in Large Radar, aircraft avionics system etc.
Under type, heavily loaded test condition, testee is not only needed to realize comprehensive circumferential rotation type, and the weight one of tested device
As it is larger.Traditional hydraulic-driven technology, cost is higher and reliability, spatter property and maintainability substantially reduce.Existing skill
Art can not still be directed to the multi-faceted device for adjusting posture of large-scale heavy duty and propose preferably electronic solution.Patent
A kind of large-scale heavy duty rolling simulation stand is proposed in 201410587952.8, is proposed for heavy duty requirements and aids in branch using carrying roller
The form of support is to strengthen the method for the bearing capacity of turntable, but the invention can only realize that pitching and rolling two are rotatably mounted
Degree, and azimuth axis circumferential rotation type can not be realized.Patent 201210154506.9 proposes that to use weight balancing system negative to balance
Carrying force, the method for reducing the driving moment of motor, the invention can realize six free movements, but the angle of its pose adjustment
Circumferential rotation type can not be realized.A kind of panoramic table of high precision overloading of the invention of patent 201310626116.1, have bearing capacity it is big,
The characteristics of precision is high, but single dof mobility can only be realized, three-dimensional posture adjustment requirement can not be realized.Patent 201220311413.8
With slewing bearing, realize that single-shaft-rotation moves, large carrying capacity, but because turntable bearing is relatively small, it is carried
The ability of tilting moment is poor, and the device can not realize three-dimensional posture adjustment action.
The content of the invention
It is an object of the invention to provide a kind of load is big, power-off overturn-preventing, high the balancing of Reliability of Mechanical System are inclined
Cover the heavily loaded three-dimensional turntable of torque.The present invention is mainly based upon ZYZ Eulerian angles posture adjustment principles, and proposition is put down with pitching tilting moment
The heavily loaded three-dimensional turntable of balance system, with the application demand for meeting heavy load, the 3 d pose adjustment of wide-angle is equipped, it is main special
Point is the counter weight device that balance tilting moment is provided with pitch axis, to balance due to tilting moment caused by pitching, so as to drop
The driving moment of low pitch axis motor.
The invention mainly comprises load installation rotating disk, inverted U bearing, U-shaped bottom seat, balanced connecting rod, weight slide block, orientation to turn
Cylinder and turret base.Wherein, load installation rotating disk is located at top and the first turns auxiliary shaft of inverted U bearing by the first revolute pair
Plane of the line perpendicular to load installation rotating disk；First revolute pair mainly includes turntable bearing A, and it is installed on load installation rotating disk
In the ring body of bottom, the ring body inner bottom surface of the upper mounting surface and load installation rotating disk of turntable bearing A inner rings is connected, on inverted U bearing
Portion is disc top plate, and the upper mounting surface of the disc top plate is fixed with mounting surface under turntable bearing A inner ring.Turntable bearing A
Inner ring on be machined with internal gear, the internal gear engages with symmetrically arranged two reduction gearing A, and reduction gear shaft A is through U
Type bearing circular top plate, and the drive mechanism output shaft fixed connection being connected in inverted U bearing circular top plate, to increase resist torque
Ability, preferably load installation rotating disk periphery and inverted U bearing circular top plate periphery between 4-8 pinch roller is installed
Mechanism, each pressing wheel mechanism include the first pinch roller, the second pinch roller, and all pressing wheel mechanisms are distributed in load installation rotating disk bottom
In ring body, the base of the first pinch roller and the second pinch roller is connected with load installation rotating disk bottom ring body, the first pinch roller and inverted U branch
The upper plane of seat circular top plate compresses, and the second pinch roller and the lower plane of inverted U bearing circular top plate compress, the first pinch roller and second
Pinch roller keeps pure rolling with inverted U bearing.First pinch roller, the thrust of the second pinch roller and inverted U holder top disk pass through
Inclined-plane adjusting apparatus adjustment.
