CN107651213A - Dynamic equilibrium machinery arm - Google Patents
Dynamic equilibrium machinery arm Download PDFInfo
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- CN107651213A CN107651213A CN201710280089.5A CN201710280089A CN107651213A CN 107651213 A CN107651213 A CN 107651213A CN 201710280089 A CN201710280089 A CN 201710280089A CN 107651213 A CN107651213 A CN 107651213A
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- slide block
- mobile
- chain
- sliding block
- weight slide
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Abstract
The invention belongs to mechanical engineering field, and in particular to a kind of dynamic equilibrium machinery arm, including support unit and dynamic balancing unit；Dynamic balancing unit includes symmetrically arranged mobile slide block assembly and weight slide block component centered on supporting bearing pin；Mobile slide block assembly includes the mobile sliding block being arranged on support frame upper surface and the mobile chain being arranged in the end face outside of mechanical arm one；Mobile sliding block is connected with mobile chain and the rotation for the chain that is moved with mobile moving for sliding block；Weight slide block component includes the weight slide block being arranged on support frame lower surface and the counterweight chain being arranged in another end face outside of mechanical arm；Weight slide block is connected with counterweight chain and the rotation of counterweight chain occurs with the movement of weight slide block；Counterweight chain makes weight slide block and mobile sliding block do the motion of opposite direction with mobile chain by supporting bearing pin drive connection.The scientific structure, reasonable in design, reliability is high, can be widely applied to unmanned plane and takes a flight test platform.
Description
Technical field
The invention belongs to mechanical engineering field, and in particular to a kind of dynamic equilibrium machinery arm.
Background technology
, it is necessary to there is safety guard in unmanned plane Flight Test, it is ensured that in default small model during flight test of unmanned aerial vehicle
Enclose and realize the action such as lifting, driftage, hovering, rotation.
Protection device used on unmanned plane experiment in flight test platform is mainly multi-degree-of-freemechanical mechanical arm at present.Multiple degrees of freedom machine
The testboard of tool arm, when unmanned plane is taken a flight test, unmanned plane needs to bear the gravity load of mechanical arm so that unmanned plane is not in freedom
State is flown, and surveys that data deviation is larger, and data processing difficulty is big.
The content of the invention
A kind of the defects of it is an object of the invention to overcome in the prior art, there is provided dynamic equilibrium machinery arm.
The present invention to achieve the above object, using following technical scheme：
A kind of dynamic equilibrium machinery arm, including support unit and dynamic balancing unit；Described support unit includes bottom
Seat, the support frame being fixed on described base and the machinery by supporting bearing pin to be vertically hinged on described support frame
Arm；Described dynamic balancing unit includes symmetrically arranged mobile slide block assembly and counterweight centered on described support bearing pin
Slide block assembly；Described mobile slide block assembly includes the mobile sliding block that is arranged on support frame upper surface and is arranged on described
Mobile chain in the end face outside of mechanical arm one；Described mobile sliding block is connected with described mobile chain and with described movement
Moving for sliding block and the rotation for the chain that is moved；Described weight slide block component includes being arranged on matching somebody with somebody on support frame lower surface
Weighty slider and the counterweight chain being arranged in described another end face outside of mechanical arm；Described weight slide block is matched somebody with somebody with described
Heavy chain bar connects and the rotation of counterweight chain occurs with the movement of described weight slide block；Described counterweight chain with it is described
Mobile chain is by supporting bearing pin drive connection described weight slide block and described mobile sliding block is done the fortune of opposite direction
It is dynamic.
Described mobile chain is correspondingly arranged on mobile sprocket wheel；Described mobile sprocket wheel includes being arranged on the center of mechanical arm
First movement sliding block sprocket wheel of the side end face of position one and the second movement sliding block for being arranged on described mechanical arm head end one side
Sprocket wheel；Described counterweight chain is correspondingly arranged on counterweight sprocket wheel；Described counterweight sprocket wheel includes the centre bit for being arranged on mechanical arm
Put the first weight slide block sprocket wheel of another side end face and be arranged on the second counterweight cunning of described mechanical arm tail end another side
Block sprocket wheel；Described mobile sliding block sprocket wheel is identical with the pitch of described weight slide block sprocket wheel, and the ratio between number of teeth is slided equal to counterweight
The mass ratio of block and mobile sliding block.
