CN108340357B - Five-degree-of-freedom floating compensation device - Google Patents

Five-degree-of-freedom floating compensation device Download PDF

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Publication number
CN108340357B
CN108340357B CN201810374891.5A CN201810374891A CN108340357B CN 108340357 B CN108340357 B CN 108340357B CN 201810374891 A CN201810374891 A CN 201810374891A CN 108340357 B CN108340357 B CN 108340357B
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plate
hinged
fixedly connected
limiting
mounting plate
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CN108340357A (en
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周宏斌
李和平
周云
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Institute of Geochemistry of CAS
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Institute of Geochemistry of CAS
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0096Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Measuring And Other Instruments (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

The invention discloses a five-degree-of-freedom floating compensation device which comprises an installation bottom plate, wherein one end of the installation bottom plate is symmetrically and fixedly connected with two hinged supports B, the other end of the installation bottom plate is fixedly connected with a limiting support, two symmetrical swing rods are hinged between the hinged supports B through a shaft B, the left ends of the two swing rods are hinged with a hinged support A through a shaft A, a rotating shaft C is hinged between the right ends of the swing rods, the middle of the rotating shaft C is connected with a balance weight through a suspension rod, a supporting plate is fixedly connected above the hinged support A, a limiting clamping plate is fixedly connected above the supporting plate through two backing plates on the side edges, an installation plate is arranged below the limiting clamping plate, a connecting piece B is fixedly connected on the installation plate, and a plurality of steel balls are arranged between the installation plate and the supporting plate. When the device is used for connecting two devices or parts, the device has the characteristics of automatic following compensation, small additional load applied to the connecting part, and simple and reliable structure.

