CN107963187B - Flexible self-adaptive dynamic balancing device - Google Patents
Flexible self-adaptive dynamic balancing device Download PDFInfo
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- CN107963187B CN107963187B CN201711377071.3A CN201711377071A CN107963187B CN 107963187 B CN107963187 B CN 107963187B CN 201711377071 A CN201711377071 A CN 201711377071A CN 107963187 B CN107963187 B CN 107963187B
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- 238000006073 displacement reaction Methods 0.000 description 4
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- 238000005265 energy consumption Methods 0.000 description 2
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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
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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
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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- 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
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Abstract
The invention discloses a flexible self-adaptive dynamic balancing device which comprises a lower bottom plate, a movable platform, a motor screw rod guide rail module, a first branched chain and a second branched chain, wherein the lower bottom plate is fixed on the ground; one end of the second branched chain is connected with the lower bottom plate through a spherical pair, and the other end of the second branched chain is hinged with the movable platform; five first branched chains are arranged, five corresponding motor lead screw guide rails are arranged, and one second branched chain is arranged; the advantages of strong bearing capacity, compact structure, flexible movement, small inertia, convenient real-time control and the like of the parallel mechanism are fully utilized, and the whole symmetrical structure design has simple and compact structure, reasonable design and good processing and assembly process.
Description
Technical Field
The invention relates to the field of dynamic balance device research, in particular to a flexible self-adaptive dynamic balance device.
Background
The current difficulty of recovering the spacecraft on the sea is high, and the main reason is that the dynamic impact balance of the sea surface recovery platform and the descending posture of the spacecraft are difficult to ensure. Because the sea surface recovery platform continuously moves and shakes on the sea surface, the sea recovery platform for recovering the spacecraft is very easy to incline and fall, and the recovery task of the spacecraft is failed. In order to solve the problem, some existing platforms can solve the problem to a certain extent, for example, chinese patent application No. 201610843328.X discloses a manual adjustment mechanism capable of realizing five degrees of freedom, and by adopting the manual adjustment mechanism, not only linear displacement but also angular displacement can be adjusted, and the manual adjustment mechanism has a simple structure, low cost and convenient operation. However, the invention adopts manual adjustment, and has low precision and low efficiency. At present, most dynamic balancing devices adopt a series mechanism, have the advantages of large working space, flexible movement and the like, but have the problems of complex structure, small bearing capacity, large inertia, poor instantaneity and the like. In view of the above-mentioned shortcomings, there is a need to design and develop a high-precision flexible adaptive dynamic balance adjustment platform device that can complement the above-mentioned shortcomings.
Disclosure of Invention
The invention aims to solve the defects that the existing dynamic balance device needs manual adjustment, has low adjustment precision and has low bearing capacity, large inertia and unfavorable real-time control because of taking series connection as main factors, and provides a parallel flexible self-adaptive dynamic balance device without freedom degree, which can automatically and highly accurately adjust a movable platform to realize the requirement of horizontal real-time control.
The invention realizes the above purpose through the following technical scheme: the flexible self-adaptive dynamic balancing device comprises a lower base plate, a movable platform, a motor lead screw guide rail module, a first branched chain and a second branched chain, wherein the lower base plate is fixed on the ground; one end of the second branched chain is connected with the lower bottom plate through a spherical pair, and the other end of the second branched chain is hinged with the movable platform; five first branched chains are arranged, five corresponding motor lead screw guide rails are arranged, and one second branched chain is arranged;
the motor lead screw guide rail module comprises a lead screw motor, a sliding block, a motor fixing support, a coupler, a lead screw, a bearing seat, a sliding table and a sliding table support frame, wherein the sliding table support frame is fixed on a lower base plate, the sliding table is fixed on the sliding table support frame, the lead screw motor is fixed on the motor fixing support frame, the motor fixing support frame is fixed on the sliding table, the output end of the lead screw motor is connected with one end of the lead screw through the coupler, and the lead screw is supported by two bearing seats fixed on the sliding table; the screw rod penetrates through the threaded hole of the sliding block and is sleeved on the sliding table, and the screw rod motor drives the sliding block to slide along the sliding table by driving the screw rod to rotate when moving;
