CN108956014A - Center of gravity oscillation gauge and actuator - Google Patents
Center of gravity oscillation gauge and actuator Download PDFInfo
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- CN108956014A CN108956014A CN201810815272.5A CN201810815272A CN108956014A CN 108956014 A CN108956014 A CN 108956014A CN 201810815272 A CN201810815272 A CN 201810815272A CN 108956014 A CN108956014 A CN 108956014A
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- body frame
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- joint
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
For the present invention in order to overcome the defect of prior art vehicle or object body frame center of gravity out of plumb and body frame during exercise, the present invention provides a kind of center of gravity swing actuator and sensor.
Description
Technical field
The present invention relates to vehicle or object body frame are vertical with center of gravity.
Background technique
Existing Some vehicles control the height of same distance between vehicle body and ground with sensor mostly to maintain vehicle body flat
Weighing apparatus.
Summary of the invention 1
In order to overcome prior art vehicle or object body frame, center of gravity is not orthogonal to the defect of body frame during exercise, and the present invention mentions
A kind of center of gravity swing actuator is supplied.
The technical solution adopted by the present invention to solve the technical problems is: a kind of center of gravity swing actuator, is divided into body frame, again
Heart whipple hammer, big ball-joint, oscillating rod retaining frame, swing up and down bar A, B, C, D, small ball-joint A, B, C, D, active hydraulic cylinder guide rod A, B,
C, D, active hydraulic cylinder A, B, C, D, hydraulic tube A, B, C, D, passive hydraulic cylinder A, B, C, D, passive hydraulic cylinder guide rod A, B, C, D,
Branch A, B, C, D, frame linking mobile jib.
A frame linking mobile jib is fixed at body frame center below, frame linking mobile jib lower end is fixed on the bulb of big ball-joint, big ball
A center of gravity whipple hammer is fixed in the ball bowl lower end held, and four sides of ball bowl are respectively fixed with A, B, C, D tetra- and swing up and down bar, A,
B, C, D tetra- swing up and down that bar mutual plane is vertical, and A, B, C, D tetra- swing up and down bar is fixed on respectively on body frame four
A oscillating rod retaining frame round, can only swing up and down, four oscillating rod retaining frame upper ends are separately fixed on body frame, A, B, C, D tetra-
It swings up and down bar outer end to be separately fixed on the bulb of tetra- small ball-joints of A, B, C, D, on A, B, C, D tetra- small ball-joint upper ball bowls
Tetra- active hydraulic cylinder guide rods of A, B, C, D are all respectively fixed with, tetra- active hydraulic cylinder guide rods of A, B, C, D withstand on A, B, C, D respectively
In four active hydraulic cylinders, tetra- active hydraulic cylinders of A, B, C, D are separately fixed at four side of body frame, tetra- actives of A, B, C, D
Hydraulic cylinder is all respectively connected with tetra- hydraulic tubes of A, B, C, D, and the tetra- hydraulic tube lower ends A, B, C, D are respectively connected in tetra- quilts of A, B, C, D
Hydrodynamic cylinder pressure, A, B, C, D tetra- passive hydraulic cylinders are all respectively fixed on the lower end of four side stand of body frame, and A, B, C, D tetra- passive
Hydraulic cylinder guide rod is all respectively fixed with branch.
When body frame is tilted to front side right side or body frame moves inertia when turning, and right side is swung center of gravity whipple hammer forward, is put
The ball bowl of big ball-joint is driven to rotate when dynamic, ball bowl drives A, B two and swings up and down bar and be swung up, respectively through two small ball-joints of A, B,
A, two active hydraulic cylinder guide rods of B are respectively pressed into two active hydraulic cylinders of A, B, and the liquid of two active hydraulic cylinders of A, B passes through A, B
Two hydraulic tubes, are respectively pressed into two passive hydraulic cylinders of A, B, and A, B two passive hydraulic cylinder guide rods respectively stretch out passive hydraulic cylinder, A, B
Two branchs position and body frame distance on object or ground are elongated, and front side and right side body frame increase, the ball bowl rotation of big ball-joint
When simultaneously also drive C, D two swing up and down bar, to lower swing respectively through two small ball-joints of C, D, two active hydraulic cylinders of C, D
C, two active hydraulic cylinder guide rods of D respectively pull out simultaneously, two active hydraulic cylinder imbibitions of C, D, two passive hydraulic cylinders of C, D
Liquid be respectively respectively sucked out through two hydraulic tubes of C, D by two active hydraulic cylinders of C, D, C, D two passive hydraulic cylinder guide rod retraction quilts
Hydrodynamic cylinder pressure, two branchs of C, D position and body frame Distance Shortened on object or ground, rear side and left side body frame reduce, in this way
Body frame is as vertical with center of gravity as possible.
Above-mentioned center of gravity swing actuator, the body frame are mainly characterized by comprising: a plane cross frame, under cross centre
While fixing a connection mobile jib, all respectively there is bracket at four outer ends of cross downwards, pedestal lower end is fixed with passive hydraulic cylinder, and ten
Active hydraulic cylinder is all respectively fixed at cabinet frame front and back end and at the end of the left and right sides, active hydraulic cylinder is inwardly nearby all respectively fixed with
Oscillating rod retaining frame.