Inverted U bearing is connected with U-shaped bottom seat by the second revolute pair, and the second revolute pair axis hangs down with the first revolute pair axis
Direct join is close to load installation rotating disk, and the second revolute pair axis is respectively positioned at the root of inverted U-shaped bearing and the top of U-shaped bottom seat.Should
The structure of second revolute pair is：Inverted U bearing has an annular top plate, set below top plate two it is perpendicular be connected and it is identical
Riser, each riser top respectively sets the upper through hole of a coaxial line, the short axle of its journal stirrup inside upper part parallel with U-shaped bottom seat two
Socket, the riser bottom of inverted U bearing two set two symmetrically arranged part ring gears, the axis of the part ring gear and second turn
Dynamic secondary coaxial, the reduction gearing B of part ring gear journal stirrup lower inside parallel with U-shaped bottom seat two is meshed, reduction gear shaft B
It is connected through journal stirrup with the drive mechanism B being located on the outside of journal stirrup, the drive mechanism is fixed on the bottom plate of U-shaped bottom seat.
The bottom plate of U-shaped bottom seat is movably fixed to the upper end of orientation rotating cylinder, and bottom plate is provided with corresponding with orientation rotating cylinder endoporus
Through hole.Orientation rotating cylinder is connected by the 3rd revolute pair with turret base, and the axis and the second turns auxiliary shaft of the 3rd revolute pair
Line is vertical.The turntable bearing B outer rings of 3rd revolute pair are connected with orientation rotating cylinder, and turntable bearing B inner rings are connected with turret base, institute
State and be machined with external tooth on turntable bearing B outer rings, engaged with two reduction gearing being arranged symmetrically C, two reduction gear shaft C difference
With two groups of drive mechanism C output shaft fixed connection, drive mechanism C is connected with turret base.
Inverted U bearing bottom is connected with the upper end of balanced connecting rod by the 4th revolute pair, and the axis of the 4th revolute pair is put down
Going in the second revolute pair axis, the structure of the 4th revolute pair is：The each riser bottom of inverted U bearing is respectively set under a coaxial line
Through hole, lower through-hole inner side respectively set the short axle B of a vertical wall, and it is respectively inserted with two through holes on balanced connecting rod fork-shaped top
Connect, balanced connecting rod bottom is connected by the 5th revolute pair with weight slide block and the diameter parallel of the 5th revolute pair is in the 4th revolute pair
Axis, the balanced connecting rod lower through-hole and the through hole on weight slide block top of the 5th revolute pair are socketed by short axle.Balanced connecting rod is worn
Corresponding through hole bottom on U-shaped base plate is crossed to be placed in together with weight slide block in orientation rotating cylinder.Weight slide block passes through prismatic pair
It is connected with orientation rotating cylinder, prismatic pair is located at the inside of orientation rotating cylinder, and prismatic pair is oriented parallel to the 3rd revolute pair axis, i.e., outer
Shape is inserted in hollow turret base for the orientation rotating cylinder of cylinder, and the side inside orientation rotating cylinder carries guide rail, and weight slide block exists
Slided on guide rail.4-8 carrier roller mechanism is provided between orientation cylinder bottom and turret base bottom, each carrier roller mechanism mainly wraps
Side pinch roller and bottom supporting roller are included, the carrier roller mechanism is evenly arranged and two-by-two by the 3rd revolute pair axisymmetrical, side pressure
Wheel is mounted on pinch roller carrying roller base with bottom supporting roller, and pinch roller carrying roller base is fixed with turret base, side pinch roller and orientation
The exterior arc surface of rotating cylinder compresses, and the bottom surface of bottom supporting roller and orientation rotating cylinder compresses, side pinch roller pivot center and the 3rd revolute pair
Diameter parallel, bottom supporting roller pivot center intersect with the 3rd revolute pair axis, side pinch roller and bottom supporting roller with orientation rotating cylinder
Keep pure rolling.
