CN113582102B - Dynamic balance mechanism of bidirectional unilateral rotating shaft under unbalanced load - Google Patents
Dynamic balance mechanism of bidirectional unilateral rotating shaft under unbalanced load Download PDFInfo
- Publication number
- CN113582102B CN113582102B CN202110879619.4A CN202110879619A CN113582102B CN 113582102 B CN113582102 B CN 113582102B CN 202110879619 A CN202110879619 A CN 202110879619A CN 113582102 B CN113582102 B CN 113582102B
- Authority
- CN
- China
- Prior art keywords
- rotating
- rotating shaft
- connecting rod
- variable
- push rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/44—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the field of planar bidirectional overturning, and discloses a dynamic balance mechanism of a bidirectional single-side rotating shaft under unbalanced load, which comprises: supporting beam (1), afterbody supporting seat (2), rotation connecting rod (3), variable distance electric putter (4), zigzag connecting rod (5) and angular contact bearing (6), wherein rotate the connecting rod and include: a rotating shaft (3A) and a connecting rod (3B); the zigzag connecting rod includes: the variable-pitch electric push rod is rotatably connected with the supporting rod, and the two connecting arms of the Z-shaped connecting rod are rotatably connected with the two connecting rods; the rotating shaft is arranged in the two angular contact bearings, and the Z-shaped connecting rod, the two rotating connecting rods, the two angular contact bearings and the supporting beam jointly form a parallel four-bar mechanism; the variable-pitch electric push rod directly drives the parallel four-bar mechanism, the motion trail of the output end is circular arc and opposite in direction, and the mechanism is simple, more efficient in transmission and low in cost.
Description
Technical Field
The invention relates to a plane bidirectional turnover device.
Background
The turnover mechanism suitable for the movable device at present adopts the form drive of servo motor drive slider + lead screw to be overturned by the holding surface, but the structure of slider + lead screw is complicated, and is with high costs, and transmission efficiency is low. Therefore, it is urgently needed to provide a novel planar bidirectional turnover device to solve the technical problem.
Disclosure of Invention
In order to solve the problems of high cost, complex structure and low transmission efficiency in the prior art, the invention provides a planar bidirectional turnover device which has simple structure, more efficient transmission and lower cost.
In order to achieve the above object, the present invention provides a dynamic balance mechanism of a bidirectional one-sided rotating shaft under unbalanced load, the dynamic balance mechanism of the bidirectional one-sided rotating shaft under unbalanced load comprising: a supporting beam, a tail supporting seat, a rotating connecting rod, a variable-pitch electric push rod, a Z-shaped connecting rod and an angular contact bearing, wherein,
the rotating connecting rod comprises a rotating shaft and a connecting rod, and the rotating shaft is vertically fixed on the connecting rod;
the Z-shaped connecting rod is of an integrally formed structure and comprises a supporting rod and two connecting arms, and the connecting arms are positioned at the top end of the supporting rod and extend along the horizontal direction;
the two angular contact bearings are arranged on the supporting beam at intervals along the length direction of the supporting beam, the mounting surface directions are opposite, the rotating shaft is arranged in the two angular contact bearings, the two rotating connecting rods are respectively positioned at two sides of the supporting beam and are rotatably connected at the tail ends of the two connecting arms, the supporting rod is rotatably connected with the push rod end of the variable-distance electric push rod, the other end of the variable-distance electric push rod is rotatably connected with the bottom of the tail supporting seat, and the top of the tail supporting seat is fixed on the supporting beam;
the Z-shaped connecting rod, the two rotating connecting rods, the two angular contact bearings and the supporting beam jointly form a special-shaped parallel four-bar mechanism, the variable-distance electric push rod drives the special-shaped parallel four-bar mechanism, the two rotating connecting rods swing, and the motion trails of the output ends of the two rotating connecting rods are circular arcs and are opposite in direction.
Preferably, the variable pitch electric push rod is controlled by the controller, and when the variable pitch electric push rod is in a return stroke state, the controller reduces the output frequency of the power supply to increase the output tension of the variable pitch electric push rod.