Above-mentioned center of gravity swing actuator, the center of gravity whipple hammer be mainly characterized by comprising: body frame in inclination or movement with
Center of gravity is swung, and is fixed on big ball-joint ball bowl that (center of gravity whipple hammer self gravity cannot be by four sides herein at the top of the hammer stem of upper end
Pressure pushes).
Above-mentioned center of gravity swing actuator, the big ball-joint are mainly characterized by comprising: between bulb and ball bowl to rotate with 360 °
Or twisting, upper end are fixed on frame linking mobile jib, lower end is fixed on the hammer stem of center of gravity whipple hammer, and four planes are fixed in four sides respectively
It is mutually perpendicular to swing up and down bar.
Above-mentioned center of gravity swing actuator, being mainly characterized by comprising: to block of the oscillating rod retaining frame swing up and down bar A, B, C, D
It can only all swing up and down, cannot twist.
Above-mentioned center of gravity swing actuator, it is described swing up and down bar A, B, C, D be mainly characterized by comprising: A bar, B bar, C bar, D
, can be up and down on the vertical ball bowl side for being fixed on big ball-joint of one end of bar all mutual planes, the other end is connected in small ball-joint
Bulb on, A bar, B bar, C bar, D pole length are identical.
Above-mentioned center of gravity swing actuator, being mainly characterized by comprising: between bulb and ball bowl for described small ball-joint A, B, C, D can be with
360 ° of rotations or twisting, A, B, C, D represent four small ball-joints.
Above-mentioned center of gravity swing actuator, described active hydraulic cylinder guide rod A, B, C, D's is mainly characterized by comprising: A, B, C, D generation
Four active hydraulic cylinder guide rods of table, one end are connected on the ball bowl of small ball-joint, and the other end heads into active hydraulic cylinder.
Above-mentioned center of gravity swing actuator, described active hydraulic cylinder A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A active hydraulic cylinder, is fixed at four ends of body frame.
Above-mentioned center of gravity swing actuator, described active hydraulic tube A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A hydraulic tube, one end are connected on active hydraulic cylinder, and the other end is connected on passive hydraulic cylinder, make two hydraulic cylinder phase intercommunication liquid.
Above-mentioned center of gravity swing actuator, described passive hydraulic cylinder A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A passive hydraulic cylinder, is fixed on the lower end of four brackets of body frame.
Above-mentioned center of gravity swing actuator, described passive hydraulic cylinder guide rod A, B, C, D's is mainly characterized by comprising: A, B, C, D generation
Four, table passive hydraulic cylinder guide rods, one end are withstood in passive hydraulic cylinder, and the other end is withstood in branch.
Above-mentioned center of gravity swing actuator, described branch A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four branchs,
Branch is touched float on object or on ground below.
Above-mentioned center of gravity swing actuator, the frame linking mobile jib be mainly characterized by comprising: that upper end is fixed at body frame center under
Face, lower end are fixed on the bulb of big ball-joint.
Above-mentioned center of gravity swing actuator, the power transmission mainly based on hydraulic power transmission, can also use mechanical, thick stick
The transmission such as bar.
Summary of the invention 2
In order to overcome prior art vehicle or object body frame, center of gravity is not orthogonal to the defect of body frame during exercise, and the present invention mentions
A kind of center of gravity oscillation gauge is supplied.
The technical solution adopted by the present invention to solve the technical problems is: a kind of center of gravity oscillation gauge, is divided into body frame, again
Heart whipple hammer, big ball-joint, oscillating rod retaining frame, swing up and down bar A, B, C, D, small ball-joint A, B, C, D, commutation valve-stem guide A, B, C, D,
Reversal valve A, B, C, D, hydraulic tube A, B, C, D are executed, hydraulic cylinder A, B is executed, C, D, executes hydraulic cylinder guide rod A, B, C, D, branch
A, B, C, D, frame linking mobile jib, vacuum liquid-absorbing pipe A, B, C, D, vacuum reservoir A, B, C, D, vacuum hydraulic pump, liquid accumulation of energy cylinder, energy
Hydraulic tube A, B, C, D.
A frame linking mobile jib is fixed at body frame center below, frame linking mobile jib lower end is fixed on the bulb of big ball-joint, big ball
A center of gravity whipple hammer is fixed in the ball bowl lower end held, and four sides of ball bowl are respectively fixed with A, B, C, D tetra- and swing up and down bar, A,
B, C, D tetra- swing up and down that bar mutual plane is vertical, and A, B, C, D tetra- swing up and down bar is fixed on respectively on body frame four
A oscillating rod retaining frame round, can only swing up and down, four oscillating rod retaining frame upper ends are separately fixed on body frame, A, B, C, D tetra-
It swings up and down bar outer end to be separately fixed on the bulb of tetra- small ball-joints of A, B, C, D, on A, B, C, D tetra- small ball-joint upper ball bowls
Tetra- commutation valve-stem guides of A, B, C, D are all respectively fixed with, tetra- commutation valve-stem guides of A, B, C, D are attached separately to A, B, C, D tetra- commutations
In valve, tetra- reversal valves of A, B, C, D are separately fixed at four side of body frame, and tetra- reversal valves of A, B, C, D respectively connect downwards respectively
On tetra- execution hydraulic cylinders of A, B, C, D, A, B, C, D tetra- execute the lower end that hydraulic cylinder is all respectively fixed on four side stand of body frame
Place, tetra- execution hydraulic cylinder guide rods of A, B, C, D are all respectively fixed with tetra- branchs of A, B, C, D, tetra- reversal valve difference of A, B, C, D
Each upwards there are two hydraulic tubes, and one is vacuum liquid-absorbing pipe, is connected in vacuum reservoir upper end, and one is energy hydraulic tube, is connected in liquid
Accumulation of energy cylinder lower end, vacuum reservoir are connected on vacuum hydraulic pump through single hydraulic tube, and vacuum hydraulic pump is connected in liquid through single hydraulic tube again
It presses on accumulation of energy cylinder.