Description

Five-degree-of-freedom floating compensation device
Technical Field
The invention relates to a compensation device, in particular to a five-degree-of-freedom floating compensation device, and belongs to the technical field of engineering machinery.
Background
The connection of two devices or parts is a frequently encountered matter in machine equipment and various projects, the connection mode is multiple, the relative position relationship of the connecting pieces can be divided into rigid connection and non-rigid connection, the rigid connection has the characteristics of high installation precision, fixed relative position, reliable connection and accurate motion transmission, and is suitable for occasions with high relative position requirements. The advantages and disadvantages of the non-rigid connection are opposite to those of the rigid connection, common elastic bodies, cross sliding blocks and the like can compensate position errors of about 3mm and 3 degrees at most in a conventional mode, but the two types of connection parts are always considered in practical application, the mounting reference of the two connection parts is inconsistent, but the situation that rigid connection is needed due to the requirement of mounting precision is caused, for example, the connection between a device for performing a high-temperature and high-pressure test experiment and an external test instrument is required to ensure the test precision, the initial connection of equipment is under normal temperature and normal pressure, when the high-temperature and high-pressure experiment is carried out, if the instrument is lighter and can be directly mounted on the experimental device, the influence is not great, but if the instrument is mounted on different references, the mounting reference of the experimental device and the external instrument changes due to the temperature and pressure, the connection position relation of the experimental device correspondingly changes, and the change values can not be accurately predicted, in the situation, if the position of an external instrument is not adjusted in time, a large additional load can be generated by the original connection, the external instrument is damaged in time, and the device or the instrument is damaged due to serious damage, in order to avoid problems, a device is needed to automatically compensate the position of one connecting piece, so that the connecting piece can change along with the other connecting piece, similar situations are more, the common reasons in mechanical devices are more causes of the change of the position relation of the connecting piece, the temperature can be different, the self motion of the connecting pieces can also be different, and the like, such as a vibration test platform, a moving train carriage, the settlement on a building and the like, the automatic compensation modes are various, the more compensation degrees of freedom are usually needed, the more compensation mechanisms are more complex, 5-degree-of-freedom floating compensation is realized, the typical structure in the mechanical device adopts a translation platform which can move in parallel along the XYZ direction to be combined with a rotating mechanism, and in the Z-axis direction, because of gravity exists, in order to reduce the Z-axis movement resistance, the platform mechanism is usually supported by means of an air cylinder, an air spring, a suspension weight, and the like to maintain a floating state. The platform has the advantages of reliable structure mode and large adaptive compensation range, but has the defects of large overall dimension, heavy and complex structure, large motion resistance, low response frequency, high manufacturing and maintenance cost and influence on the application range of the platform.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the five-degree-of-freedom floating compensation device is a position floating compensation device which is simple and compact in structure, flexible and reliable, and low in manufacturing and maintenance cost, and overcomes the defects of the prior art.
The technical scheme of the invention is as follows: the utility model provides a five degree of freedom floating compensation arrangement, it includes mounting plate, two hinged-support B of one end symmetry fixedly connected with of mounting plate, the spacing support of other end fixedly connected with articulate through axle B between hinged-support B has two pendulum rods of symmetry, the left end of two pendulum rods articulates through axle A has hinged-support A, articulates between the right-hand member of pendulum rod to have pivot C, is connected with the counter weight through the suspension rod in pivot C's centre, hinged-support A's top fixedly connected with layer board, the top of layer board is through the spacing splint of two backing plate fixedly connected with of side, the below of spacing splint is equipped with the mounting panel, and fixed connection connector B is equipped with a plurality of steel balls on the mounting panel between mounting panel and the layer board.
And a screw hole is formed in the limiting support, and a limiting screw is arranged in the screw hole.
A gap is reserved between the mounting plate and the limiting clamping plate, and a limiting pin is fixedly connected to one end of the mounting plate.
The steel balls are uniformly distributed in the square rolling body frame, and gaps are formed among the rolling body frame, the mounting plate and the supporting plate.
The middle of the limiting clamp plate is provided with a square limiting hole, and the limiting pin is located in the limiting hole.
The invention has the beneficial effects that: compared with the prior art, the invention has the following beneficial effects:
1. the device has compact and reliable structure, extremely low manufacturing and maintenance cost and long service life, and the device has compact structure and benefits from the adoption of the combination of the mounting plate and the steel ball to realize XY translation and Z-axis rotation in a smaller space; the device is reliable mainly because the simplest and most mature hinge and lever mechanism is adopted, and because no complex structure is adopted, the manufacturing and maintenance cost is extremely low.
2. Because all kinematic pairs all adopt rolling pairs, the coefficient of friction is extremely low, and then cooperate accurate counter weight to balance, the device is nimble freely, reaches very little external force and just can realize position change compensation, plays the effect of following, has similar showy effect, simultaneously because very nimble, the device more can be fit for special occasions such as high frequency position change compensation.
3. Because the whole device is of a pure mechanical structure, after debugging is finished, the device does not need special maintenance except for regular lubrication, is not influenced by environmental factors such as water, electricity and temperature, and cannot cause accidents.
4. When the device is used for connecting two devices or parts, the device has the characteristics of automatic following compensation, small additional load applied to the connecting part, and simple and reliable structure.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
fig. 3 is a plan view of the rolling element cage according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Example 1: as shown in the attached drawings 1-3, a five-degree-of-freedom floating compensation device comprises a mounting base plate 9, wherein one end of the mounting base plate 9 is symmetrically and fixedly connected with two hinged supports B6, the other end of the mounting base plate is fixedly connected with a limit support 10, two symmetrical swing rods 7 are hinged between the hinged supports B6 through a shaft B18, the left ends of the two swing rods 7 are hinged with a hinged support A5 through a shaft A19, a rotating shaft C12 is hinged between the right ends of the swing rods 7, the middle of the rotating shaft C12 is connected with a balance weight 8 through a suspension rod 13, a supporting plate 3 is fixedly connected above the hinged support A5, a limit clamping plate 4 is fixedly connected above the supporting plate 3 through two backing plates 11 on the side edge, a mounting plate 1 is arranged below the limit clamping plate 4, a connecting piece B is fixedly connected on the mounting plate 1, and a plurality of steel balls 2 are arranged between the mounting plate 1 and the supporting plate 3. The supporting plate 3 rotates around the hinged support A5 to provide a Y-axis rotational degree of freedom; the swing rod 7 rotates around the hinged support B6 under the combined action of external force and the balance weight 8 so as to drive the supporting plate 3, the mounting plate 1 and the connecting piece B on the supporting plate to move up and down together, and the mounting plate 1 is matched to translate in the X direction to realize motion compensation in the Z-axis direction; due to the existence of the steel ball 2, the mounting plate 1 arranged on the steel ball 2 can easily and freely perform XY direction translation and Z axis rotation, so that the connecting piece B arranged on the mounting plate 1 can realize XY direction and Z axis rotation compensation. When the device is used for connecting two devices or parts, the device has the characteristics of automatic following compensation, small additional load applied to the connecting part, and simple and reliable structure.
Furthermore, a screw hole is arranged on the limiting support 10, and a limiting screw 14 is arranged in the screw hole. The limit screw 14 can be adjusted up and down to limit the supporting plate 3 up and down.
Furthermore, a gap is reserved between the mounting plate 1 and the limiting clamping plate 4, and a limiting pin 15 is fixedly connected to one end of the mounting plate 1. The mounting plate 1 can move back and forth, left and right relative to the supporting plate 3, and the limit pin 15 limits the moving range of the mounting plate 1.
Furthermore, the steel balls 2 are uniformly distributed in the square rolling body frame 16, and gaps are formed among the rolling body frame 16, the mounting plate 1 and the supporting plate 3. The advantage of this arrangement is that the movement of the coupling is only rolling friction and the compensation performance is good.
Furthermore, the middle of the limiting clamping plate 4 is provided with a square limiting hole 17, and the limiting pin 15 is positioned in the limiting hole 17. The mounting plate 1 is limited to rotate around an X axis by arranging the limiting clamping plate 4, and only can translate on an XY plane and rotate around a Z axis, and the translation amount in the X direction is limited.
The whole device has XYZ translation and YZ plus rotation 5 degrees of freedom, is a counterweight lever plus sliding body structure, is fixed and positioned by a mounting bottom plate 9, a connecting piece B needing position compensation is fixed on a mounting plate 1, a steel ball 2 is arranged between the mounting plate 1 and a supporting plate 3, the mounting plate 1 arranged on the steel ball 2 can easily and freely do XY direction translation and Z axis rotation as a bearing due to the existence of the steel ball 2, and thus the connecting piece B arranged on the mounting plate 1 can realize XY direction and Z axis rotation compensation; because the mounting plate 1 is placed on the steel ball 2, if no external limitation exists, the mounting plate 1, the steel ball 2 and the supporting plate 3 are easy to separate, therefore, the device is limited by arranging the limiting clamp plate 4, the limiting clamp plate 4 is in sliding fit with the mounting plate 1, the steel ball 2 and the supporting plate 3 are limited to rotate around an X axis while the mutual separation of the mounting plate 1, the steel ball 2 and the supporting plate 3 is limited, only XY translation and Z rotation can be carried out, and the translation amount in the X direction is limited; the Z-axis motion compensation of the device is mainly realized through lever motion, a swing rod 7 in the device rotates around a hinged support B6 in the middle of the swing rod, a balance weight 8 is arranged at the right end of the swing rod 7 to balance the weight of a left end connecting piece and the like, and under the condition of good balance, the swing rod 7 can easily drive the hinged support A5, a supporting plate 3, the connecting piece B and the like connected with the left end of the swing rod to move up and down when rotating, so that the Z-axis motion compensation is realized; in the device, the supporting plate 3 is hinged with the left end of the swing rod 7 and can rotate around the Y axis, so that the connecting piece fixed on the mounting plate 1 has the Y-axis rotational freedom.
Embodiment 1 is a set of high temperature high pressure deformation test experimental apparatus, connector A is a high temperature high pressure experimental apparatus, connector B is a servo mechanism, the weight is about 15Kg, be used for measuring sample displacement in the high temperature high pressure experimental apparatus, in order to guarantee measurement accuracy, two parts need to adopt rigid connection, because connector B weight is heavier and can supply to link the size space less, connector A thinnest part diameter only 17mm and be in the high temperature environment, do not allow direct mount on connector A, two only install on different base members, rely on the flange to link. The position of the connecting piece B must be changed at any time in order to ensure the reliable connection with the connecting piece A and not generate large additional load, so a device is needed for automatic compensation. A five-freedom floating compensation device structure is shown in figure 1 and comprises a mounting plate 1, a steel ball 2, a supporting plate 3, a limiting clamping plate 4, a hinged support A5, a hinged support B6, a swing rod 7, a balance weight 8, a mounting bottom plate 9, a limiting support 10, a rotating shaft C12, a suspension rod 13, a shaft B18, a shaft A19 and the like, wherein in application, the position of the hinged support A5 is selected to be located as far as possible under the gravity center of a combination body of a connecting piece B, the mounting plate 1, the steel ball 2, the supporting plate 3 and the limiting clamping plate 4 so as to be capable of easily rotating around a Y axis, the central distance between the hinged support A5 and the hinged support B6 is determined by the required Z-axis compensation quantity of the device, the compensation quantity is large, the distance between the hinged supports is large, and the length of the swing rod 7 is determined by mounting space and balance weight. When the device is installed and used, except for the counterweight 8, firstly, the five-freedom-degree floating compensation device is assembled according to the drawing shown in the drawing 1, meanwhile, the limiting screw 14 is adjusted to enable the assembled installation plate 1 to be in a horizontal state, after the completion, the whole device is fixed on a rack (not shown in the drawing) through the installation bottom plate 9, the connecting piece B needing position compensation is fixed on the installation plate 1, after the fixation, the counterweight 8 is hung and the weight of the connecting piece B is adjusted to ensure that the position state of the connecting piece B can be easily and freely adjusted, after the completion, the height of the limiting screw 14 is adjusted to ensure that the connecting piece A and the connecting piece B are accurately butted and fastened, finally, the limiting screw 14 is lowered to enable the connecting piece B to be completely separated from the supporting plate 3 and keep a certain distance, the device is installed and can be put into use, the device can be tested in practical use, the position of the device can be adjusted by external force of about 15N, and remarkable using effect is obtained.
The details of the present invention are not described in detail, but are known to those skilled in the art. Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (2)

