CN107963187A - A kind of flexible adaptive dynamic balancer - Google Patents
A kind of flexible adaptive dynamic balancer Download PDFInfo
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- CN107963187A CN107963187A CN201711377071.3A CN201711377071A CN107963187A CN 107963187 A CN107963187 A CN 107963187A CN 201711377071 A CN201711377071 A CN 201711377071A CN 107963187 A CN107963187 A CN 107963187A
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- hooke
- hinge
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- connector
- lower plate
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 20
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 241000282376 Panthera tigris Species 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004064 recycling Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
Abstract
The invention discloses a kind of flexible adaptive dynamic balancer, including lower plate, moving platform, motor lead screw rail module, the first side chain and the second side chain, the lower plate is fixed on ground, the motor lead screw rail module is fixed on lower plate, one end of first side chain is connected by spherical pair with the sliding block of motor lead screw rail module, and the other end of the first side chain leads to be hinged with moving platform；One end of second side chain is connected by spherical pair with lower plate, and the other end and the moving platform of the second side chain are hinged；First side chain is provided with five, and corresponding motor lead screw guide rail is provided with five groups, and second side chain is provided with one；Fully make use of parallel institution bearing capacity is strong, compact-sized, movement flexibly, inertia it is small and the advantages that easy to control in real time, the design of integrated symmetric structure has simple and compact for structure, and design is reasonable, and processing and assembly technology are good.
Description
Technical field
The present invention relates to dynamic balancer research field, more specifically, a kind of more particularly to flexible adaptive dynamic
Balancing device.
Background technology
The difficulty of marine recycling spacecraft is big at present, main reasons is that sea recycle platform dynamic impulsion balance with
And the posture that spacecraft declines is difficult to ensure that.Due to sea recycling platform, on sea, constantly movement is rocked, and causes to recycle spacecraft
Sea recycling platform be very easy to inclination and fall down, make the recycling mission failure of spacecraft.In order to solve the problems, such as this, existing one
A little platforms can solve the problems, such as this to a certain extent, such as the Chinese invention patent of Application No. 201610843328.X discloses
The manual adjustment means of five degree of freedom can be achieved, employ manual adjustment means, displacement of the lines can not only be adjusted and can also be realized
The adjustment of angular displacement, its is simple in structure, and cost is low and easy to operate.But the invention using manually adjust, precision it is not high and
Inefficiency.At present, most dynamic balancers use serial mechanism, have the advantages that working space is big, movement is flexible, but deposit
In the problems such as complicated, bearing capacity is small, inertia is big, real-time is poor.For above-mentioned deficiency, it is necessary to design and develop a kind of height
The flexible adaptive dynamic equilibrium of precision adjusts stage apparatus, can supply above-mentioned each shortcoming.
The content of the invention
It is an object of the invention to solve existing dynamic balancer to need to adjust manually, degree of regulation is not high and structure
Cause that bearing capacity is low, inertia is big based on series connection and the shortcomings that being unfavorable for controlling in real time, it is proposed that one kind is with no freedom
The parallel adaptive dynamic balancer of flexibility of degree, automatic, high-precision can adjust moving platform to realize that it is horizontal in real time
The requirement of control.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of flexible adaptive dynamic balancer, including
Lower plate, moving platform, motor lead screw rail module, the first side chain and the second side chain, the lower plate are fixed on ground, the electricity
Machine screw rail module is fixed on lower plate, and one end of first side chain passes through spherical pair and motor lead screw rail module
Sliding block connects, and the other end of the first side chain leads to be hinged with moving platform；One end of second side chain passes through spherical pair and lower plate
Connection, the other end and the moving platform of the second side chain are hinged；First side chain is provided with five, and corresponding motor lead screw guide rail is set