When body frame is tilted to front side right side or body frame moves inertia when turning, and right side is swung center of gravity whipple hammer forward, is put
The ball bowl of big ball-joint is driven to rotate when dynamic, ball bowl drives A, B two and swings up and down bar and be swung up, respectively through two small ball-joints of A, B,
A, two commutation valve-stem guides of B are respectively pressed into two reversal valves of A, B, and two reversal valves of A, B are all respectively opened, and can make two energy liquids of A, B
Pressure pipe is communicated with two execution hydraulic tubes of A, B, and the liquid of liquid accumulation of energy cylinder is pressed into two execution hydraulic cylinders of A, B, and A, B two are held
Row hydraulic cylinder guide rod, which respectively stretches out, executes hydraulic cylinder, and two branchs of A, B position and body frame distance on object or ground are elongated, front side
It is increased with right side body frame, also drives C, D two simultaneously when the ball bowl of big ball-joint rotates and swing up and down bar, to lower swing respectively through C, D
Two small ball-joints pull downward on two commutation valve-stem guides of C, D, open two reversal valves of C, D, and two vacuum of C, D can be made to inhale
Liquid pipe is communicated with two execution hydraulic tubes of C, D, and the liquid that C, D two execute hydraulic cylinder is sucked out in vacuum reservoir, two execution liquid of C, D
Each retraction of cylinder pressure guide rod executes hydraulic cylinder, two branchs of C, D position and body frame Distance Shortened, rear side and left side on object or ground
Side body frame reduces, and such body frame is as vertical with center of gravity as possible.
Above-mentioned center of gravity oscillation gauge, the body frame are mainly characterized by comprising: a plane cross frame, under cross centre
While fixing a connection mobile jib, all respectively there is bracket at four outer ends of cross downwards, pedestal lower end is fixed with passive hydraulic cylinder, and ten
Active hydraulic cylinder is all respectively fixed at cabinet frame front and back end and at the end of the left and right sides, active hydraulic cylinder is inwardly nearby all respectively fixed with
Oscillating rod retaining frame.
Above-mentioned center of gravity oscillation gauge, the center of gravity whipple hammer be mainly characterized by comprising: body frame in inclination or movement with
Center of gravity is swung, and is fixed on big ball-joint ball bowl at the top of the hammer stem of upper end (as long as center of gravity whipple hammer gravity can be pushed and be pulled herein
Reversal valve changes channel just).
Above-mentioned center of gravity swing actuator, the big ball-joint are mainly characterized by comprising: between bulb and ball bowl to rotate with 360 °
Or twisting, upper end are fixed on frame linking mobile jib, lower end is fixed on the hammer stem of center of gravity whipple hammer, and four planes are fixed in four sides respectively
It is mutually perpendicular to swing up and down bar.
Above-mentioned center of gravity oscillation gauge, being mainly characterized by comprising: to block of the oscillating rod retaining frame swing up and down bar A, B, C, D
It can only all swing up and down, cannot twist.
Above-mentioned center of gravity oscillation gauge, it is described swing up and down bar A, B, C, D be mainly characterized by comprising: A bar, B bar, C bar, D
, can be up and down on the vertical ball bowl side for being fixed on big ball-joint of one end of bar all mutual planes, the other end is connected in small ball-joint
Bulb on, A bar, B bar, C bar, D pole length are identical.
Above-mentioned center of gravity oscillation gauge, being mainly characterized by comprising: between bulb and ball bowl for described small ball-joint A, B, C, D can be with
360 ° of rotations or twisting, A, B, C, D represent four small ball-joints.
Above-mentioned center of gravity oscillation gauge, described commutation valve-stem guide A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A commutation valve-stem guide, on reversal valve, the other end is fixed on the ball bowl of small ball-joint for one end, and it is logical can to change liquid with switching valve
Road.
Above-mentioned center of gravity oscillation gauge, described reversal valve A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four and change
To valve A, B, C, D, reversal valve is fixed at four ends of body frame.
Above-mentioned center of gravity oscillation gauge, described execution hydraulic tube A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A execution hydraulic tube, one end are connected on reversal valve, and the other end, which is connected in, to be executed on hydraulic cylinder, and liquid is allow mutually to circulate.
Above-mentioned center of gravity oscillation gauge, described execution hydraulic cylinder A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A execution hydraulic cylinder, is fixed on the lower end of four brackets of body frame.
