CN110412875A - A kind of gas nozzle and a kind of adaptive stabilizing platform - Google Patents
A kind of gas nozzle and a kind of adaptive stabilizing platform Download PDFInfo
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- CN110412875A CN110412875A CN201910737189.5A CN201910737189A CN110412875A CN 110412875 A CN110412875 A CN 110412875A CN 201910737189 A CN201910737189 A CN 201910737189A CN 110412875 A CN110412875 A CN 110412875A
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- upper airway
- lower airways
- valve sleeve
- gas nozzle
- side wall
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 37
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 35
- 238000010586 diagram Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Air-Flow Control Members (AREA)
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Abstract
A kind of gas nozzle of the invention and a kind of adaptive stabilizing platform belong to precision instrument technical field；The gas nozzle includes upper airway, valve sleeve, lower airways and bracket；Upper airway top opening, bottom closing, side wall lower section are provided with multiple air inlets；Lower airways are top closed, and bottom connects external air feed equipment, are provided with multiple gas outlets above side wall；Upper airway and lower airways are coaxially disposed up and down, and the valve sleeve is wrapped in simultaneously below upper airway side wall and above lower airways side wall, and can be moved along upper airway and lower airways direction；The adaptive stabilizing platform is connected between the table top and support by universal joint including table top, the support positioned at table top lower central position；The gas nozzle of array distribution is additionally provided with into below the table top；A kind of gas nozzle of the invention and a kind of adaptive stabilizing platform, realize under conditions of not needing control algolithm, the adaptive stabilizing of platform.
Description
Technical field
A kind of gas nozzle of the invention and a kind of adaptive stabilizing platform belong to precision instrument technical field.
Background technique
Stabilized platform is that one kind can make controlled device keep unchanged direction with respect to certain inertial space, or in certain torque
Under effect, adjust by given rule by the device in steady object's position orientation.
Stabilized platform is chiefly used in target following, and the occasions such as motion profile simulation have extensive in fields such as military affairs, scientific researches
Using.
Currently, the design of platform stabilizing circuit, is all real system to be regarded as linear system, and use linear classic control
Technology is designed.It corrects and controls including lead-lag, PID control etc..But with the development of stabilized platform, to response speed
It is higher and higher with the requirement of compensation error, have also appeared complex controll, self adaptive control, the structure changes of Stabilizing Circuits for Inertial Platform
Control, fuzzy-adaptation PID control etc., and achieve preferable control effect.
However, these control modes all seem more complicated.
Summary of the invention
For the problem that the control of existing stabilized platform is complicated, the present invention devises a kind of pure from mechanical design angle
Mechanical adaptive stabilizing platform, and a kind of gas nozzle is devised for the stabilized platform, platform can be realized without software control
Adaptive stabilizing.
The object of the present invention is achieved like this:
A kind of gas nozzle, including upper airway, valve sleeve, lower airways and bracket；
The upper airway top opening, bottom closing, side wall lower section are provided with multiple air inlets；
The lower airways are top closed, and bottom connects external air feed equipment, are provided with multiple gas outlets above side wall；
The upper airway and lower airways are coaxially disposed up and down, and the valve sleeve is wrapped in simultaneously below upper airway side wall
Above lower airways side wall, and it can be moved along upper airway and lower airways direction；In valve sleeve motion range
In, the air inlet of upper airway is all wrapped up by valve sleeve, and the air outlet parts of lower airways are wrapped up by valve sleeve；
The bracket is connect with upper airway and lower airways respectively, for fixing the opposite position of upper airway and lower airways
It sets.
Above-mentioned gas nozzle, the valve sleeve are made of top annular lid, closed side wall and base circle lid；The top ring
Shape lid connects external equipment, and position of the valve sleeve relative to upper airway and lower airways is determined by external equipment.
A kind of adaptive stabilizing platform, including table top, the support positioned at table top lower central position, the table top and support
Between pass through universal joint connect；The gas nozzle of array distribution is additionally provided with into below the table top.