Five groups are equipped with, second side chain is provided with one；
The motor lead screw rail module includes lead screw motor, sliding block, motor fixed rack, shaft coupling, screw, bearing
Seat, slide unit and slide unit supporting rack, the slide unit supporting rack are fixed on lower plate, and slide unit is fixed on the slide unit supporting rack,
The lead screw motor is fixed on motor fixed rack, and the motor fixed rack is fixed on slide unit, the lead screw motor
Output terminal passes through two bearing being fixed on slide unit seat supports by one end of shaft coupling connection wire rod, the screw；It is described
It is provided with sliding block and is mounted in the matched threaded hole of screw, the threaded hole and slide block set of screw through sliding block on the slide unit,
Slided when lead screw motor is moved by driving the screw to rotate band movable slider along the slide unit；
First side chain includes connector, fixed push rod, fixation under bulb support, bulb end cap, bulb, fixed push rod
Push rod upper connector and the 3rd Hooke's hinge, the bulb support are fixed on the sliding block, and bulb is fitted to bulb support
Interior, bulb end cap is bolted in bulb support and is only capable of rotating in bulb support by limitation bulb；The fixation
One end of connector is fixedly connected with the shaft end of bulb under push rod, the other end of connector and the one of fixed push rod under fixed push rod
End connection, the fixed push rod upper connector of other end connection of fixed push rod, the fixed push rod upper connector connect the 3rd Hooke
Hinge, the 3rd Hooke's hinge are fixed on the moving platform；
Second side chain include fixed station, lower end connection, the first Hooke's hinge, linear motor connector, linear motor,
Line handspike, push rod connector, upper end connection and the second Hooke's hinge, second Hooke's hinge include connecting on the second Hooke's hinge
Connector under part, the second Hooke's hinge middleware and the second Hooke's hinge, first Hooke's hinge include the first Hooke's hinge upper connector,
Connector under first Hooke's hinge middleware and the first Hooke's hinge；The fixed station is fixed on the lower plate, and the lower end connects
Fitting is fixed on the fixed station, and connector is fixedly connected with lower end connection under first Hooke's hinge, the first Hooke's hinge
Lower connector connects the first Hooke's hinge upper connector by the first Hooke's hinge middleware, and the first Hooke's hinge upper connector passes through
Linear motor connector connects the fixing end of linear motor, one end of the movable end connection line handspike of the linear motor, institute
State the other end of line handspike and connector under the second Hooke's hinge is connected by push rod connector, connector under second Hooke's hinge
Second Hooke's hinge upper connector, the second Hooke's hinge upper connector and upper end connection are connected by the second Hooke's hinge middleware
It is fixedly connected, the upper end connection is fixed on moving platform bottom.
Further, the fixed station is fixed on the middle part of the lower plate, and the upper end connection is fixed on described dynamic
The bottom centre position of platform.
Further, the 3rd Hooke's hinge includes the 3rd Hooke's hinge upper connector, the 3rd Hooke's hinge middleware, the 3rd tiger
Gram lower connector of hinge, connector is connected by the 3rd Hooke's hinge middleware under the 3rd Hooke's hinge connects on the 3rd Hooke's hinge
Part, the 3rd Hooke's hinge upper connector are fixed on moving platform；Under 3rd Hooke's hinge in connector and the 3rd Hooke's hinge
Between part be interference fitted, the 3rd Hooke's hinge middleware and the 3rd Hooke's hinge upper connector are interference fitted.
Further, connector and the first Hooke's hinge middleware are interference fitted under first Hooke's hinge, first tiger
Gram hinge middleware and the first Hooke's hinge upper connector interference fit；Under second Hooke's hinge among connector and the second Hooke's hinge
Part is interference fitted, and the second Hooke's hinge middleware and the second Hooke's hinge upper connector are interference fitted.
Further, the slide unit is welded on slide unit supporting rack, and the slide unit supporting rack is welded on the lower plate.
Further, the lower plate and moving platform are regular pentagon shapes, and the upper end of five the first side chains is connected to
Five apexes of moving platform.
Further, five uniform raised slideways are provided with the lower plate, the slide unit supporting rack bottom is set
There is a groove and the groove is used for coordinating positioning with slideway raised on lower plate.
Further, the moving platform and the lower plate edge and lower plate of keeping parallelism and moving platform in initial assembling
Sideline intersect 36 degree of angles.