the first branched chain comprises a ball head support, a ball head end cover, a ball head, a fixed push rod lower connecting piece, a fixed push rod upper connecting piece and a third hook joint, wherein the ball head support is fixed on the sliding block, the ball head is installed in the ball head support in a matched manner, and the ball head end cover is fixed on the ball head support through bolts and limits the ball head to rotate only in the ball head support; one end of the fixed push rod lower connecting piece is fixedly connected with the shaft end of the ball head, the other end of the fixed push rod lower connecting piece is connected with one end of the fixed push rod, the other end of the fixed push rod is connected with the fixed push rod upper connecting piece, the fixed push rod upper connecting piece is connected with a third Hooke joint, and the third Hooke joint is fixed on the movable platform;
the second branched chain comprises a fixed table, a lower end connecting piece, a first hook joint, a linear motor connecting piece, a linear motor, a linear push rod, a push rod connecting piece, an upper end connecting piece and a second hook joint, wherein the second hook joint comprises a second hook joint upper connecting piece, a second hook joint middle piece and a second hook joint lower connecting piece, and the first hook joint comprises a first hook joint upper connecting piece, a first hook joint middle piece and a first hook joint lower connecting piece; the fixed station is fixed on the lower bottom plate, the lower end connecting piece is fixed on the fixed station, the first hook lower connecting piece is fixedly connected with the lower end connecting piece, the first hook lower connecting piece is connected with the first hook upper connecting piece through the first hook middle piece, the first hook upper connecting piece is connected with the fixed end of the linear motor through the linear motor connecting piece, the movable end of the linear motor is connected with one end of the linear push rod, the other end of the linear push rod is connected with the second hook lower connecting piece through the push rod connecting piece, the second hook lower connecting piece is connected with the second hook upper connecting piece through the second hook middle piece, the second hook upper connecting piece is fixedly connected with the upper end connecting piece, and the upper end connecting piece is fixed at the bottom of the movable platform.
Further, the fixed table is fixed in the middle of the lower bottom plate, and the upper end connecting piece is fixed in the bottom center position of the movable platform.
Further, the third hook joint comprises a third hook joint upper connecting piece, a third hook joint middle piece and a third hook joint lower connecting piece, wherein the third hook joint lower connecting piece is connected with the third hook joint upper connecting piece through the third hook joint middle piece, and the third hook joint upper connecting piece is fixed on the movable platform; the third hook joint lower connecting piece is in interference fit with the third hook joint middle piece, and the third hook joint middle piece is in interference fit with the third hook joint upper connecting piece.
Further, the first hook lower connecting piece is in interference fit with the first hook middle piece, and the first hook middle piece is in interference fit with the first hook upper connecting piece; the second hook lower connecting piece is in interference fit with the second hook middle piece, and the second hook middle piece is in interference fit with the second hook upper connecting piece.
Further, the sliding table is welded on a sliding table support frame, and the sliding table support frame is welded on the lower bottom plate.
Further, the lower bottom plate and the movable platform are in a regular pentagon shape, and the upper ends of the five first branched chains are connected to five vertexes of the movable platform.
Further, five evenly-raised slideways are arranged on the lower bottom plate, a groove is formed in the bottom of the sliding table support frame and is used for being matched with the raised slideways on the lower bottom plate for positioning.
Further, the movable platform and the lower base plate are kept parallel during initial assembly, and the edge of the movable platform and the edge line of the lower base plate intersect to form an angle of 36 degrees.
Further, the longitudinal section of the sliding table support frame is in a right triangle shape, the inclined side of the sliding table support frame forms 30 degrees with the right-angle side, and the inclined surface of the sliding table support frame faces to the outer side of the lower bottom plate.
Further, the movable platform is further provided with a position sensor and a force sensor, the position sensor is fixed at the bottom of the movable platform through a first sensor fixing plate, and the force sensor is fixed at the bottom of the movable platform through a second sensor fixing plate.
The invention adopts PLC and six servo drivers as control systems, the five lead screw motors and one linear motor are all provided with encoders, the output ends of the controllers are respectively connected with the input ends of the six servo drivers, the input ends of the five lead screw motors and one linear motor are respectively connected with the output end of one servo driver, and the position sensor and the force sensor are directly connected with the controllers and transmit positions and stress conditions to the controllers.