Above-mentioned center of gravity oscillation gauge, described execution hydraulic cylinder guide rod A, B, C, D's is mainly characterized by comprising: A, B, C, D generation
Four execution hydraulic cylinder guide rods of table, one end, which is withstood on, to be executed in hydraulic cylinder, and the other end is withstood in branch.
Above-mentioned center of gravity oscillation gauge, described branch A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four branchs,
Branch is touched float on object or on ground below.
Above-mentioned center of gravity oscillation gauge, the frame linking mobile jib be mainly characterized by comprising: that upper end is fixed at body frame center under
Face, lower end are fixed on the bulb of big ball-joint.
Above-mentioned center of gravity oscillation gauge, described vacuum liquid-absorbing pipe A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A vacuum liquid-absorbing pipe, one end are connected in vacuum reservoir top, and the other end is connected on reversal valve.
Above-mentioned center of gravity oscillation gauge, the vacuum liquid cylinder pressure are mainly characterized by comprising: to be fixed on body frame, and one end is connected in
On vacuum hydraulic pump, one end is connected on vacuum liquid-absorbing pipe.
Above-mentioned center of gravity oscillation gauge, the vacuum hydraulic pump are mainly characterized by comprising: to be fixed on body frame, and one end can be with
The liquid extraction indentation other end of vacuum reservoir is connected in liquid accumulation of energy cylinder.
Above-mentioned center of gravity oscillation gauge, the liquid accumulation of energy cylinder are mainly characterized by comprising: to be fixed on body frame, and cylinder top is solid
Surely there is a spring, the liquid compressible spring that vacuum hydraulic is pumped into can save some pressure fluids (hydraulic energy) after spring-compressed,
Lower end is respectively connected with tetra- energy hydraulic tubes of A, B, C, D.
Above-mentioned center of gravity oscillation gauge, described energy hydraulic tube A, B, C, D's is mainly characterized by comprising: that A, B, C, D represent four
A energy hydraulic tube, one end are connected in liquid accumulation of energy cylinder lower part, and the other end is connected on tetra- execution hydraulic cylinders of A, B, C, D, make liquid
It can mutually circulate.
Above-mentioned center of gravity oscillation gauge, the power transmission mainly based on hydraulic power transmission, can also use mechanical, thick stick
The transmission such as bar.
Effect of the invention is: when moving on uneven ground or object, body frame can be use up for such as vehicle or a kind of object
Vertically and center of gravity vehicle or object of which movement may be kept more steady.
Detailed description of the invention 1
Invention will be further explained below with reference to the drawings and examples..
Center of gravity swing actuator figure:
Fig. 1 actuator side view
Fig. 2 actuator main view
Fig. 3 actuator bottom view
The big 4 oscillating rod retaining frame 5 of ball-joint of 1 body frame, 2 center of gravity whipple hammer 3 swings up and down the small ball-joint of bar A, B, C, D 6 in figure
A, 789 10 passive hydraulic cylinder of hydraulic tube A, B, C, D of active hydraulic cylinder A, B, C, D of active hydraulic cylinder guide rod A, B, C, D of B, C, D
A, 12 13 frame linking mobile jib of branch A, B, C, D of B, C, D 11 passive hydraulic cylinder guide rod A, B, C, D
Specific embodiment 1
Inertia when body frame 1 is tilted to front side and right side or when the movement turning of body frame 1, center of gravity whipple hammer 2 is to front side and the right side
Side oscillation, when swing, drive the ball bowl of big ball-joint 3 to rotate, and ball bowl drives A, B two to swing up and down bar 5 and is swung up, respectively through A,
B two small ball-joints 6, two active hydraulic cylinder guide rods 7 of A, B are respectively pressed into two active hydraulic cylinders 8 of A, B, two active hydraulic cylinders of A, B
8 liquid passes through two hydraulic tubes 9 of A, B, is respectively pressed into A, B two passive hydraulic cylinders 10, and A, B two passive hydraulic cylinder guide rods 11 are each
Stretch out passive hydraulic cylinder, two branchs 12 of A, B on object or ground position and body frame 1 apart from elongation, front side and right side body frame 1
It increases, also drives C, D two simultaneously when the ball bowl of big ball-joint 3 rotates and swing up and down bar 5, to lower swing respectively through two beads of C, D
It holds, two active hydraulic cylinder guide rods of C, D of two active hydraulic cylinders of C, D is respectively pulled out simultaneously, two active hydraulic cylinders of C, D
8 imbibitions, the liquid of C, D two passive hydraulic cylinders 10 are respectively respectively sucked out through two hydraulic tubes 9 of C, D by two active hydraulic cylinders 8 of C, D,
C, the D two passive 11 passive hydraulic cylinders of retraction of hydraulic cylinder guide rod, two branchs 12 of C, D position and body frame 1 on object or ground
Distance Shortened, rear side and left side body frame 1 reduce, and such body frame 1 is as vertical with center of gravity as possible.
Detailed description of the invention 2
Invention will be further explained below with reference to the drawings and examples..