Further, the longitudinal cross-section of the slide unit supporting rack is at right angles triangular shaped, its bevel edge and right-angle side into 30 degree,
The inclined plane of slide unit supporting rack is towards the outside of the lower plate.
Further, position sensor and force snesor are additionally provided with the moving platform, the position sensor passes through
First sensor fixed plate is fixed on the bottom of moving platform, and the force snesor is fixed on dynamic flat by second sensor fixed plate
The bottom of platform.
The present invention is using PLC and six servo-driver as control system, five lead screw motors and a linear motor
On be mounted on encoder, the input terminal of the output terminal of controller respectively with six servo-drivers is connected, five lead screw motors
The output terminal of a servo-driver is each connected with the input terminal of a linear motor, position sensor and force snesor are direct
Connect controller and to controller transmission location and force-bearing situation.
Controller can according to the status requirement and force request of moving platform, by algorithm calculate five lead screw motors and
The best of breed of one linear motor corner, umber of pulse and the pulse of corresponding motor are calculated further according to corresponding motor angle data
The pulse signal being made of umber of pulse and pulse signal, is sent on corresponding servo-driver, servo by frequency by controller
Driver drives corresponding lead screw motor or linear motor to run respectively；Encoder is used to gather lead screw motor or linear motor
Corner and rotary speed information, and the information conveyance of collection to servo-driver, servo-driver is by contrasting initial information and anti-
Feedforward information, so as to adjust corresponding lead screw motor or speed of linear motor and corner, it is ensured that lead screw motor or linear motor can be with
Reach the rotating speed and corner of setting；Position and the force-bearing situation of position sensor and force snesor detection platform on moving platform,
And by transmitting measured values to controller, whether controller measurement of comparison value is consistent with setting value, if inconsistent then adjustment is corresponding
Lead screw motor or linear motor corner and rotating speed so that moving platform reaches given status requirement and stress balance will
Ask.
The course of work of the present invention is as follows：When moving platform is impacted be subject to external force, horizontal moving platform is subject to outer originally
Power is disturbed and is tilted or deviate from origin position, position sensor measurement deviation distance and angle and a measurement
Value sends controller to, and controller receives and controls five lead screw motors and a linear motor by servo-driver after information
Corner and rotating speed；It is most flat according to moving platform force request and moving platform force-bearing situation is transferred in controller by force snesor
Reasonably the corner of one group of optimum motor of selection and rotating speed are inputted steady and output power minimum principle, realize control in real time
Brake the posture of platform.
The flexible control algorithmic procedure that the present invention uses is on the basis of given moving platform posture, passes through Inverse Kinematics
Solution calculates the angular speed of articulation, goes out the required driving force torque of motor by dynamics calculation, then according to average
Three energy consumption indexs are lost to determine preferable input displacement and combining form, Ran Hougen in power, mean power deviation, average torque
Control to obtain actual displacement amount with deviation is corrected according to position and Impedance feedback to realize that existing energy consumption is low, high accurately optimal input group
Close.
The beneficial effects of the present invention are：The present invention is abundant to make use of that parallel institution bearing capacity is strong, compact-sized, fortune
It is dynamic flexibly, inertia it is small and the advantages that easy to control in real time, the design of integrated symmetric structure has simple and compact for structure, and design is closed
Reason, processing and assembly technology are good；Using six motors as power source, control five frees degree of moving platform and selected by algorithm
Select one group of optimal motor corner and rotary speed data is reasonably inputted, while detected using position sensor and force snesor
The posture of moving platform, the accuracy of platform movement is ensured using closed-loop control system, so as to realize accurate and real-time control
System.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of flexible adaptive dynamic balancer of the present invention.
Fig. 2 is a kind of main structure diagram of flexible adaptive dynamic balancer of the present invention.
Fig. 3 is the structure diagram of the first side chain of the invention.
Fig. 4 is the structure diagram of the second side chain of the invention.
Fig. 5 is the structure diagram of moving platform and its bottom attached portion part of the present invention.