The slideway matched with described mobile sliding block and described weight slide block is provided with described mechanical arm.
Compared with prior art, the beneficial effects of the invention are as follows：
Dynamic equilibrium machinery arm is compared with prior art, of the invention as a result of the brand-new technical scheme of the present invention
Mechanical arm configures weight slide block, and weight slide block is in opposite direction with moving slide block movement, and the ratio between its translational speed and quality are into anti-
Than for mobile sliding block in moving process, mechanical arm position of centre of gravity is maintained at supporting pin shaft position, can realize dynamic equilibrium；This hair
Bright scientific structure, reasonable in design, reliability is high, can be widely applied to unmanned plane and takes a flight test the mechanical arm of platform.
Brief description of the drawings
Fig. 1 is the overall structure diagram of dynamic equilibrium machinery arm of the present invention；
Fig. 2 is the partial structural diagram of dynamic equilibrium machinery arm of the present invention；
Fig. 3 is the structural representation of the mechanical arm of the present invention；
Embodiment
In order that those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and most
The present invention is described in further detail for good embodiment.
Fig. 1-3 shows a kind of dynamic equilibrium machinery arm, including support unit and dynamic balancing unit；Described support list
Member includes base 17, the support frame 1 being fixed on described base and by supporting bearing pin to be vertically hinged on described support
Mechanical arm 10 on frame；Described dynamic balancing unit includes symmetrically arranged mobile sliding centered on described support bearing pin 2
Block assembly and weight slide block component；Described mobile slide block assembly includes the mobile sliding block 3 being arranged on support frame upper surface
And it is arranged on the mobile chain 4 in the described end face outside of mechanical arm one；Described mobile sliding block and described mobile chain
Connection and the rotation for the chain that is moved with described mobile moving for sliding block；Described weight slide block component includes being arranged on
Weight slide block 8 on support frame lower surface and the counterweight chain 7 being arranged in described another end face outside of mechanical arm；It is described
Weight slide block be connected with described counterweight chain and the rotation of counterweight chain occur with the movement of described weight slide block；Institute
The counterweight chain stated is with described mobile chain by supporting bearing pin drive connection to make described weight slide block and described shifting
Movable slider does the motion of opposite direction.Described mobile chain is correspondingly arranged on mobile sprocket wheel；Described mobile sprocket wheel includes setting
Put and move sliding block sprocket wheel 11-2 the first of the side end face of center one of mechanical arm and be arranged on described mechanical arm head end
Second movement sliding block sprocket wheel 11-1 of one side；Described counterweight chain is correspondingly arranged on counterweight sprocket wheel 6；Described counterweight sprocket wheel
First weight slide block sprocket wheel 6-1 of another side end face in center including being arranged on mechanical arm and it is arranged on described machinery
Second weight slide block sprocket wheel 6-2 of arm tail end another side；Described mobile sliding block sprocket wheel and described weight slide block sprocket wheel
Pitch is identical, and the ratio between number of teeth is equal to weight slide block and the mass ratio of mobile sliding block.As a kind of usual manner therein, match somebody with somebody
Weighty slider sprocket wheel is identical with the number of teeth of mobile sliding block sprocket wheel, and weight is also identical, i.e., to support bearing pin as symmetrical centre, weight slide block
Component and mobile slide block assembly are completely the same.Described mobile chain is connected with described mobile sliding block by rotary flange 12-1
Connect.Described counterweight chain is connected with described weight slide block by counterweight flange 12-2.Be provided with described mechanical arm with
Described mobile sliding block and the slideway 16 of described weight slide block matching.Mechanical arm head and the tail both ends are respectively arranged with and mobile sprocket wheel
Bearing pin mounting hole 15 and counterweight sprocket wheel bearing pin mounting hole 15, center are provided with support bearing pin mounting hole 14.Described branch
Support bearing pin mounting hole matches with described support bearing pin, and described mobile sprocket wheel bearing pin mounting hole matches with mobile sprocket wheel bearing pin 5,
Mobile sprocket wheel bearing pin matches with mobile sprocket wheel 6.Described counterweight sprocket wheel bearing pin mounting hole 15 matches with counterweight sprocket wheel bearing pin 9, matches somebody with somebody
Heavy chain wheel bearing pin matches with counterweight sprocket wheel.