1. A five-freedom floating compensation device comprises a mounting base plate (9), and is characterized in that: one end of the mounting base plate (9) is symmetrically and fixedly connected with two hinged supports B (6), the other end of the mounting base plate is fixedly connected with a limiting support (10), two symmetrical swing rods (7) are hinged between the hinged supports B (6) through a shaft B (18), the left ends of the two swing rods (7) are hinged with a hinged support A (5) through a shaft A (19), a rotating shaft C (12) is hinged between the right ends of the swing rods (7), the middle of the rotating shaft C (12) is connected with a balance weight (8) through a suspension rod (13), a supporting plate (3) is fixedly connected above the hinged support A (5), a limiting clamping plate (4) is fixedly connected above the supporting plate (3) through two backing plates (11) on the side edge, a mounting plate (1) is arranged below the limiting clamping plate (4), a connecting piece B is fixedly connected on the mounting plate (1), and a plurality of steel balls (2) are arranged between the mounting plate (1) and the supporting plate (3); a screw hole is formed in the limiting support (10), and a limiting screw (14) is arranged in the screw hole; a gap is reserved between the mounting plate (1) and the limiting clamping plate (4), and a limiting pin (15) is fixedly connected to one end of the mounting plate (1); the steel balls (2) are uniformly distributed in the square rolling body frame (16), and gaps are formed among the rolling body frame (16), the mounting plate (1) and the supporting plate (3).
2. The five-degree-of-freedom floating compensation device according to claim 1, wherein: the middle of the limiting clamping plate (4) is provided with a square limiting hole (17), and the limiting pin (15) is located in the limiting hole (17).
CN201810374891.5A 2018-04-24 2018-04-24 Five-degree-of-freedom floating compensation device Active CN108340357B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079163B (en) * 2023-03-24 2023-06-09 苏州三光科技股份有限公司 Five-degree-of-freedom floating valve sleeve part angular pre-positioning platform for flexible automatic line