Above-mentioned adaptive stabilizing platform, the gas nozzle include upper airway, valve sleeve, lower airways and bracket；
The upper airway top opening, bottom closing, side wall lower section are provided with multiple air inlets；
The lower airways are top closed, and bottom connects external air feed equipment, are provided with multiple gas outlets above side wall；
The upper airway and lower airways are coaxially disposed up and down, and the valve sleeve is wrapped in simultaneously below upper airway side wall
Above lower airways side wall, and it can be moved along upper airway and lower airways direction；In valve sleeve motion range
In, the air inlet of upper airway is all wrapped up by valve sleeve, and the air outlet parts of lower airways are wrapped up by valve sleeve；
The bracket is connect with upper airway and lower airways respectively, for fixing the opposite position of upper airway and lower airways
It sets；
The valve sleeve is made of top annular lid, closed side wall and base circle lid；The top annular lid connects table top
Lower section, position of the valve sleeve relative to upper airway and lower airways is determined by table position.
The gas nozzle distance support is remoter, and the top opening of gas nozzle middle and upper part air flue is remoter apart from table top.
The gas nozzle distance support is remoter, and the diameter of gas nozzle is bigger.
The gas nozzle distance support is remoter, and the gas supply air pressure of external air feed equipment is higher.
The utility model has the advantages that
The first, the present invention problem that is directed to existing stabilized platform control algolithm complexity, devises a kind of the adaptive of Purely mechanical
Stabilized platform, while a kind of gas nozzle for the adaptive stabilizing platform is devised, it realizes in the item for not needing control algolithm
Under part, the adaptive stabilizing of platform.
The second, gas nozzle of the present invention to sacrifice a part of gas (become flat) for cost, realize it is only necessary to upper airway,
Adaptive adjustment air pressure can be realized in four valve sleeve, lower airways and bracket components, and amount of parts is few, structure letter
Single, cost of manufacture is cheap.
Third, in gas nozzle of the present invention, in valve sleeve motion range, the air inlet of upper airway is all by valve sleeve
Cylinder package, the air outlet parts of lower airways are wrapped up by valve sleeve；This design changes and enters so that valve sleeve moves
Outlet hole number in valve sleeve to change into the tolerance in valve sleeve, and then changes upper airway air inlet
Air inflow, the final adaptive adjustment for realizing gas nozzle tolerance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of gas nozzle of the present invention.
Fig. 2 is the structural schematic diagram two of gas nozzle of the present invention.
Fig. 3 is the structural schematic diagram of valve sleeve in gas nozzle of the present invention.
Fig. 4 is the structural schematic diagram of adaptive stabilizing platform of the present invention.
In figure: 1 table top, 2 supports, 3 universal joints, 4 gas nozzles, 4-1 upper airway, 4-2 valve sleeve, 4-2-1 top annular
Lid, 4-2-2 closed side wall, 4-2-3 base circle lid, 4-3 lower airways, 4-4 bracket.
Specific embodiment
The specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
Specific embodiment one
The following are the embodiments of gas nozzle.
Gas nozzle under present embodiment, structural schematic diagram are as depicted in figs. 1 and 2, wherein Fig. 1 is that valve sleeve 4-2 is located at
The schematic diagram of the top, i.e. external equipment apart from upper airway 4-1 when farthest, Fig. 2 are that valve sleeve 4-2 is located at bottom, i.e.,
Schematic diagram of the external equipment apart from upper airway 4-1 when nearest.In fig. 1 and 2, unidirectional arrow indicates gas flow direction,
Four-headed arrow indicates that external equipment can move up and down.It should be noted that in fig. 1 and 2, bracket 4-4 and sleeve 4-2 connect
The problem of there is interference in the components for connecing external equipment, this is only expression, in practical applications, the two-arm and set of bracket 4-4
The components of cylinder 4-2 connection external equipment are located at two orthogonal planes, i.e. in the top view of Fig. 1 and Fig. 2, bracket 4-4
Two-arm be located at and 9 positions at 3 points, the components of sleeve 4-2 connection external equipment are located at and 12 positions at 6 points.
The gas nozzle includes upper airway 4-1, valve sleeve 4-2, lower airways 4-3 and bracket 4-4；
The upper airway 4-1 top opening, bottom closing, side wall lower section are provided with multiple air inlets；
The lower airways 4-1 is top closed, and bottom connects external air feed equipment, is provided with multiple gas outlets above side wall；
The upper airway 4-1 and lower airways 4-3 or more coaxial arrangement, the valve sleeve 4-2 are wrapped in top gas simultaneously
Below road 4-1 side wall and above lower airways 4-3 side wall, and it can be transported along upper airway 4-1 and lower airways 4-3 direction
It is dynamic；In valve sleeve 4-2 motion range, the air inlet of upper airway 4-1 is all wrapped up by valve sleeve 4-2, lower airways
The air outlet parts of 4-3 are wrapped up by valve sleeve 4-2；
The bracket 4-4 is connect with upper airway 4-1 and lower airways 4-3 respectively, for fixing upper airway 4-1 and lower part gas
The relative position of road 4-3.