Center of gravity oscillation gauge figure:
Fig. 4 sensor side view
Fig. 5 sensor main view
Fig. 6 sensor bottom view
Fig. 7 sensor top view
The big 4 oscillating rod retaining frame 5 of ball-joint of 1 body frame, 2 center of gravity whipple hammer 3 swings up and down the small ball-joint of bar A, B, C, D 6 in figure
A, B, C, D 7 commutate 8 reversal valve A, B, C, D 9 of valve-stem guide A, B, C, D under valve hydraulic tube A, B, C, D 10 execute hydraulic cylinder A,
B, C, D 11 executes 12 13 frame linking mobile jib of branch A, B, C, D of hydraulic cylinder guide rod A, B, C, D 14 vacuum liquid-absorbing pipe A, B, C, D
15 vacuum reservoir, 16 vacuum hydraulic pump, 17 liquid accumulation of energy cylinder 18 energy hydraulic tube A, B, C, D
Specific embodiment 2
Inertia when body frame 1 is tilted to front side and right side or when the movement turning of body frame 1, center of gravity whipple hammer 2 is to front side and the right side
Side oscillation, when swing, drive the ball bowl of big ball-joint 3 to rotate, and ball bowl drives A, B two to swing up and down bar 5 and is swung up, respectively through A,
B two small ball-joints 6, two commutation valve-stem guides 7 of A, B respectively all respectively open by indentation two reversal valves 8 of A, B, two reversal valves 8 of A, B,
Two energy hydraulic tubes 18 of A, B can be made to communicate with two execution hydraulic tubes 9 of A, B, the liquid of liquid accumulation of energy cylinder 17 is pressed into A, B two
A execution hydraulic cylinder 10, two execution hydraulic cylinder guide rods 11 of A, B, which respectively stretch out, executes hydraulic cylinder, two branchs 12 of A, B in object or
Position and body frame 1 are increased apart from elongation, front side and right side body frame 1 on ground, are also driven simultaneously when the ball bowl of big ball-joint 3 rotates
C, D two swing up and down bar 5, and to lower swing respectively through C, D two small ball-joints 6, two commutation valve-stem guides 7 of C, D are pulled downward on,
Two reversal valves 8 of C, D are opened, two vacuum liquid-absorbing pipes 14 of C, D can be made to communicate with two execution hydraulic tubes 9 of C, D, vacuum reservoir
The liquid of 15 C, D two execution hydraulic cylinders 10 is sucked out, each retraction of two execution hydraulic cylinder guide rods of C, D 11 execution hydraulic cylinder, C,
Two branchs 12 of D position and 1 Distance Shortened of body frame on object or ground, rear side and left side body frame 1 reduce, and such body frame 1 is most
It may be vertical with center of gravity.
Claims (2)
1. a kind of center of gravity swing actuator is divided into: body frame (1), center of gravity whipple hammer (2), big ball-joint (3), oscillating rod retaining frame (4), on
The bottom lever A, B, C, D (5), small ball-joint A, B, C, D (6), active hydraulic cylinder guide rod A, B, C, D (7), active hydraulic cylinder A, B, C,
D (8), hydraulic tube A, B, C, D (9), passive hydraulic cylinder A, B, C, D (10), passive hydraulic cylinder guide rod A, B, C, D (11), branch A,
B, C, D (12), frame linking mobile jib (13) fix a frame linking mobile jib (13), frame linking mobile jib (13) lower end at body frame (1) center below
It is fixed on the bulb of big ball-joint (3), a center of gravity whipple hammer (2), four sides of ball bowl are fixed in the ball bowl lower end of big ball-joint (3)
A, B, C, D tetra- are respectively fixed with to swing up and down bar (5), A, B, C, D tetra- to swing up and down bar (5) mutual plane vertical, A, B,
C, D tetra- swing up and down four oscillating rod retaining frames (4) that bar (5) is fixed on respectively on body frame (1) round can only go up the bottom
Dynamic, four oscillating rod retaining frame (4) upper ends are separately fixed on body frame (1), and A, B, C, D tetra- swing up and down bar (5) outer end difference
Be fixed on the bulb of A, B, C, D tetra- small ball-joint (6), be all respectively fixed on A, B, C, D tetra- small ball-joint (6) upper ball bowl A,
B, tetra- active hydraulic cylinder guide rods (7) of C, D, tetra- active hydraulic cylinder guide rods (7) of A, B, C, D withstand on tetra- masters of A, B, C, D respectively
In hydrodynamic cylinder pressure (8), tetra- active hydraulic cylinders (8) of A, B, C, D are separately fixed at (1) four side of body frame, tetra- masters of A, B, C, D
Hydrodynamic cylinder pressure (8) is all respectively connected with tetra- hydraulic tubes (9) of A, B, C, D, tetra- hydraulic tube (9) lower ends A, B, C, D be respectively connected in A,
B, C, D tetra- passive hydraulic cylinders (10), A, B, C, D tetra- passive hydraulic cylinders (10) are all respectively fixed on (1) four side stand of body frame
On lower end, A, B, C, D tetra- passive hydraulic cylinder guide rods (11) are all respectively fixed with branch (12)；Body frame (1) inclines to front side and right side
Inertia when tiltedly or when body frame (1) movement turning, center of gravity whipple hammer (2) are swung to front side and right side, and when swing drives big ball (3)