In figure, 1- lower plates, 2- slide units supporting rack, 3- slide units, 4- lead screw motors, 5- bearing blocks, 6- sliding blocks, 7- bulb branch
It is straight that frame, 8- bulbs, 9- fix connector under push rod, 10- fixes push rod, 11- fixes push rod upper connector, 12- moving platforms, 13-
Line push rod, 14- linear motors, the first Hooke's hinges of 15- upper connector, the first bolts of 16-, 17- fixed stations, the 3rd Hooke's hinges of 18-
Lower connector, the 3rd Hooke's hinge upper connectors of 19-, 20- beads, 21- motor fixed racks, 22- shaft couplings, 23- screws, 24-
Connector, the 3rd bolts of 27-, 28- linear motors connector, 29- under bulb end cap, the second bolts of 25-, the first Hooke's hinges of 26-
Connector under push rod connector, the second Hooke's hinges of 30-, the second Hooke's hinges of 31- middleware, the second Hooke's hinges of 32- upper connector,
33- first sensors fixed plate, 34- position sensors, 37- second sensors fixed plate, 38- force snesors.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Fig. 1~5, a kind of flexible adaptive dynamic balancer, including lower plate 1, moving platform 12, motor lead screw
Rail module, the first side chain and the second side chain, the lower plate 1 are fixed on ground, and the motor lead screw rail module is fixed on
On lower plate 1, one end of first side chain is connected by spherical pair with the sliding block 6 of motor lead screw rail module, the first side chain
The other end lead to it is hinged with moving platform 12；One end of second side chain is connected by spherical pair with lower plate 1, the second side chain
The other end is hinged with moving platform 12；First side chain is provided with five, and corresponding 23 guide rail of motor lead screw is provided with five groups, institute
State the second side chain and be provided with one.
The motor lead screw rail module includes lead screw motor 4, sliding block 6, motor fixed rack 21, shaft coupling 22, screw
23rd, bearing block 5, slide unit 3 and slide unit supporting rack 2, the slide unit supporting rack 2 are fixed on lower plate 1, and slide unit 3 is fixed on described
On slide unit supporting rack 2, the lead screw motor 4 is fixed on motor fixed rack 21, and the motor fixed rack 21 is fixed on cunning
On platform 3, the output terminal of the lead screw motor 4 is solid by two by one end of 22 connection wire rod 23 of shaft coupling, the screw 23
The bearing block 5 being scheduled on slide unit 3 supports；It is provided with the sliding block 6 and passes through cunning with 23 matched threaded hole of screw, screw 23
The threaded hole and sliding block 6 of block 6 are sleeved on the slide unit 3, are driven when lead screw motor 4 is moved by driving the screw 23 to rotate
Sliding block 6 is slided along the slide unit 3.
First side chain includes connector 9, fixed push rod under bulb support 7, bulb end cap 24, bulb 8, fixed push rod
10th, fixed push rod upper connector 11 and the 3rd Hooke's hinge, the bulb support 7 are fixed on the sliding block 6, and bulb 8 coordinates peace
In bulb support 7, bulb end cap 24 is fixed in bulb support 7 by the second bolt 25 and is only capable of limitation bulb 8
Rotated in bulb support 7；One end of connector 9 is fixedly connected with the shaft end of bulb 8 under the fixed push rod, is connected under fixed push rod
The other end of fitting 9 is connected with one end of fixed push rod 10, the fixed push rod upper connector 11 of other end connection of fixed push rod 10,
The fixed push rod upper connector 11 connects the 3rd Hooke's hinge, and the 3rd Hooke's hinge is fixed on the moving platform 12.