The present invention the course of work and principle approximately as：
The top of inverted U bearing is connected by the first revolute pair with load installation rotating disk, and the first revolute pair is referred to as upper position
Axle Z1 axles, Z1 axles can realize circumferential rotation type, and rotation direction is all the time perpendicular to the mounting plane of load installation rotating disk, second
Revolute pair is referred to as pitch axis Y-axis, and the axle is vertical with Z1 axles all the time.Orientation rotating cylinder is connected by the 3rd revolute pair with turret base,
The axis of 3rd revolute pair is perpendicular to the second revolute pair.3rd revolute pair is referred to as lower azimuth axis Z2 axles.Orientation rotating cylinder and turntable bottom
Seat is after lower azimuth axis Z2 axles turn an angle α, and inverted U bearing rotates relative to U-shaped bottom seat around pitch axis Y-axis on this basis
β, and load installation rotating disk rotates γ angles relative to inverted U bearing around upper position axle Z1 axles on this basis, so the tune of the device
Appearance principle is ZYZ Eulerian angles posture adjustments, and load installation rotating disk is Rotz (α) Roty (β) relative to the final carriage of turret base
Rotz (γ), as shown in Figure 1.After pitch axis Y-axis rotates β angles, because load height of center of mass is higher, it can produce and larger incline
Torque is covered, the tilting moment not only increases the driving moment of pitch axis, and it is unstable to also result in mechanical system.Incline to balance this
Torque is covered, the bascule that can balance pitching tilting moment is installed on pitch axis, its inverted U bearing, U-shaped bottom seat, balance
Connecting rod, weight slide block constitute a slider-crank mechanism.The weight of weight slide block can adjust, for different load weight and
Centroid position setting is optimal to match somebody with somebody weight, and pitch axis can be prevented after a loss of power while pitching drive mechanism driving moment is reduced
Or pitch axis power set when breaking down mechanical system topple over and cause the accident, as shown in Figure 3,4.To improve the carrying of system
Ability and resistance to capsizing, add multigroup rolling pressing device on the basis of traditional turntable bearing, and thrust pass through it is oblique
Face adjusting apparatus adjustment, as shown in Figure 3,4.
The present invention driving principle be：Upper position axle Z1 axles：By the two groups of drive mechanism being arranged symmetrically A, drive and slow down
Gear A, reduction gearing A are rotated by driving turntable bearing A to realize between load installation rotating disk and inverted U bearing.Pitch axis Y
Axle：By the two groups of drive mechanism being arranged symmetrically B, reduction gearing B is driven, reduction gearing B is by driving part ring gear to realize
Rotated between inverted U bearing and U-shaped bottom seat.Lower orientation Z2 axles：Two groups of drive mechanism C being arranged symmetrically, reduction gearing C is driven,
Reduction gearing C is by driving turntable bearing B to realize the rotation between orientation rotating cylinder and turret base.
The present invention has the following advantages that compared with prior art：
1st, large carrying capacity, Mechanical Reliability are high.Mechanical structure and joint assume responsibility for the gravity of load, crank block gravity
Balance system can balance the tilting moment as caused by pitching, reduce the torque of motor and transmission system, while allow machine
Tool system cut-off overturn-preventing.Periphery pinch roller system and bottom supporting roller system also improve the ability of mechanical system resistance to tipping moment.
2nd, pitch axis Y-axis slewing area is big, upper and lower azimuth axis Z1, Z2 axle allows circumferential rotation type, and pitch axis passes through half gear
Transmission, slewing area is also larger, general reachable ± 60 °.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is top view of the present invention.
Fig. 3 is A-A sectional view solids simplified schematic diagram (wherein turntable bearing A8, turntable bearing B12, drive mechanism in Fig. 2
C13, drive mechanism B9, reduction gearing C11, reduction gearing B14 are not splitted).
Fig. 4 is B-B sectional view solids simplified schematic diagram in Fig. 2 (wherein drive mechanism A4, part ring gear 5 are not splitted).
Fig. 5 is the partial enlargement simplified schematic diagram of D in Fig. 3.
Fig. 6 is the partial enlargement simplified schematic diagram of C in Fig. 3.
Fig. 7 is the profile simplified schematic diagram that rotating disk 1 is installed in present invention load.
Fig. 8 is the profile simplified schematic diagram of inverted U bearing 2 of the present invention.
Fig. 9 is the profile simplified schematic diagram of U-shaped bottom seat 3 of the present invention.
Figure 10 is the profile simplified schematic diagram of orientation rotating cylinder 6 of the present invention.
Figure 11 is the profile simplified schematic diagram of turret base 10 of the present invention.
Figure 12 is the profile simplified schematic diagram of balanced connecting rod 7 of the present invention.
Figure 13 is the profile simplified schematic diagram of weight slide block 15 of the present invention.
In figure：
1st, load installation rotating disk, 2, inverted U bearing, 3, U-shaped bottom seat, 4, drive mechanism B, 5, part ring gear, 6, orientation
Rotating cylinder, 7, balanced connecting rod, 8, turntable bearing B, 9, drive mechanism C, 10, turret base, 11, reduction gearing A, 12, turntable bearing
A, 13, drive mechanism A, 14, reduction gear shaft A, 15, reduction gearing C, 16, reduction gear shaft C, 17, weight slide block, 18, short axle
A, 19, short axle B, 20, reduction gearing B, 21, reduction gear shaft B, 22, short axle C, 23, side pinch roller, 24, pinch roller carrying roller base,
25th, bottom supporting roller, the 26, first pinch roller, the 27, second pinch roller.