The controller can calculate the optimal combination of the five screw rod motors and one linear motor corner through an algorithm according to the position requirement and the stress requirement of the movable platform, then calculate the pulse number and the pulse frequency of the corresponding motor according to the corresponding motor corner data, and the controller sends pulse signals consisting of the pulse number and the pulse signals to the corresponding servo drivers, and the servo drivers respectively drive the corresponding screw rod motors or the linear motors to operate; the encoder is used for acquiring rotation angle and rotation angle information of the screw motor or the linear motor and transmitting the acquired information to the servo driver, and the servo driver adjusts the rotation angle and rotation angle of the corresponding screw motor or the linear motor by comparing initial information with feedback information so as to ensure that the screw motor or the linear motor can reach the set rotation angle and rotation angle; the position sensor and the force sensor on the movable platform detect the position and the stress condition of the platform and transmit the measured value to the controller, the controller compares whether the measured value is consistent with the set value, if not, the rotation angle and the rotation speed of the corresponding screw motor or the linear motor are adjusted, and therefore the movable platform meets the given position requirement and the stress balance requirement.
The working process of the invention is as follows: when the movable platform is impacted by external force, the original horizontal movable platform is inclined or deviates from the original position due to the interference of the external force, the position sensor measures the deviation distance and angle and transmits the measured value to the controller, and the controller receives the information and then controls the rotation angles and the rotation speeds of the five screw rod motors and the linear motor through the servo driver; and the force sensor transmits the stress condition of the movable platform to the controller, and reasonably selects the rotation angle and the rotation speed of a group of optimal motors for input according to the principle that the stress requirement of the movable platform is the most stable and the output power is the least, so that the posture of the movable platform is controlled in real time.
The flexible control algorithm process adopted by the invention is that on the basis of a given moving platform posture, the angular speed of joint rotation is calculated through kinematic inverse solution, the driving force moment required by a motor is calculated through dynamics, then the ideal input displacement and the combination form are determined according to three energy consumption indexes of average power, average power deviation and average moment loss, and then the actual displacement and the correction deviation are obtained according to position and impedance feedback control, so that the optimal input combination with low energy consumption and high precision is realized.
The invention has the beneficial effects that: the invention fully utilizes the advantages of strong bearing capacity, compact structure, flexible movement, small inertia, convenient real-time control and the like of the parallel mechanism, and the design of the integral symmetrical structure has simple and compact structure, reasonable design and good processing and assembly process; six motors are used as power sources, five degrees of freedom of the movable platform are controlled, the optimal set of motor rotation angle and rotation speed data are selected through an algorithm to carry out reasonable input, meanwhile, the position sensor and the force sensor are used for detecting the gesture of the movable platform, and a closed-loop control system is used for ensuring the accuracy of the movement of the platform, so that accurate and real-time control can be realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a flexible adaptive dynamic balancing device according to the present invention.
Fig. 2 is a schematic front view of a flexible adaptive dynamic balancing device according to the present invention.
FIG. 3 is a schematic structural view of the first branch of the present invention.
FIG. 4 is a schematic structural diagram of a second branch of the present invention.
Fig. 5 is a schematic structural view of the movable platform and the bottom connecting component thereof according to the present invention.
In the figure, a 1-lower bottom plate, a 2-sliding table supporting frame, a 3-sliding table, a 4-screw motor, a 5-bearing seat, a 6-sliding block, a 7-ball head bracket, an 8-ball head, a 9-fixed push rod lower connecting piece, a 10-fixed push rod, an 11-fixed push rod upper connecting piece, a 12-movable platform, a 13-linear push rod, a 14-linear motor, a 15-first hook upper connecting piece, a 16-first bolt, a 17-fixed table, a 18-third hook lower connecting piece, a 19-third hook upper connecting piece, a 20-small ball, a 21-motor fixing bracket, a 22-coupling, a 23-screw, a 24-ball head end cover, a 25-second bolt, a 26-first hook lower connecting piece, a 27-third bolt, a 28-linear motor connecting piece, a 29-push rod connecting piece, a 30-second hook lower connecting piece, a 31-second hook middle piece, a 32-second hook upper connecting piece, a 33-first sensor fixing plate, a 34-position sensor, a 37-second sensor and a 38-fixing plate.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 5, the flexible self-adaptive dynamic balancing device comprises a lower base plate 1, a movable platform 12, a motor lead screw guide rail module, a first branched chain and a second branched chain, wherein the lower base plate 1 is fixed on the ground, the motor lead screw guide rail module is fixed on the lower base plate 1, one end of the first branched chain is connected with a sliding block 6 of the motor lead screw guide rail module through a spherical pair, and the other end of the first branched chain is hinged with the movable platform 12; one end of the second branched chain is connected with the lower bottom plate 1 through a spherical pair, and the other end of the second branched chain is hinged with the movable platform 12; five first branched chains are arranged, five corresponding motor lead screw 23 guide rails are arranged, and one second branched chain is arranged.