Second side chain includes fixed station 17, lower end connection, the first Hooke's hinge, linear motor connector 28, straight line
Motor 14, line handspike 13, push rod connector 29, upper end connection and the second Hooke's hinge, second Hooke's hinge include second
Connector 30 under Hooke's hinge upper connector 32, the second Hooke's hinge middleware 31 and the second Hooke's hinge, first Hooke's hinge include
Connector 15 under first Hooke's hinge upper connector 15, the first Hooke's hinge middleware and the first Hooke's hinge；The fixed station 17 is fixed
On the lower plate 1, it is fixedly connected between fixed station 17 and lower plate 1 by the first bolt 16；The lower end connection is consolidated
It is scheduled on the fixed station 17, connector 15 is fixedly connected with lower end connection under first Hooke's hinge, under the first Hooke's hinge
Connector 15 connects the first Hooke's hinge upper connector 15, the first Hooke's hinge upper connector 15 by the first Hooke's hinge middleware
The fixing end of linear motor 14 is connected by linear motor connector 28, the first Hooke's hinge upper connector 15 is connected with linear motor
It is fixedly connected between part 28 by the 3rd bolt 27；One end of the movable end connection line handspike 13 of the linear motor 14, institute
State the other end of line handspike 13 and connector 30 under the second Hooke's hinge is connected by push rod connector 29, under second Hooke's hinge
Connector 30 connects the second Hooke's hinge upper connector 32, the second Hooke's hinge upper connector by the second Hooke's hinge middleware 31
32 are fixedly connected with upper end connection, and the upper end connection is fixed on 12 bottom of moving platform.
The fixed station 17 is fixed on the middle part of the lower plate 1, and the upper end connection is fixed on the moving platform 12
Bottom centre position.
3rd Hooke's hinge is included under the 3rd Hooke's hinge upper connector 19, the 3rd Hooke's hinge middleware, the 3rd Hooke's hinge
Connector 18, connector 18 passes through the 3rd Hooke's hinge middleware and connects the 3rd Hooke's hinge upper connector under the 3rd Hooke's hinge
19, the 3rd Hooke's hinge upper connector 19 is fixed on moving platform 12；The tiger of connector 18 and the 3rd under 3rd Hooke's hinge
Gram hinge middleware interference fit, the 3rd Hooke's hinge middleware is interference fitted with the 3rd Hooke's hinge upper connector 19.
15 and first Hooke's hinge middleware of connector is interference fitted under first Hooke's hinge, among first Hooke's hinge
Part is interference fitted with the first Hooke's hinge upper connector 15；30 and second Hooke's hinge middleware 31 of connector under second Hooke's hinge
Interference fit, the second Hooke's hinge middleware 31 are interference fitted with the second Hooke's hinge upper connector 32.
The slide unit 3 is welded on slide unit supporting rack 2, and the slide unit supporting rack 2 is welded on the lower plate 1.
The lower plate 1 and moving platform 12 are regular pentagon shapes, and the upper end of five the first side chains is connected to moving platform
12 five apexes.
Be provided with five uniformly raised slideways on the lower plate 1,2 bottom of slide unit supporting rack be provided with one it is recessed
Groove and the groove, which are used for coordinating with slideway raised on lower plate 1, to be positioned.
The moving platform 12 and lower plate 1 edge of keeping parallelism and moving platform 12 and lower plate 1 in initial assembling
Sideline intersects 36 degree of angles.
The longitudinal cross-section of the slide unit supporting rack 2 is at right angles triangular shaped, its bevel edge and right-angle side are into 30 degree, slide unit branch
The inclined plane of support 2 is towards the outside of the lower plate 1.
Position sensor 34 and force snesor 36 are additionally provided with the moving platform 12, the position sensor 34 passes through
One sensor fixation plate 33 is fixed on the bottom of moving platform 12, and the force snesor 36 is fixed by second sensor fixed plate 35
In the bottom of moving platform 12.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as
The technical solution that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into patent of the present invention
Rights protection scope in.