The rotation of ball bowl, ball bowl drives A, B two and swings up and down bar (5) and be swung up, respectively through A, B two small ball-joint (6), A, B two
Active hydraulic cylinder guide rod (7) is respectively pressed into two active hydraulic cylinders (8) of A, B, and the liquid of two active hydraulic cylinders (8) of A, B passes through A, B
Two hydraulic tubes (9) are respectively pressed into A, B two passive hydraulic cylinders (10), and it is passive that A, B two passive hydraulic cylinder guide rods (11) are respectively stretched out
Hydraulic cylinder, two branchs (12) of A, B position and body frame (1) distance on object or ground are elongated, and front side and right side body frame (1) rise
Height also drives C, D two simultaneously when the ball bowl of big ball-joint (3) rotates and swings up and down bar (5) to lower swing respectively through two beads of C, D
(6) are held, two active hydraulic cylinder guide rods (7) of C, D two active hydraulic cylinders (8) of C, D are each while pulling out active hydraulic cylinder
(8), two active hydraulic cylinder (8) imbibitions of C, D, the liquid of C, D two passive hydraulic cylinders (10) is respectively by two active hydraulic cylinders of C, D
(8) it is respectively sucked out through two hydraulic tubes (9) of C, D, two passive hydraulic cylinders of passive hydraulic cylinder guide rod (11) retraction of C, D, two branch of C, D
Disk (12) position and body frame (1) Distance Shortened on object or ground, rear side and left side body frame (1) reduce, and such body frame (1) is to the greatest extent
May be vertical with center of gravity, body frame (1) is characterized in herein: a plane cross frame, fixes a connection among cross below
Mobile jib (13) all respectively has downwards bracket at four outer ends of cross, and pedestal lower end is fixed with passive hydraulic cylinder (10), before cross
It is all respectively fixed with active hydraulic cylinder (8) at rear end and at the end of the left and right sides, active hydraulic cylinder (8) is inwardly nearby all respectively fixed with
Oscillating rod retaining frame (4), center of gravity whipple hammer (2) is characterized in herein: body frame (1) is swung in inclination or movement with center of gravity, on
Holding hammer stem top to be fixed on big ball-joint (3) ball bowl, (center of gravity whipple hammer (2) self gravity cannot be by the pressure top on four sides herein
It is dynamic), big ball-joint (3) is characterized in herein: can be with 360 ° of rotations or twisting between bulb and ball bowl, upper end is fixed on frame linking mobile jib
(13) on, lower end is fixed on the hammer stem of center of gravity whipple hammer (2), and four sides fix four planes respectively and are mutually perpendicular to swing up and down bar
(5), oscillating rod retaining frame (4) is characterized in herein: blocking and swings up and down bar (5) A, B, C, D and can only all swing up and down, cannot turn round
It is dynamic, swing up and down bar (5) A, B, C, D herein and be characterized in: A bar, B bar, C bar, D bar one end all mutual planes vertical consolidate
Be scheduled on the ball bowl side of big ball-joint (3), can be up and down, the other end is connected on the bulb of small ball-joint (6), A bar, B bar, C bar,
D pole length is identical, and small ball-joint (6) A, B, C, D are characterized in herein: it with 360 ° of rotations or can be twisted between bulb and ball bowl, A,
B, C, D represent four small ball-joint (6), and active hydraulic cylinder guide rod (7) A, B, C, D is characterized in herein: A, B, C, D represent four
Active hydraulic cylinder guide rod (7), one end are connected on the ball bowl of small ball-joint (6), and the other end heads into active hydraulic cylinder (8), herein
Active hydraulic cylinder (8) A, B, C, D is characterized in: A, B, C, D represent four active hydraulic cylinders (8), are fixed on four ends of body frame (1)
Place, active hydraulic tube (9) A, B, C, D is characterized in herein: A, B, C, D represent four active hydraulic tubes (9), and one end is connected in master
On hydrodynamic cylinder pressure (8), the other end is connected on passive hydraulic cylinder (10), makes two hydraulic cylinder phase intercommunication liquid, herein passive hydraulic cylinder
(10) A, B, C, D are characterized in: A, B, C, D represent four passive hydraulic cylinders (10), are fixed under (1) four bracket of body frame
End, passive hydraulic cylinder guide rod (11) A, B, C, D are characterized in herein: A, B, C, D represent four passive hydraulic cylinder guide rods (11),
One end is withstood in passive hydraulic cylinder (10), and the other end is withstood on branch (12), and branch (12) A, B, C, D is characterized in herein:
A, B, C, D represent four branchs (12), touching floats on object or on ground branch (12) below, herein frame linking mobile jib (13)
Be characterized in: upper end is fixed at body frame (1) center in the following, lower end is fixed on the bulb of big ball-joint (3), and center of gravity herein is put
Dynamic actuator, the power transmission mainly based on hydraulic power transmission, can also use the power transmissions such as machinery, lever.