The motor lead screw guide rail module comprises a lead screw motor 4, a sliding block 6, a motor fixing support 21, a coupler 22, a lead screw 23, a bearing seat 5, a sliding table 3 and a sliding table support frame 2, wherein the sliding table support frame 2 is fixed on a lower bottom plate 1, the sliding table 3 is fixed on the sliding table support frame 2, the lead screw motor 4 is fixed on the motor fixing support 21, the motor fixing support 21 is fixed on the sliding table 3, the output end of the lead screw motor 4 is connected with one end of the lead screw 23 through the coupler 22, and the lead screw 23 is supported by two bearing seats 5 fixed on the sliding table 3; the sliding block 6 is provided with a threaded hole matched with the screw rod 23, the screw rod 23 penetrates through the threaded hole of the sliding block 6, the sliding block 6 is sleeved on the sliding table 3, and the screw rod 23 is driven to rotate to drive the sliding block 6 to slide along the sliding table 3 when the screw rod motor 4 moves.
The first branched chain comprises a ball head support 7, a ball head end cover 24, a ball head 8, a fixed push rod lower connecting piece 9, a fixed push rod 10, a fixed push rod upper connecting piece 11 and a third hook joint, wherein the ball head support 7 is fixed on the sliding block 6, the ball head 8 is installed in the ball head support 7 in a matched manner, and the ball head end cover 24 is fixed on the ball head support 7 through a second bolt 25 and limits the ball head 8 to rotate only in the ball head support 7; one end of the fixed push rod lower connecting piece 9 is fixedly connected with the shaft end of the ball head 8, the other end of the fixed push rod lower connecting piece 9 is connected with one end of the fixed push rod 10, the other end of the fixed push rod 10 is connected with the fixed push rod upper connecting piece 11, the fixed push rod upper connecting piece 11 is connected with a third Hooke joint, and the third Hooke joint is fixed on the movable platform 12.
The second branched chain comprises a fixed table 17, a lower end connecting piece, a first hook joint, a linear motor connecting piece 28, a linear motor 14, a linear push rod 13, a push rod connecting piece 29, an upper end connecting piece and a second hook joint, the second hook joint comprises a second hook joint upper connecting piece 32, a second hook joint middle piece 31 and a second hook joint lower connecting piece 30, and the first hook joint comprises a first hook joint upper connecting piece 15, a first hook joint middle piece and a first hook joint lower connecting piece 15; the fixed table 17 is fixed on the lower bottom plate 1, and the fixed table 17 is fixedly connected with the lower bottom plate 1 through a first bolt 16; the lower end connecting piece is fixed on the fixed table 17, the first hook lower connecting piece 15 is fixedly connected with the lower end connecting piece, the first hook lower connecting piece 15 is connected with the first hook upper connecting piece 15 through a first hook intermediate piece, the first hook upper connecting piece 15 is connected with the fixed end of the linear motor 14 through a linear motor connecting piece 28, and the first hook upper connecting piece 15 is fixedly connected with the linear motor connecting piece 28 through a third bolt 27; the movable end of the linear motor 14 is connected with one end of the linear push rod 13, the other end of the linear push rod 13 is connected with a second Hooke's joint lower connecting piece 30 through a push rod connecting piece 29, the second Hooke's joint lower connecting piece 30 is connected with a second Hooke's joint upper connecting piece 32 through a second Hooke's joint middle piece 31, the second Hooke's joint upper connecting piece 32 is fixedly connected with an upper end connecting piece, and the upper end connecting piece is fixed at the bottom of the movable platform 12.
The fixed table 17 is fixed in the middle of the lower bottom plate 1, and the upper end connecting piece is fixed in the bottom center position of the movable platform 12.
The third hook joint comprises a third hook joint upper connecting piece 19, a third hook joint middle piece and a third hook joint lower connecting piece 18, the third hook joint lower connecting piece 18 is connected with the third hook joint upper connecting piece 19 through the third hook joint middle piece, and the third hook joint upper connecting piece 19 is fixed on the movable platform 12; the third hook lower connecting piece 18 is in interference fit with the third hook middle piece, and the third hook middle piece is in interference fit with the third hook upper connecting piece 19.