Preferably, the special-shaped parallel four-bar mechanisms are not in the same plane, and the two rotating connecting rods are respectively positioned on two sides of the supporting beam.
Preferably, the output end of the rotating connecting rod is provided with a rubber coating wheel, and when the dynamic balance mechanism of the bidirectional single-side rotating shaft works under unbalanced load, rolling friction is generated between the rubber coating wheel and a supported surface.
Preferably, the two rotary links are in positive or negative stroke positions, respectively, when the variable pitch electric push rod is extended or retracted from the rest position.
Preferably, the stroke angle of the rotating link is adjustable within a range of 0-90 degrees.
According to the technical scheme, the special-shaped parallel four-bar mechanism is directly driven by the electric push rod, the special-shaped parallel four-bar mechanism starts to swing, the two rotating connecting rods are driven to drive the two rubber coating wheels to rotate, the two rubber coating wheels are respectively in a positive stroke and a negative stroke, and the two rubber coating wheels are alternately in a positive stroke process at different strokes of the electric push rod to drive the supported plane to turn.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a dynamic balancing mechanism for a bidirectional single-sided rotating shaft under unbalanced load;
FIG. 2 is a schematic of the mechanism of the Z-shaped linkage;
FIG. 3 is a schematic diagram of the motion of a dynamic balancing mechanism for a bi-directional single-sided rotating shaft under unbalanced load;
FIG. 4 is a graph of stress analysis of a Z-shaped link.
Description of the reference numerals
1 supporting beam 2 tail supporting seat 2
3 rotating connecting rod 4 variable distance electric push rod
5Z-shaped connecting rod 6 angular contact bearing
3A rotating shaft 3B connecting rod
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, directional words such as "upper, lower, left, right, top, end, bottom", and the like included in the terms represent only the orientation of the terms in a conventional use state, or are colloquially understood by those skilled in the art, and should not be construed as limiting the terms.
As shown in fig. 1, the present invention provides a dynamic balance mechanism of bidirectional single-side rotating shaft under unbalanced load, comprising: the device comprises a support beam 1, a tail support seat 2, a rotating connecting rod 3, a variable-pitch electric push rod 4, a Z-shaped connecting rod 5 and an angular contact bearing 6.
Wherein, the rotating link 3 includes: a rotating shaft 3A and a connecting rod 3B; wherein the rotating shaft 3A is vertically fixed on the connecting rod 3B. The rotating shaft 3A and the connecting rod 3B are of an integral structure, and no relative movement exists inside the rotating shaft and the connecting rod. The rotary shaft 3A projects into the angular contact bearing 6.
As shown in fig. 2, the zigzag link 5 includes: a support rod 5A and two connecting arms 5B, wherein the two connecting arms 5B are fixed on two sides of the support rod 5A along the outer edge of the support rod 5A. The support rod 5A is connected with the variable-pitch electric push rod 4 through a pin shaft, and the connecting arm 5B is connected with the rotating connecting rod 3 through a pin shaft.
Two angular contact bearings 6 are mounted on the support beam 1.
One end of the tail supporting seat 2 is fixed on the supporting beam 1, and the other end of the tail supporting seat is connected with the mounting end of the variable-pitch electric push rod 4 through a pin shaft.
The Z-shaped connecting rod 5, the two rotating connecting rods 3, the two angular contact bearings 6 and the supporting beam 1 form a special-shaped parallel four-bar mechanism together.
In a preferred real-time mode, the mechanism is in the home position when the variable pitch electric putter 4 is in about the 1/2 stroke position, as shown in fig. 3. When the variable-pitch electric push rod 4 extends forwards from the initial position, the front rotary connecting rod 3 starts to descend and is in a negative stroke, and the rear rotary connecting rod 3 starts to ascend and is in a positive stroke; when the variable pitch electric push rod 4 retracts backward from the initial position, the forward rotating link 3 starts to move upward and is in a positive stroke, and the backward rotating link 3 starts to move downward and is in a negative stroke. The limit angles of the positive and negative strokes are both 90 degrees.