Specific embodiment two
The following are the embodiments of gas nozzle.
Gas nozzle under present embodiment further limits the knot of valve sleeve 4-2 on the basis of specific embodiment one
Structure, as shown in figure 3, the valve sleeve 4-2 is by top annular lid 4-2-1, closed side wall 4-2-2 and base circle lid 4-2-3
Composition；The top annular lid 4-2-1 connection external equipment, determines valve sleeve 4-2 relative to top by external equipment
The position of air flue 4-1 and lower airways 4-3.
Specific embodiment three
The following are the embodiments of adaptive stabilizing platform.
Adaptive stabilizing platform under present embodiment, structural schematic diagram is as shown in figure 4, the adaptive stabilizing platform includes
Table top 1, the support 2 positioned at 1 lower central position of table top are connected between the table top 1 and support 2 by universal joint 3；Described
The lower section in face 1 is additionally provided with into the gas nozzle 4 of array distribution.
Specific embodiment four
The following are the embodiments of adaptive stabilizing platform.
Adaptive stabilizing platform under present embodiment further limits described on the basis of specific embodiment three
Gas nozzle 4 includes upper airway 4-1, valve sleeve 4-2, lower airways 4-3 and bracket 4-4；
The upper airway 4-1 top opening, bottom closing, side wall lower section are provided with multiple air inlets；
The lower airways 4-3 is top closed, and bottom connects external air feed equipment, is provided with multiple gas outlets above side wall；
The upper airway 4-1 and lower airways 4-3 or more coaxial arrangement, the valve sleeve 4-2 are wrapped in top gas simultaneously
Below road 4-1 side wall and above lower airways 4-3 side wall, and it can be transported along upper airway 4-1 and lower airways 4-3 direction
It is dynamic；In valve sleeve 4-2 motion range, the air inlet of upper airway 4-1 is all wrapped up by valve sleeve 4-2, lower airways
The air outlet parts of 4-3 are wrapped up by valve sleeve 4-2；
The bracket 4-4 is connect with upper airway 4-1 and lower airways 4-3 respectively, for fixing upper airway 4-1 and lower part gas
The relative position of road 4-3；
The valve sleeve 4-2 is made of top annular lid 4-2-1, closed side wall 4-2-2 and base circle lid 4-2-3；It is described
The lower section of top annular lid 4-2-1 connection table top 1, determines valve sleeve 4-2 relative to upper airway 4- by 1 position of table top
The position of 1 and lower airways 4-3.
Under the present embodiment, " table top 1 " be exactly in specific embodiment one and specific embodiment two " outside is set
It is standby ".
Specific embodiment five
The following are the embodiments of adaptive stabilizing platform.
Adaptive stabilizing platform under present embodiment further limits gas nozzle 4 on the basis of specific embodiment four
Distance support 2 is remoter, and the top opening of 4 middle and upper part air flue 4-1 of gas nozzle is remoter apart from table top 1.
This structure design, can guarantee in the case where adaptive stabilizing platform is in horizontality, remoter by distance support 2
The influence of gas nozzle 4 is smaller, once but adaptive stabilizing platform run-off the straight, the downward side in edge are supported 2 to get over by distance
The influence of remote gas nozzle 4 is bigger, that is, tilts bigger, and reaction force is bigger, and then plays the effect of nonlinear compensation, compares
It is compared in the top opening of 4 middle and upper part air flue 4-1 of gas nozzle apart from the equidistant mode of table top 1, table top 1 can be more steady.
Specific embodiment six
The following are the embodiments of adaptive stabilizing platform.
Adaptive stabilizing platform under present embodiment further limits gas nozzle 4 on the basis of specific embodiment four
Distance support 2 is remoter, and the diameter of gas nozzle 4 is bigger.
This structure design, can guarantee in compensation process, further away from the lower section of 1 center of table top, compensating torque
Bigger, the corner of table top 1 is bigger, and compensating torque is bigger, and then realizes the effect that can carry out accelerating compensation to table top 1.