2. a kind of center of gravity oscillation gauge is divided into: body frame (1), center of gravity whipple hammer (2), big ball-joint (3), oscillating rod retaining frame (4), on
The bottom lever A, B, C, D (5), it small ball-joint A, B, C, D (6), commutation valve-stem guide A, B, C, D (7), reversal valve A, B, C, D (8), holds
Row hydraulic tube A, B, C, D (9), execute hydraulic cylinder A, B, C, D (10), execute hydraulic cylinder guide rod A, B, C, D (11), branch A, B, C,
D (12), frame linking mobile jib (13), vacuum liquid-absorbing pipe A, B, C, D (14), vacuum reservoir A, B, C, D (15), vacuum hydraulic pump (16), liquid
Body accumulation of energy cylinder (17), energy hydraulic tube A, B, C, D (18)；A frame linking mobile jib (13), frame linking are fixed at body frame (1) center below
Mobile jib (13) lower end is fixed on the bulb of big ball-joint (3), and a center of gravity whipple hammer (2) is fixed in the ball bowl lower end of big ball-joint (3),
Four sides of ball bowl are respectively fixed with A, B, C, D tetra- and swing up and down bar (5), and A, B, C, D tetra- swing up and down bar (5) and mutually put down
Face is vertical, A, B, C, D tetra- swing up and down four oscillating rod retaining frames (4) that bar (5) is fixed on respectively on body frame (1) round,
It can only swing up and down, four oscillating rod retaining frame (4) upper ends are separately fixed on body frame (1), A, B, C, D tetra- swing up and down bar
(5) outer end is separately fixed on the bulb of A, B, C, D tetra- small ball-joint (6), on A, B, C, D tetra- small ball-joint (6) upper ball bowl
Tetra- commutation valve-stem guides (7) of A, B, C, D are all respectively fixed with, tetra- commutation valve-stem guides (7) of A, B, C, D are attached separately to A, B, C, D tetra-
In a reversal valve (8), tetra- reversal valves (8) of A, B, C, D are separately fixed at (1) four side of body frame, tetra- reversal valves of A, B, C, D
(8) it is respectively connected on tetra- execution hydraulic cylinders (10) of A, B, C, D respectively downwards, tetra- execution hydraulic cylinders (10) of A, B, C, D are all each
It is fixed at the lower end of (1) four side stand of body frame, tetra- execution hydraulic cylinder guide rods (11) of A, B, C, D are all respectively fixed with A, B, C, D
Four branchs (12), tetra- reversal valves (8) of A, B, C, D are each upwards respectively, and there are two hydraulic tubes, and one is vacuum liquid-absorbing pipe (14),
It is connected in vacuum reservoir (15) upper end, one is energy hydraulic tube (18), is connected in liquid accumulation of energy cylinder (17) lower end, vacuum reservoir (15) is through list
A hydraulic tube is connected on vacuum hydraulic pump (16), and vacuum hydraulic pump (16) is connected in hydraulic energy-accumulating cylinder (17) through single hydraulic tube again
On；Inertia when body frame (1) is tilted to front side and right side or when body frame (1) movement turning, center of gravity whipple hammer (2) is to front side and the right side
Side oscillation, when swing, drive the ball bowl of big ball-joint (3) to rotate, and ball bowl drives A, B two to swing up and down bar (5) and is swung up, respectively
Diameter A, B two small ball-joint (6), two commutation valve-stem guides (7) of A, B are respectively pressed into two reversal valves (8) of A, B, two reversal valves of A, B
(8) all each to open, two energy hydraulic tubes (18) of A, B can be made to communicate with two execution hydraulic tubes (9) of A, B, liquid accumulation of energy cylinder
(17) liquid is pressed into two execution hydraulic cylinders (10) of A, B, and two execution hydraulic cylinder guide rods (11) of A, B, which are respectively stretched out, executes hydraulic cylinder
(10), two branchs (12) of A, B position and body frame (1) distance on object or ground is elongated, and front side and right side body frame (1) rise
Height, also driving C, D two while when the ball bowl rotation of big ball-joint (3), to swing up and down bar (2) respectively small through C, D two to lower swing
Ball-joint (3) pulls downward on two commutation valve-stem guides (7) of C, D, opens two reversal valves (8) of C, D, can make two vacuum of C, D
Pipette (14) is communicated with two execution hydraulic tubes (9) of C, D, and vacuum reservoir (15) executes the liquid of hydraulic cylinder (10) C, D two
It is sucked out, each retraction of two execution hydraulic cylinder guide rods (14) of C, D executes hydraulic cylinder (10), and two branchs (12) of C, D are on object or ground
Position and body frame (1) Distance Shortened on face, rear side and left side body frame (1) reduce, and such body frame (1) is hung down with center of gravity as far as possible
Directly, body frame (1) is characterized in herein: a plane cross frame, fixes a connection mobile jib (13) among cross below, ten
All respectively there is bracket at four outer ends of cabinet frame downwards, pedestal lower end is fixed with passive hydraulic cylinder (10), at a cross front and back end and left side
It is all respectively fixed at right two side ends active hydraulic cylinder (8), active hydraulic cylinder (8) is inwardly nearby all respectively fixed with oscillating rod retaining frame
(4), center of gravity whipple hammer (2) is characterized in herein: body frame (1) is swung in inclination or movement with center of gravity, at the top of the hammer stem of upper end
It is fixed on big ball-joint (3) ball bowl (as long as center of gravity whipple hammer gravity can push and pull reversal valve to change channel herein
), big ball-joint (3) is characterized in herein: can be with 360 ° of rotations or twisting between bulb and ball bowl, upper end is fixed on frame linking mobile jib