Embodiment
The simplified schematic diagram of heavily loaded three-dimensional turntable of tilting moment is being balanced shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, is being tested
Object is installed on the upper plane of load installation rotating disk 1, as shown in fig. 7, turntable bearing A12 is installed on load installation rotating disk bottom
In portion's ring body, the ring body inner bottom surface of the upper mounting surface and load installation rotating disk of its inner ring is connected, inverted U bearing 2 as shown in Figure 8
The upper mounting surface of disc top plate fixed with mounting surface under turntable bearing A12 inner ring.It is machined with turntable bearing A inner ring
Internal gear, the internal gear engage with symmetrically arranged two reduction gearing A11, and reduction gear shaft A14 justifies through inverted U bearing 2
Shape top plate, and drive mechanism A13 output shaft fixed connections being connected in inverted U bearing circular top plate, as shown in Figure 3, Figure 4.Negative
Carry and 4-8 pressing wheel mechanism, each wheel press are installed between the periphery of installation rotating disk and the periphery of the circular top plate of inverted U bearing
Structure includes the first pinch roller 26, the second pinch roller 27, and all pressing wheel mechanisms are distributed in the ring body of load installation rotating disk bottom, and first
The base of pinch roller and the second pinch roller is connected with load installation rotating disk bottom ring body, the first pinch roller and inverted U bearing circular top plate
Upper plane compress, the lower plane of the second pinch roller and inverted U bearing circular top plate compresses, the first pinch roller and the second pinch roller with
U-shaped bearing keeps pure rolling.The thrust of first pinch roller, the second pinch roller and inverted U holder top disk is adjusted by inclined-plane to be filled
Adjustment is put, as shown in Figure 6.
Inverted U bearing 2 is connected with U-shaped bottom seat 3 by the second revolute pair, and inverted U bearing 2 has an annular top plate, under it
Face sets two perpendicular connected and identical riser, each riser tops and respectively sets the upper through hole of a coaxial line, and it is such as Fig. 9 institutes
It is showing to be socketed with 3 liang of parallel journal stirrup inside upper parts of U-shaped bottom seat short axle A18, the second revolute pair axis and the first revolute pair axis
Vertical and close load installation rotating disk.The riser bottom of inverted U bearing two sets two symmetrical part ring gears 5, the part internal tooth
The axis of circle is coaxial with the second revolute pair, the reduction gearing 20 of part ring gear journal stirrup lower inside parallel with U-shaped bottom seat two
It is meshed, reduction gear shaft B21 is connected through journal stirrup with the drive mechanism B4 being located on the outside of journal stirrup, and the drive mechanism is fixed on
On the bottom plate of U-shaped bottom seat.The bottom plate is bolted on the upper end of orientation rotating cylinder 6 as shown in Figure 10, and bottom plate be provided with
Through hole corresponding to orientation rotating cylinder endoporus.Orientation rotating cylinder is connected by the 3rd revolute pair with turret base 10 as shown in figure 11, and
The axis of 3rd revolute pair is vertical with the second revolute pair axis.The turntable bearing B8 outer rings of 3rd revolute pair are solid with orientation rotating cylinder 6
Even, turntable bearing B8 inner rings are connected with turret base 10, external tooth are machined with the turntable bearing B outer rings, with two symmetrical cloth
The reduction gearing C15 engagements put, two reduction gear shaft C16 output shaft fixed connections with two groups of drive mechanism C9 respectively, driving machine
Structure C is connected with turret base, as shown in Figure 3, Figure 4.