The first hook lower connecting piece 15 is in interference fit with the first hook middle piece, and the first hook middle piece is in interference fit with the first hook upper connecting piece 15; the second hook lower connecting piece 30 is in interference fit with the second hook middle piece 31, and the second hook middle piece 31 is in interference fit with the second hook upper connecting piece 32.
The sliding table 3 is welded on the sliding table support frame 2, and the sliding table support frame 2 is welded on the lower bottom plate 1.
The lower bottom plate 1 and the movable platform 12 are in a regular pentagon shape, and the upper ends of the five first branched chains are connected to five vertexes of the movable platform 12.
Five evenly-raised slideways are arranged on the lower bottom plate 1, a groove is arranged at the bottom of the sliding table support frame 2 and is used for being matched with the raised slideways on the lower bottom plate 1 for positioning.
The movable platform 12 and the lower base plate 1 remain parallel at the initial assembly and the edges of the movable platform 12 intersect the edges of the lower base plate 1 at an angle of 36 degrees.
The longitudinal section of the sliding table support frame 2 is in a right triangle shape, the inclined side of the sliding table support frame 2 forms 30 degrees with the right-angle side, and the inclined surface of the sliding table support frame 2 faces to the outer side of the lower bottom plate 1.
The movable platform 12 is further provided with a position sensor 34 and a force sensor 36, the position sensor 34 is fixed at the bottom of the movable platform 12 through a first sensor fixing plate 33, and the force sensor 36 is fixed at the bottom of the movable platform 12 through a second sensor fixing plate 35.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (8)
1. A flexible self-adaptive dynamic balancing device is characterized in that: the device comprises a lower bottom plate (1), a movable platform (12), a motor screw guide rail module, a first branched chain and a second branched chain, wherein the lower bottom plate (1) is fixed on the ground, the motor screw guide rail module is fixed on the lower bottom plate (1), one end of the first branched chain is connected with a sliding block (6) of the motor screw guide rail module through a spherical pair, and the other end of the first branched chain is hinged with the movable platform (12); one end of the second branched chain is connected with the lower bottom plate (1) through a spherical pair, and the other end of the second branched chain is hinged with the movable platform (12); five first branched chains are arranged, five corresponding guide rails of a motor screw rod (23) are arranged, and one second branched chain is arranged;
the motor lead screw guide rail module comprises a lead screw motor (4), a sliding block (6), a motor fixing support (21), a coupler (22), a lead screw (23), a bearing seat (5), a sliding table (3) and a sliding table support frame (2), wherein the sliding table support frame (2) is fixed on a lower bottom plate (1), the sliding table (3) is fixed on the sliding table support frame (2), the lead screw motor (4) is fixed on the motor fixing support (21), the motor fixing support (21) is fixed on the sliding table (3), the output end of the lead screw motor (4) is connected with one end of the lead screw (23) through the coupler (22), and the lead screw (23) is supported through two bearing seats (5) fixed on the sliding table (3); the sliding block (6) is provided with a threaded hole matched with the screw rod (23), the screw rod (23) penetrates through the threaded hole of the sliding block (6) and the sliding block (6) is sleeved on the sliding table (3), and the screw rod motor (4) drives the sliding block (6) to slide along the sliding table (3) by driving the screw rod (23) to rotate when moving;
the first branched chain comprises a ball head support (7), a ball head end cover (24), a ball head (8), a fixed push rod lower connecting piece (9), a fixed push rod (10), a fixed push rod upper connecting piece (11) and a third hook hinge, wherein the ball head support (7) is fixed on the sliding block (6), the ball head (8) is installed in the ball head support (7) in a matched mode, and the ball head end cover (24) is fixed on the ball head support (7) through bolts and can limit the ball head (8) to rotate only in the ball head support (7); one end of the fixed push rod lower connecting piece (9) is fixedly connected with the shaft end of the ball head (8), the other end of the fixed push rod lower connecting piece (9) is connected with one end of the fixed push rod (10), the other end of the fixed push rod (10) is connected with the fixed push rod upper connecting piece (11), the fixed push rod upper connecting piece (11) is connected with a third hook joint, and the third hook joint is fixed on the movable platform (12);