Claims (10)
- A kind of 1. flexible adaptive dynamic balancer, it is characterised in that：Including lower plate (1), moving platform (12), motor lead screw Rail module, the first side chain and the second side chain, the lower plate (1) are fixed on ground, and the motor lead screw rail module is fixed On lower plate (1), one end of first side chain is connected by spherical pair with the sliding block (6) of motor lead screw rail module, the The other end of one side chain leads to hinged with moving platform (12)；One end of second side chain is connected by spherical pair with lower plate (1), The other end of second side chain is hinged with moving platform (12)；First side chain is provided with five, and corresponding motor lead screw (23) is led Rail is provided with five groups, and second side chain is provided with one；The motor lead screw rail module include lead screw motor (4), sliding block (6), motor fixed rack (21), shaft coupling (22), Screw (23), bearing block (5), slide unit (3) and slide unit supporting rack (2), the slide unit supporting rack (2) are fixed on lower plate (1), Slide unit (3) is fixed on the slide unit supporting rack (2), and the lead screw motor (4) is fixed on motor fixed rack (21), described Motor fixed rack (21) is fixed on slide unit (3), and the output terminal of the lead screw motor (4) passes through shaft coupling (22) connection wire rod (23) one end, the screw (23) are supported by two bearing blocks being fixed on slide unit (3) (5)；Set on the sliding block (6) It is equipped with and is sleeved on the cunning with screw (23) matched threaded hole, the threaded hole and sliding block (6) of screw (23) through sliding block (6) It is sliding along the slide unit (3) by driving the screw (23) to rotate band movable slider (6) when lead screw motor (4) is moved on platform (3) It is dynamic；First side chain includes connector (9) under bulb support (7), bulb end cap (24), bulb (8), fixed push rod, fixes Push rod (10), fixed push rod upper connector (11) and the 3rd Hooke's hinge, the bulb support (7) are fixed on the sliding block (6), Bulb (8) is fitted in bulb support (7), and bulb end cap (24) is bolted in bulb support (7) and will limit Bulb (8) processed is only capable of rotating in bulb support (7)；One end of connector (9) and the shaft end of bulb (8) under the fixed push rod It is fixedly connected, the other end of connector (9) is connected with one end of fixed push rod (10) under fixed push rod, fixes the another of push rod (10) The fixed push rod upper connector (11) of one end connection, the 3rd Hooke's hinge of fixed push rod upper connector (11) connection, the described 3rd Hooke's hinge is fixed on the moving platform (12)；Second side chain includes fixed station (17), lower end connection, the first Hooke's hinge, linear motor connector (28), straight line Motor (14), line handspike (13), push rod connector (29), upper end connection and the second Hooke's hinge, the second Hooke's hinge bag Include connector (30) under the second Hooke's hinge upper connector (32), the second Hooke's hinge middleware (31) and the second Hooke's hinge, described One Hooke's hinge includes connector (15) under the first Hooke's hinge upper connector (15), the first Hooke's hinge middleware and the first Hooke's hinge； The fixed station (17) is fixed on the lower plate (1), and the lower end connection is fixed on the fixed station (17), described Connector (15) is fixedly connected with lower end connection under first Hooke's hinge, and connector (15) passes through the first Hooke under the first Hooke's hinge Cut with scissors middleware and connect the first Hooke's hinge upper connector (15), the first Hooke's hinge upper connector (15) is connected by linear motor The fixing end of part (28) connection linear motor (14), the one of the movable end connection line handspike (13) of the linear motor (14) End, the other end of the line handspike (13) connects connector (30) under the second Hooke's hinge by push rod connector (29), described Connector (30) connects the second Hooke's hinge upper connector (32) by the second Hooke's hinge middleware (31) under second Hooke's hinge, described Second Hooke's hinge upper connector (32) is fixedly connected with upper end connection, and the upper end connection is fixed on moving platform (12) bottom Portion.
- A kind of 2. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：The fixed station (17) The middle part of the lower plate (1) is fixed on, the upper end connection is fixed on the bottom centre position of the moving platform (12).
- A kind of 3. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：3rd Hooke's hinge Including connector (18) under the 3rd Hooke's hinge upper connector (19), the 3rd Hooke's hinge middleware, the 3rd Hooke's hinge, the 3rd tiger Gram lower connector (18) of hinge passes through the 3rd Hooke's hinge middleware and connects the 3rd Hooke's hinge upper connector (19), the 3rd Hooke's hinge Upper connector (19) is fixed on moving platform (12)；Connector (18) and the 3rd Hooke's hinge middleware mistake under 3rd Hooke's hinge It is full of cooperation, the 3rd Hooke's hinge middleware and the 3rd Hooke's hinge upper connector (19) interference fit.