(13) on, lower end is fixed on the hammer stem of center of gravity whipple hammer (3), and four sides fix four planes respectively and are mutually perpendicular to swing up and down bar
(5), oscillating rod retaining frame (4) is characterized in herein: blocking and swings up and down bar (5) A, B, C, D and all can directly swing up and down, cannot turn round
It is dynamic, swing up and down bar (5) A, B, C, D herein and be characterized in: A bar, B bar, C bar, D bar one end all mutual planes vertical consolidate
Be scheduled on the ball bowl side of big ball-joint (3), can be up and down, the other end is connected on the bulb of small ball-joint (6), A bar, B bar, C bar,
D pole length is identical, and small ball-joint (6) A, B, C, D are characterized in herein: it with 360 ° of rotations or can be twisted between bulb and ball bowl, A,
B, C, D represent four small ball-joint (6), and valve-stem guide (7) A, B, C, the D that commutate herein is characterized in: A, B, C, D represent four commutations
Valve-stem guide (7), one end are mounted in reversal valve (8), and the other end, which is fixed on the ball bowl of small ball-joint (6), can make reversal valve change liquid
Channel, reversal valve (8) A, B, C, D is characterized in herein: A, B, C, D represent four reversal valves (8), A, B, C, D tetra- commutations
Valve (8) is fixed at four ends of body frame (1), and execute hydraulic tube (9) A, B, C, D herein and be characterized in: A, B, C, D represent four
It executes hydraulic tube (9), one end is connected on reversal valve (8), and the other end, which is connected in, to be executed on hydraulic cylinder (10), flows liquid mutually
Logical, execute hydraulic cylinder (10) A, B, C, D herein and be characterized in: A, B, C, D represent four execution hydraulic cylinders (10), are fixed on master
The lower end of (1) four bracket of frame, execute hydraulic cylinder guide rod (11) A, B, C, D herein and be characterized in: A, B, C, D represent four and hold
Row hydraulic cylinder guide rod (11), one end, which is withstood on, to be executed in hydraulic cylinder (10), and the other end is withstood on branch (12), herein branch (12)
A, B, C, D are characterized in: A, B, C, D represent four branchs (12), and touching floats on object or ground branch (12) below, herein
Frame linking mobile jib (13) is characterized in: upper end is fixed at body frame (1) center in the following, lower end is fixed on the bulb of big ball-joint (3),
Vacuum liquid-absorbing pipe (14) A, B, C, D is characterized in herein: A, B, C, D represent four vacuum liquid-absorbing pipes (14), and one end is connected in very
Empty cylinder (15) top, the other end are connected on reversal valve (8), and vacuum reservoir (15) is characterized in herein: it is fixed on body frame (1),
One end is connected on vacuum hydraulic pump (16), and one end is connected on vacuum liquid-absorbing pipe (14), herein the feature of vacuum hydraulic pump (16)
It is: is fixed on body frame (1), one end can extracts the liquid of vacuum reservoir (15) out the indentation other end and be connected in liquid accumulation of energy cylinder
(17), the cylinder of liquid accumulation of energy herein (17) is characterized in: being fixed on body frame (1), cylinder top is fixed with spring, vacuum hydraulic pump
(16) the liquid compressible spring being pressed into can save some pressure fluids (hydraulic energy) after spring-compressed, lower end be respectively connected with A, B,
C, tetra- energy hydraulic tubes (18) of D, energy hydraulic tube (18) A, B, C, D is characterized in herein: A, B, C, D represent four energy
Hydraulic tube (18), one end are connected in liquid accumulation of energy cylinder (17) lower part, and the other end is connected on tetra- execution hydraulic cylinders (10) of A, B, C, D,
Liquid is set mutually to circulate；Power transmission described in center of gravity oscillation gauge herein mainly based on hydraulic power transmission, is gone back
The transmission such as machinery, lever can be used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810815272.5A CN108956014B (en) | 2018-07-24 | 2018-07-24 | Center of gravity swing sensor and actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810815272.5A CN108956014B (en) | 2018-07-24 | 2018-07-24 | Center of gravity swing sensor and actuator |
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| CN108956014A true CN108956014A (en) | 2018-12-07 |
| CN108956014B CN108956014B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109976369A (en) * | 2019-04-19 | 2019-07-05 | 南昌航空大学 | A kind of heat transfer agent Tracing Control system |
| CN112044759A (en) * | 2020-08-21 | 2020-12-08 | 广州九岳天装饰工程有限公司 | Food processing sieve material equipment |
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| US20090018743A1 (en) * | 2006-09-04 | 2009-01-15 | Koji Yamada | Mobile Unit and Control Method of Mobile Unit |
| CN103738837A (en) * | 2013-12-23 | 2014-04-23 | 柳州正菱集团有限公司 | Transfer hanger for auxiliary frame |
| CN105502221A (en) * | 2016-01-22 | 2016-04-20 | 蔡婷婷 | Three-dimensional direction self-adaptive plane hydraulic jack |
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| US20090018743A1 (en) * | 2006-09-04 | 2009-01-15 | Koji Yamada | Mobile Unit and Control Method of Mobile Unit |
| CN101375226A (en) * | 2006-09-04 | 2009-02-25 | 丰田自动车株式会社 | Moving body and moving body control method |
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| CN112044759A (en) * | 2020-08-21 | 2020-12-08 | 广州九岳天装饰工程有限公司 | Food processing sieve material equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108956014B (en) | 2020-07-31 |
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