the second branched chain comprises a fixed table (17), a lower end connecting piece, a first hook joint, a linear motor connecting piece (28), a linear motor (14), a linear push rod (13), a push rod connecting piece (29), an upper end connecting piece and a second hook joint, wherein the second hook joint comprises a second hook joint upper connecting piece (32), a second hook joint middle piece (31) and a second hook joint lower connecting piece (30), and the first hook joint comprises a first hook joint upper connecting piece (15), a first hook joint middle piece and a first hook joint lower connecting piece (26); the fixed table (17) is fixed on the lower bottom plate (1), the lower end connecting piece is fixed on the fixed table (17), the first hook lower connecting piece (26) is fixedly connected with the lower end connecting piece, the first hook lower connecting piece (26) is connected with the first hook upper connecting piece (15) through the first hook middle piece, the first hook upper connecting piece (15) is connected with the fixed end of the linear motor (14) through the linear motor connecting piece (28), the movable end of the linear motor (14) is connected with one end of the linear push rod (13), the other end of the linear push rod (13) is connected with the second hook lower connecting piece (30) through the push rod connecting piece (29), the second hook lower connecting piece (30) is connected with the second hook upper connecting piece (32) through the second hook middle piece (31), the second hook upper connecting piece (32) is fixedly connected with the upper end connecting piece, and the upper end connecting piece is fixed at the bottom of the movable platform (12);
the lower bottom plate (1) and the movable platform (12) are in a regular pentagon shape, and the upper ends of the five first branched chains are connected to five vertexes of the movable platform (12);
five evenly-raised slideways are arranged on the lower bottom plate (1), a groove is formed in the bottom of the sliding table support frame (2) and is used for being matched with the raised slideways on the lower bottom plate (1) for positioning.
2. A flexible adaptive dynamic balancing device according to claim 1, wherein: the fixed table (17) is fixed in the middle of the lower bottom plate (1), and the upper end connecting piece is fixed in the bottom center position of the movable platform (12).
3. A flexible adaptive dynamic balancing device according to claim 1, wherein: the third hook hinge comprises a third hook hinge upper connecting piece (19), a third hook hinge middle piece and a third hook hinge lower connecting piece (18), the third hook hinge lower connecting piece (18) is connected with the third hook hinge upper connecting piece (19) through the third hook hinge middle piece, and the third hook hinge upper connecting piece (19) is fixed on the movable platform (12); the third hook lower connecting piece (18) is in interference fit with the third hook middle piece, and the third hook middle piece is in interference fit with the third hook upper connecting piece (19).
4. A flexible adaptive dynamic balancing device according to claim 1, wherein: the first hook lower connecting piece (26) is in interference fit with the first hook middle piece, and the first hook middle piece is in interference fit with the first hook upper connecting piece (15); the second Hooke's joint lower connecting piece (30) and second Hooke's joint middle part (31) interference fit, second Hooke's joint middle part (31) and second Hooke's joint upper connecting piece (32) interference fit.
5. A flexible adaptive dynamic balancing device according to claim 1, wherein: the sliding table (3) is welded on the sliding table support frame (2), and the sliding table support frame (2) is welded on the lower bottom plate (1).
6. A flexible adaptive dynamic balancing device according to claim 1, wherein: the movable platform (12) and the lower base plate (1) are kept parallel during initial assembly, and the edge of the movable platform (12) and the edge line of the lower base plate (1) intersect to form an angle of 36 degrees.
7. A flexible adaptive dynamic balancing device according to claim 1, wherein: the longitudinal section of the sliding table support frame (2) is in a right triangle shape, the inclined side of the sliding table support frame and the right-angle side form 30 degrees, and the inclined surface of the sliding table support frame (2) faces the outer side of the lower bottom plate (1).
8. A flexible adaptive dynamic balancing device according to claim 1, wherein: the movable platform (12) is further provided with a position sensor (34) and a force sensor (36), the position sensor (34) is fixed at the bottom of the movable platform (12) through a first sensor fixing plate (33), and the force sensor (36) is fixed at the bottom of the movable platform (12) through a second sensor fixing plate (35).
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| CN201711377071.3A CN107963187B (en) | 2017-12-19 | 2017-12-19 | Flexible self-adaptive dynamic balancing device |
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| CN201711377071.3A CN107963187B (en) | 2017-12-19 | 2017-12-19 | Flexible self-adaptive dynamic balancing device |
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| CN107963187A CN107963187A (en) | 2018-04-27 |
| CN107963187B true CN107963187B (en) | 2024-01-30 |
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| CN112314542B (en) * | 2020-08-06 | 2022-07-26 | 北京工业大学 | Polyhedral paw for catching marine organisms |
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