- A kind of 4. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：First Hooke's hinge Lower connector (15) is interference fitted with the first Hooke's hinge middleware, and the first Hooke's hinge middleware is connected with the first Hooke's hinge Part (15) is interference fitted；Connector (30) is interference fitted with the second Hooke's hinge middleware (31) under second Hooke's hinge, described Second Hooke's hinge middleware (31) is interference fitted with the second Hooke's hinge upper connector (32).
- A kind of 5. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：Slide unit (3) weldering It is connected on slide unit supporting rack (2), the slide unit supporting rack (2) is welded on the lower plate (1).
- A kind of 6. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：The lower plate (1) It is regular pentagon shape with moving platform (12), the upper end of five the first side chains is connected to five apexes of moving platform (12).
- A kind of 7. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：The lower plate (1) On be provided with five uniformly raised slideways, slide unit supporting rack (2) bottom is provided with a groove and the groove be used for Raised slideway coordinates positioning on lower plate (1).
- A kind of 8. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：The moving platform (12) With lower plate (1) in initial assembling the keeping parallelism and edge of moving platform (12) intersects 36 degree with the sideline of lower plate (1) Angle.
- A kind of 9. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：The slide unit supporting rack (2) longitudinal cross-section is at right angles triangular shaped, its bevel edge and right-angle side are into 30 degree, the inclined plane direction of slide unit supporting rack (2) The outside of the lower plate (1).
- A kind of 10. flexible adaptive dynamic balancer according to claim 1, it is characterised in that：The moving platform (12) position sensor (34) and force snesor (36) are additionally provided with, the position sensor (34) is consolidated by first sensor Fixed board (33) is fixed on the bottom of moving platform (12), and the force snesor (36) is fixed on by second sensor fixed plate (35) The bottom of moving platform (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377071.3A CN107963187B (en) | 2017-12-19 | 2017-12-19 | Flexible self-adaptive dynamic balancing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377071.3A CN107963187B (en) | 2017-12-19 | 2017-12-19 | Flexible self-adaptive dynamic balancing device |
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| Publication Number | Publication Date |
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| CN107963187A true CN107963187A (en) | 2018-04-27 |
| CN107963187B CN107963187B (en) | 2024-01-30 |
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| CN201711377071.3A Active CN107963187B (en) | 2017-12-19 | 2017-12-19 | Flexible self-adaptive dynamic balancing device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| US20200017139A1 (en) * | 2018-07-12 | 2020-01-16 | Steering Solutions Ip Holding Corporation | Rack force estimation for steering systems |
| CN109323090A (en) * | 2018-10-23 | 2019-02-12 | 安徽理工大学 | A kind of submissive constant force supporting table |
| CN109502059A (en) * | 2018-11-15 | 2019-03-22 | 上海宇航系统工程研究所 | A kind of carrier rocket boost motor nose cone six degree of freedom docking trolley |
| CN109444468B (en) * | 2018-11-27 | 2020-08-07 | 中国地质大学（武汉） | Six-dimensional acceleration sensor based on micro-displacement parallel mechanism |
| CN109444468A (en) * | 2018-11-27 | 2019-03-08 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro-displacement parallel institution |
| CN109436384A (en) * | 2018-12-04 | 2019-03-08 | 燕山大学 | Manipulator for rocket recycling |
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| CN111806641A (en) * | 2020-07-21 | 2020-10-23 | 上海海事大学 | Three-degree-of-freedom wave compensation platform with variable working space |
| CN112314542A (en) * | 2020-08-06 | 2021-02-05 | 北京工业大学 | Polyhedral paw for catching marine organisms |
| CN113602517A (en) * | 2021-08-24 | 2021-11-05 | 广东工业大学 | Unmanned aerial vehicle sea surface recycling and charging platform and control method |
| CN113602517B (en) * | 2021-08-24 | 2022-02-15 | 广东工业大学 | Control method for sea surface recovery and charging platform of unmanned aerial vehicle |
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