The specific implementation process of the present embodiment：By support bearing pin successively by support frame, weight slide block sprocket wheel, mechanical arm,
Mobile sliding block sprocket coaxiality installation, is installed to mechanical arm one end by weight slide block sprocket wheel by counterweight sprocket wheel bearing pin, passes through movement
Mobile sliding block sprocket wheel is installed to the mechanical arm other end by sprocket wheel bearing pin, the mobile sliding block chain of suit on two movement sliding block sprocket wheels,
Weight slide block chain is set with two weight slide block sprocket wheels, mobile sliding block and weight slide block is upper and lower loaded on mechanical arm respectively
Slideway in both ends of the surface, and be connected mobile sliding block with mobile sliding block chain by sliding block adpting flange, by weight slide block with matching somebody with somebody
Weighty slider chain connects；When unmanned plane is taken a flight test, unmanned plane is connected with mobile sliding block, the flight driving mechanical arm of unmanned plane rotates
And mobile sliding block movement.In mobile sliding block movement, weight slide block dynamic tracking movement, mechanical arm itself keeps balance, unmanned plane
The gravity load of mechanical arm and sliding block is not subject to, controlled area free flight can be achieved.
Claims (3)
1. a kind of dynamic equilibrium machinery arm, it is characterised in that including support unit and dynamic balancing unit；Described support list
Member includes base, the support frame being fixed on described base and by supporting bearing pin to be vertically hinged on described support frame
Mechanical arm；Described dynamic balancing unit include centered on described support bearing pin symmetrically arranged mobile slide block assembly with
And weight slide block component；Described mobile slide block assembly includes the mobile sliding block being arranged on support frame upper surface and is arranged on
Mobile chain in the described end face outside of mechanical arm one；Described mobile sliding block is connected and with described with described mobile chain
Mobile moving for sliding block and the rotation for the chain that is moved；Described weight slide block component includes being arranged on support frame lower surface
On weight slide block and the counterweight chain that is arranged in described another end face outside of mechanical arm；Described weight slide block and institute
The counterweight chain stated connects and the rotation of counterweight chain occurs with the movement of described weight slide block；Described counterweight chain with
Described mobile chain is by supporting bearing pin drive connection described weight slide block is phase negative side with described mobile sliding block
To motion.
2. dynamic equilibrium machinery arm according to claim 1, it is characterised in that described mobile chain is correspondingly arranged on shifting
Movable sprocket；Described mobile sprocket wheel include be arranged on mechanical arm the side end face of center one first movement sliding block sprocket wheel and
It is arranged on the second movement sliding block sprocket wheel of described mechanical arm head end one side；Described counterweight chain is correspondingly arranged on counterweight chain
Wheel；Described counterweight sprocket wheel includes being arranged on the first weight slide block sprocket wheel of another side end face in center of mechanical arm and set
Put the second weight slide block sprocket wheel in described mechanical arm tail end another side；Described mobile sliding block sprocket wheel and described counterweight
The pitch of sliding block sprocket wheel is identical, and the ratio between number of teeth is equal to weight slide block and the mass ratio of mobile sliding block.