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Publication number Priority date Publication date Assignee Title
CN101043198A (en) * 2006-03-22 2007-09-26 Juki株式会社 Electro part carrying device
CN101117990A (en) * 2007-09-18 2008-02-06 洪涛 Zero-impact spring steel ball safety clutch
NO20085241L (en) * 2008-12-15 2010-06-16 Moss Maritime As Apparatus and method of overhauling hydrocarbon wells at sea using coil tubes, as well as using the apparatus and method
CN202159839U (en) * 2011-07-20 2012-03-07 雷传东 Floating connection device with automatic position error compensation function of multi-dimension plug-in connection
CN202317583U (en) * 2011-10-28 2012-07-11 十堰汉高机电科技有限公司 Rolling machine tool and rolling mechanism thereof
CN103604555A (en) * 2013-12-04 2014-02-26 中国飞机强度研究所 Five-degree-of-freedom follow-up brake moment measurement device
CN103631266A (en) * 2013-12-04 2014-03-12 中国飞机强度研究所 Five-degree-of-freedom full-aircraft drop test aircraft posture follow-up control device
CN104709475A (en) * 2015-03-26 2015-06-17 北京航空航天大学 Lever counter weight type gravity compensation device
CN205154067U (en) * 2015-11-06 2016-04-13 宝鸡石油机械有限责任公司 A overhead traveling crane compensation arrangement for reducing gas pitcher pressure oscillation
CN107771148A (en) * 2015-04-23 2018-03-06 隋福威有限公司 Ship and hanging rod structure

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101043198A (en) * 2006-03-22 2007-09-26 Juki株式会社 Electro part carrying device
CN101117990A (en) * 2007-09-18 2008-02-06 洪涛 Zero-impact spring steel ball safety clutch
NO20085241L (en) * 2008-12-15 2010-06-16 Moss Maritime As Apparatus and method of overhauling hydrocarbon wells at sea using coil tubes, as well as using the apparatus and method
CN202159839U (en) * 2011-07-20 2012-03-07 雷传东 Floating connection device with automatic position error compensation function of multi-dimension plug-in connection
CN202317583U (en) * 2011-10-28 2012-07-11 十堰汉高机电科技有限公司 Rolling machine tool and rolling mechanism thereof
CN103604555A (en) * 2013-12-04 2014-02-26 中国飞机强度研究所 Five-degree-of-freedom follow-up brake moment measurement device
CN103631266A (en) * 2013-12-04 2014-03-12 中国飞机强度研究所 Five-degree-of-freedom full-aircraft drop test aircraft posture follow-up control device
CN104709475A (en) * 2015-03-26 2015-06-17 北京航空航天大学 Lever counter weight type gravity compensation device
CN107771148A (en) * 2015-04-23 2018-03-06 隋福威有限公司 Ship and hanging rod structure
CN205154067U (en) * 2015-11-06 2016-04-13 宝鸡石油机械有限责任公司 A overhead traveling crane compensation arrangement for reducing gas pitcher pressure oscillation

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