The bottom of inverted U bearing 2 is connected with the upper end of balanced connecting rod 7 as shown in figure 12 by the 4th revolute pair, and the 4th
The diameter parallel of revolute pair is in the second revolute pair axis, the structure of the 4th revolute pair：The each riser bottom of inverted U bearing 2 is each
If the lower through-hole of a coaxial line, the short axle B19 of a vertical wall is respectively set on the inside of the lower through-hole, it is respectively pitched with balanced connecting rod 7
Two through hole grafting on shape top, the bottom of balanced connecting rod 7 are connected by the 5th revolute pair with weight slide block 17 as shown in fig. 13 that
And the 5th the diameter parallel of revolute pair lead in the 4th revolute pair axis, balanced connecting rod lower through-hole and the through hole on weight slide block top
Cross short axle C22 sockets.Balanced connecting rod 7 is placed in orientation through the through hole bottom on U-shaped base plate together with weight slide block 17 and turned
In cylinder 6.Weight slide block 17 is connected by prismatic pair with orientation rotating cylinder, and prismatic pair is located at the inside of orientation rotating cylinder, the side of prismatic pair
To parallel to the 3rd revolute pair axis, i.e. profile is inserted in hollow turret base for the orientation rotating cylinder of cylinder, in orientation rotating cylinder 6
The side in portion is directly machined with V-type rail chute, and the V-type sliding block of the lateral projections of weight slide block 17 slides on guide rail, such as Fig. 3,
Shown in Fig. 4.4-8 carrier roller mechanism is provided between the bottom of orientation rotating cylinder 6 and turret base bottom, each carrier roller mechanism mainly includes
Side pinch roller 23 and bottom supporting roller 25, carrier roller mechanism are evenly arranged and two-by-two by the 3rd revolute pair axisymmetrical, side pinch rollers
23 are mounted on pinch roller carrying roller base 24 with bottom supporting roller 25, and pinch roller carrying roller base is fixed with turret base, side pinch roller 23
Compressed with the exterior arc surface of orientation rotating cylinder 6, the bottom surface of bottom supporting roller 25 and orientation rotating cylinder 6 compresses, side pinch roller pivot center with
3rd revolute pair diameter parallel, bottom supporting roller pivot center intersect with the 3rd revolute pair axis, and side pinch roller and bottom supporting roller are equal
Pure rolling is kept with orientation rotating cylinder, as shown in Figure 5.
Claims (9)
- A kind of 1. heavily loaded three-dimensional turntable for balancing tilting moment, it is characterised in that：Including load installation rotating disk, inverted U bearing, U-shaped bottom seat, balanced connecting rod, weight slide block, orientation rotating cylinder and turret base；Load installation rotating disk is located at down by the first revolute pair The top of U-shaped bearing and the first revolute pair axis install plane of rotor disc perpendicular to load；Inverted U bearing and U-shaped bottom seat pass through the Two revolute pairs are connected, and the second revolute pair axis is vertical with the first revolute pair axis and close to load installation rotating disk, the second revolute pair Axis is respectively arranged the top in the root of inverted U bearing and U-shaped bottom seat；U-shaped bottom seat is movably fixed to the upper end of orientation rotating cylinder, Orientation rotating cylinder is connected by the 3rd revolute pair with turret base, and the axis of the 3rd revolute pair is perpendicular to the second revolute pair；Inverted U branch Seat bottom is connected with the upper end of balanced connecting rod by the 4th revolute pair, and the diameter parallel of the 4th revolute pair is in the second turns auxiliary shaft Line；The bottom of balanced connecting rod is connected by the 5th revolute pair with weight slide block and the diameter parallel of the 5th revolute pair rotates in the 4th Secondary axis；Weight slide block is connected by prismatic pair with orientation rotating cylinder, and prismatic pair is located at the inside of orientation rotating cylinder, the direction of prismatic pair Parallel to the 3rd revolute pair axis.
- A kind of 2. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 1, it is characterised in that：First rotates Pair mainly includes turntable bearing A, and it is installed on load and installed in the ring body of rotating disk bottom, the upper mounting surface of turntable bearing A inner rings and The ring body inner bottom surface of load installation rotating disk is connected, and inverted U holder top is disc top plate, the upper mounting surface of the disc top plate Fixed with mounting surface under turntable bearing A inner ring, internal gear is machined with turntable bearing A inner ring, the internal gear is with symmetrically setting The two reduction gearing A engagements put, reduction gear shaft A pass through inverted U bearing circular top plate, with being connected in inverted U bearing circle Drive mechanism output shaft fixed connection on top plate.