Specific embodiment seven
The following are the embodiments of adaptive stabilizing platform.
Adaptive stabilizing platform under present embodiment further limits gas nozzle 4 on the basis of specific embodiment four
Distance support 2 is remoter, and the gas supply air pressure of external air feed equipment is higher.
This structure design, can guarantee in compensation process, further away from the lower section of 1 center of table top, compensating torque
Bigger, the corner of table top 1 is bigger, and compensating torque is bigger, and then realizes the effect that can carry out accelerating compensation to table top 1.
It should be noted that seven row of being able to carry out of specific embodiment five, specific embodiment six and specific embodiment
Column combination.
It should be noted adaptive stabilizing platform of the present invention, need when in use, preferably require the center of gravity position of load
In the center of table top 1, the only extraneous factor that table top 1 is unstable is caused in this way, otherwise, there are also table tops 1 caused by load
Inclination thus can bring certain difficulty to compensation.
It should also be noted that, in order to avoid the inclination of table top 1 causes valve sleeve 4-2 also run-off the straight and translation, in turn
There is valve sleeve 4-2 to interfere with upper airway 4-1 and lower airways 4-3, can choose top annular lid 4-2-1 and platform
The material of connector is flexible material between face 1.
The technical parameter method of determination of the platform is as follows:
The first, maximum offset angle: maximum offset angle is table top 1 and horizontal plane when being in contact at the top of table top 1 and nozzle 4
Angle；
The second, load-carrying: when table top 1 tilts to maximum offset angle, table top 1 just can be by loading weight when compensating.
Claims (7)
1. a kind of gas nozzle, which is characterized in that including upper airway (4-1), valve sleeve (4-2), lower airways (4-3) and bracket
(4-4)；
Upper airway (4-1) top opening, bottom closing, side wall lower section are provided with multiple air inlets；
The lower airways (4-1) are top closed, and bottom connects external air feed equipment, are provided with multiple gas outlets above side wall；
The upper airway (4-1) and lower airways (4-3) are coaxially disposed up and down, and the valve sleeve (4-2) is wrapped in simultaneously
Below upper airway (4-1) side wall and above lower airways (4-3) side wall, and can be along upper airway (4-1) and lower airways
The movement of (4-3) direction；In valve sleeve (4-2) motion range, the air inlet of upper airway (4-1) is all by valve sleeve
The air outlet parts of cylinder (4-2) package, lower airways (4-3) are wrapped up by valve sleeve (4-2)；
The bracket (4-4) connect with upper airway (4-1) and lower airways (4-3) respectively, for fixing upper airway (4-1)
With the relative position of lower airways (4-3).
2. a kind of gas nozzle according to claim 1, which is characterized in that the valve sleeve (4-2) is by top annular lid (4-
2-1), closed side wall (4-2-2) and base circle lid (4-2-3) composition；Top annular lid (4-2-1) connection is external to be set
It is standby, position of the valve sleeve (4-2) relative to upper airway (4-1) and lower airways (4-3) is determined by external equipment.
3. a kind of adaptive stabilizing platform, which is characterized in that including table top (1), positioned at the support of table top (1) lower central position
(2), it is connected between the table top (1) and support (2) by universal joint (3)；Array is additionally provided with into below the table top (1)
The gas nozzle (4) of distribution.
4. a kind of adaptive stabilizing platform according to claim 3, which is characterized in that the gas nozzle (4) includes top gas
Road (4-1), valve sleeve (4-2), lower airways (4-3) and bracket (4-4)；
Upper airway (4-1) top opening, bottom closing, side wall lower section are provided with multiple air inlets；
The lower airways (4-3) are top closed, and bottom connects external air feed equipment, are provided with multiple gas outlets above side wall；
The upper airway (4-1) and lower airways (4-3) are coaxially disposed up and down, and the valve sleeve (4-2) is wrapped in simultaneously
Below upper airway (4-1) side wall and above lower airways (4-3) side wall, and can be along upper airway (4-1) and lower airways
The movement of (4-3) direction；In valve sleeve (4-2) motion range, the air inlet of upper airway (4-1) is all by valve sleeve
The air outlet parts of cylinder (4-2) package, lower airways (4-3) are wrapped up by valve sleeve (4-2)；
The bracket (4-4) connect with upper airway (4-1) and lower airways (4-3) respectively, for fixing upper airway (4-1)
With the relative position of lower airways (4-3)；
The valve sleeve (4-2) is by top annular lid (4-2-1), closed side wall (4-2-2) and base circle lid (4-2-3) group
At；The lower section of top annular lid (4-2-1) connection table top (1), valve sleeve (4-2) is determined by table top (1) position
Position relative to upper airway (4-1) and lower airways (4-3).