3. dynamic equilibrium machinery arm according to claim 1, it is characterised in that be provided with described mechanical arm with it is described
Mobile sliding block and described weight slide block matching slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280089.5A CN107651213A (en) | 2017-04-26 | 2017-04-26 | Dynamic equilibrium machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280089.5A CN107651213A (en) | 2017-04-26 | 2017-04-26 | Dynamic equilibrium machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107651213A true CN107651213A (en) | 2018-02-02 |
Family
ID=61126570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280089.5A Pending CN107651213A (en) | 2017-04-26 | 2017-04-26 | Dynamic equilibrium machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107651213A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112194016A (en) * | 2020-11-04 | 2021-01-08 | 中国船舶科学研究中心 | Marine walking rail type portal crane structure with floating dynamic balance control |
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| CN202821383U (en) * | 2012-06-29 | 2013-03-27 | Ge医疗系统环球技术有限公司 | Gravity balance device for X ray machine cross arm and corresponding X ray machine |
| CN204056316U (en) * | 2014-08-06 | 2014-12-31 | 昆明理工大学 | A kind of three degree of freedom helicopter real-time simulation platform |
| CN204416972U (en) * | 2015-01-16 | 2015-06-24 | 张程皓 | A kind of tower machine of automatic adjustment |
| CN104990719A (en) * | 2015-07-08 | 2015-10-21 | 国网山东省电力公司电力科学研究院 | Unmanned aerial vehicle test bed system for inspection and detection |
| CN105547676A (en) * | 2015-12-25 | 2016-05-04 | 北京航空航天大学 | Multifunctional swing-arm type rotor wing test stand |
| CN205952340U (en) * | 2016-07-11 | 2017-02-15 | 河北工业大学 | Rotor unmanned aerial vehicle testboard |
| CN206544607U (en) * | 2017-01-18 | 2017-10-10 | 成都飞机设计研究所制造中心 | A kind of multiple freedom small-sized unmanned aerial vehicle testboard |
| CN206813342U (en) * | 2017-04-26 | 2017-12-29 | 天津中德应用技术大学 | Dynamic equilibrium machinery arm |
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2017
- 2017-04-26 CN CN201710280089.5A patent/CN107651213A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1731124A (en) * | 2005-07-04 | 2006-02-08 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| CN101620033A (en) * | 2008-07-02 | 2010-01-06 | 中国科学院自动化研究所 | Micro air vehicle experimental device |
| CN101934989A (en) * | 2010-06-04 | 2011-01-05 | 何昀旭 | Dynamic balance building tower crane |
| CN102650851A (en) * | 2011-02-25 | 2012-08-29 | 中国科学院沈阳自动化研究所 | Indoor multi-rotor flying robot test platform |
| CN202821383U (en) * | 2012-06-29 | 2013-03-27 | Ge医疗系统环球技术有限公司 | Gravity balance device for X ray machine cross arm and corresponding X ray machine |
| CN204056316U (en) * | 2014-08-06 | 2014-12-31 | 昆明理工大学 | A kind of three degree of freedom helicopter real-time simulation platform |
| CN204416972U (en) * | 2015-01-16 | 2015-06-24 | 张程皓 | A kind of tower machine of automatic adjustment |
| CN104990719A (en) * | 2015-07-08 | 2015-10-21 | 国网山东省电力公司电力科学研究院 | Unmanned aerial vehicle test bed system for inspection and detection |
| CN105547676A (en) * | 2015-12-25 | 2016-05-04 | 北京航空航天大学 | Multifunctional swing-arm type rotor wing test stand |
| CN205952340U (en) * | 2016-07-11 | 2017-02-15 | 河北工业大学 | Rotor unmanned aerial vehicle testboard |
| CN206544607U (en) * | 2017-01-18 | 2017-10-10 | 成都飞机设计研究所制造中心 | A kind of multiple freedom small-sized unmanned aerial vehicle testboard |
| CN206813342U (en) * | 2017-04-26 | 2017-12-29 | 天津中德应用技术大学 | Dynamic equilibrium machinery arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112194016A (en) * | 2020-11-04 | 2021-01-08 | 中国船舶科学研究中心 | Marine walking rail type portal crane structure with floating dynamic balance control |
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