- A kind of 3. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 1, it is characterised in that：Second rotates Secondary structure is：Inverted U bearing has an annular top plate, and two perpendicular connected and identical risers are set below top plate, Each riser top respectively sets the upper through hole of a coaxial line, the short axle socket of its journal stirrup inside upper part parallel with U-shaped bottom seat two, falls The U-shaped riser bottom of bearing two sets two symmetrically arranged part ring gears, and the axis of the part ring gear is total to the second revolute pair Axle, the reduction gearing B of part ring gear journal stirrup lower inside parallel with U-shaped bottom seat two are meshed, and reduction gear shaft B passes through branch Ear is connected with the drive mechanism B being located on the outside of journal stirrup, and the drive mechanism is fixed on the bottom plate of U-shaped bottom seat.
- A kind of 4. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 1, it is characterised in that：3rd rotates Secondary turntable bearing B outer rings are connected with orientation rotating cylinder, and turntable bearing B inner rings are connected with turret base, the turntable bearing B outer rings On be machined with external tooth, engaged with two reduction gearing being arranged symmetrically C, two reduction gear shaft C respectively with two groups of drive mechanism C Output shaft fixed connection, drive mechanism C is connected with turret base.
- A kind of 5. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 1, it is characterised in that：4th rotates In pair, each riser bottom of inverted U bearing respectively sets the lower through-hole of a coaxial line, and a vertical wall is respectively set on the inside of the lower through-hole Short axle B, its respectively two through hole grafting with balanced connecting rod fork-shaped top.
- A kind of 6. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 1, it is characterised in that：5th rotates Balanced connecting rod lower through-hole and the through hole on weight slide block top are socketed by short axle in pair, and balanced connecting rod passes through U-shaped base plate Through hole bottom corresponding to upper is placed in together with weight slide block in orientation rotating cylinder.
- A kind of 7. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 1, it is characterised in that：In prismatic pair Profile is inserted in hollow turret base for the orientation rotating cylinder of cylinder, and the side inside orientation rotating cylinder carries guide rail.
- A kind of 8. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 2, it is characterised in that：Pacify in load Fill and 4-8 pressing wheel mechanism, each pressing wheel mechanism bag are installed between the periphery of rotating disk and the periphery of the circular top plate of inverted U bearing Include the first pinch roller, the second pinch roller, all pressing wheel mechanisms are distributed in the ring body of load installation rotating disk bottom, the first pinch roller and the The base of two pinch rollers is connected with load installation rotating disk bottom ring body, the first pinch roller and the upper plane of inverted U bearing circular top plate Compress, the lower plane of the second pinch roller and inverted U bearing circular top plate compresses, the first pinch roller and the second pinch roller with inverted U bearing Pure rolling is kept, the first pinch roller, the thrust of the second pinch roller and inverted U holder top disk are adjusted by inclined-plane adjusting apparatus.
- A kind of 9. heavily loaded three-dimensional turntable for balancing tilting moment according to claim 7, it is characterised in that：Orientation rotating cylinder Carrier roller system is installed between bottom and turret base bottom, each carrier roller mechanism mainly includes side pinch roller and bottom supporting roller, The carrying roller is evenly arranged and two-by-two by the 3rd revolute pair axisymmetrical, and the base of side pinch roller and bottom supporting roller is and turntable Base is fixed, and the exterior arc surface of side pinch roller and orientation rotating cylinder compresses, and the bottom surface of bottom supporting roller and orientation rotating cylinder compresses, side pressure Wheel shaft line and the 3rd revolute pair diameter parallel, bottom supporting roller pivot center intersect with the revolute pair axis of bottom three, side pinch roller Pure rolling is kept with bottom supporting roller with orientation rotating cylinder.
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| CN111929511A (en) * | 2020-05-19 | 2020-11-13 | 中国航空工业集团公司北京长城航空测控技术研究所 | High-precision miniature three-axis turntable |
| CN112325065A (en) * | 2020-10-27 | 2021-02-05 | 武汉尼维智能科技有限公司 | Two-degree-of-freedom turntable device |
| CN113932118A (en) * | 2021-09-27 | 2022-01-14 | 中国科学院长春光学精密机械与物理研究所 | Small piezoelectric ceramic drive space two-dimensional pointing device |
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| CN116193553A (en) * | 2023-04-26 | 2023-05-30 | 武汉能钠智能装备技术股份有限公司四川省成都市分公司 | Mobile low-power-consumption control monitoring system and method |
| CN116193553B (en) * | 2023-04-26 | 2023-08-22 | 武汉能钠智能装备技术股份有限公司四川省成都市分公司 | Mobile low-power-consumption control monitoring system and method |
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