5. a kind of adaptive stabilizing platform according to claim 4, which is characterized in that gas nozzle (4) the distance support (2)
Remoter, the top opening of gas nozzle (4) middle and upper part air flue (4-1) is remoter apart from table top (1).
6. a kind of adaptive stabilizing platform according to claim 4, which is characterized in that gas nozzle (4) the distance support (2)
Remoter, the diameter of gas nozzle (4) is bigger.
7. a kind of adaptive stabilizing platform according to claim 4, which is characterized in that gas nozzle (4) the distance support (2)
Remoter, the gas supply air pressure of external air feed equipment is higher.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910737189.5A CN110412875B (en) | 2019-08-11 | 2019-08-11 | Air faucet |
| CN202210894104.6A CN115657459A (en) | 2019-08-11 | 2019-08-11 | Self-adaptive stable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910737189.5A CN110412875B (en) | 2019-08-11 | 2019-08-11 | Air faucet |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210894104.6A Division CN115657459A (en) | 2019-08-11 | 2019-08-11 | Self-adaptive stable platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110412875A true CN110412875A (en) | 2019-11-05 |
| CN110412875B CN110412875B (en) | 2022-08-23 |
Family
ID=68366913
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210894104.6A Pending CN115657459A (en) | 2019-08-11 | 2019-08-11 | Self-adaptive stable platform |
| CN201910737189.5A Expired - Fee Related CN110412875B (en) | 2019-08-11 | 2019-08-11 | Air faucet |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210894104.6A Pending CN115657459A (en) | 2019-08-11 | 2019-08-11 | Self-adaptive stable platform |
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| US6540211B2 (en) * | 2001-05-08 | 2003-04-01 | Jui-Tsun Tseng | Container for liquid oil of energy |
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| JP2008215441A (en) * | 2007-03-01 | 2008-09-18 | Bin Fan | Air cylinder (cylinder) |
| RU2433241C1 (en) * | 2010-04-29 | 2011-11-10 | Владимир Романович Сорокин | Downhole motor spindle |
| GB2519087B (en) * | 2013-10-08 | 2016-06-22 | Green Valley Ind Supplies Ltd | Spout for a fuel container |
| SE539465C2 (en) * | 2016-04-29 | 2017-09-26 | Floating bioreactor | |
| KR102000416B1 (en) * | 2016-05-09 | 2019-07-15 | 스트롱 포스 아이오티 포트폴리오 2016, 엘엘씨 | Methods and Systems for Industrial Objects Internet |
| US10431483B2 (en) * | 2017-07-14 | 2019-10-01 | Industrial Technology Research Institute | Transfer support and transfer module |
| CN108406311B (en) * | 2018-05-23 | 2020-06-05 | 林文康 | Automatic assembly equipment of aluminum alloy inflating valve |
| CN208715592U (en) * | 2018-08-22 | 2019-04-09 | 上海优爱宝智能机器人科技股份有限公司 | Adaptive material tidying mechanism |
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- 2019-08-11 CN CN202210894104.6A patent/CN115657459A/en active Pending
- 2019-08-11 CN CN201910737189.5A patent/CN110412875B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001337007A (en) * | 2000-05-29 | 2001-12-07 | Akashi Corp | Support structure of vibration stage of vibration machine |
| CN107511649A (en) * | 2016-06-15 | 2017-12-26 | 上海交通大学 | Air-driven type is adjustable remote center compliance device |
| CN208654747U (en) * | 2018-09-20 | 2019-03-26 | 成都奇天幻影数字娱乐有限公司 | Three air bag VR pneumatic tables |
| CN208915362U (en) * | 2018-11-08 | 2019-05-31 | 哈尔滨理工大学 | A kind of boat-carrying adaptive stabilizing platform |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115657459A (en) | 2023-01-31 |
| CN110412875B (en) | 2022-08-23 |
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