The angle of the positive and negative strokes of the rotating connecting rod 3 of the dynamic balance mechanism of the bidirectional single-side rotating shaft under the unbalanced load is adjustable within the range of 0-90 degrees. The angle range of the rotation of the rotating connecting rod 3 is positively closed to the effective stroke of the variable-pitch electric push rod 4. The initial position of the variable-pitch electric push rod 4 is about 1/2 of the stroke of the variable-pitch electric push rod, if the stroke angle of the dynamic balance mechanism of the bidirectional one-side rotating shaft under the unbalanced load needs to be adjusted, the stroke range can be increased by adjusting the stroke range of the variable-pitch electric push rod 4, the push-out length of the variable-pitch electric push rod 4 is also increased, and the stroke angle is increased. Similarly, the retraction stroke of the variable pitch electric putter 4 becomes large, and the stroke angle at the time of retraction also becomes large.
The angular acceleration of the rotating link 3 is inversely related to the effective length of the electric push rod at the initial position of the variable-pitch electric push rod 4 and inversely related to the length of the short side of the special-shaped parallel four-bar mechanism, so that when the rotating speed or the rotating precision of the rotating link 3 needs to be adjusted, the stroke of the variable-pitch electric push rod 4 can be adjusted besides the stretching speed of the variable-pitch electric push rod 4, or the length of the short side of the special-shaped parallel four-bar mechanism can be adjusted.
In the working process of the dynamic balance mechanism of the bidirectional single-side rotating shaft under the unbalanced load, the load conditions of the variable-pitch electric push rod 4 in the pushing-out state and the retracting state are the same, but the tension output value of the variable-pitch electric push rod is reduced compared with the pushed-out thrust value in the retracting state, so that a tension compensation system for controlling the variable-pitch electric push rod 4 by a controller is designed in the system, and when the variable-pitch electric push rod 4 is in the return stroke state, the power output frequency is reduced by the controller, and the output tension of the variable-pitch electric push rod 4 is increased.
The special-shaped parallel four-bar mechanism is not in the same plane, and a projection drawing is a parallelogram after projection along the direction of a front view. In a preferred real-time mode, the projection of the special-shaped parallel four-bar mechanism in the initial position is rectangular, namely, the connecting arm 5B is vertically hinged with the connecting bar 3B. The push rod of the variable-pitch electric push rod 4 is hinged in the middle of the support rod 5A and drives the support rod 5A, the special-shaped parallel four-bar mechanism starts to swing along the pushing direction of the variable-pitch electric push rod, a parallelogram formed by the special-shaped parallel four-bar mechanism starts to be folded, the two connecting arms 5B are always kept horizontal in the moving process, and the two rotating connecting rods 3 respectively rotate around the respective rotating shafts 3A. When the push rod of the variable-pitch electric push rod 4 extends forwards, the front rotating connecting rod 3 rotates downwards to enter a negative stroke, and the rear rotating connecting rod 3 moves upwards to enter a positive stroke; the distance-variable electric push rod 4 continuously moves to the limit position, and the front and rear rotating connecting rods 3 reach the respective limit positions; next, the variable pitch electric push rod 4 starts to retract, and the front and rear rotating links 3 return from the respective extreme positions until returning to the initial positions. At this time, the front and rear rotating connecting rods 3 complete half stroke movement; and then the distance-variable electric push rod 4 is continuously retracted, the front rotating connecting rod 3 starts to cross the initial position to enter a positive stroke, the rear rotating connecting rod 3 also starts to cross the initial position to enter a negative stroke until the distance-variable electric push rod 4 reaches the limit position, and in order to improve the driving effect of the connecting rod 3B on a supported surface, a rubber coating wheel is installed at the top end of the connecting rod 3B, so that the sliding friction can be changed into rolling friction, and the mechanism can run more smoothly.
The above is a preferred embodiment of the present invention, in which the supporting beam 1 is fixed below (above) the supported surface, and the rubber-covered wheels on the two rotating links 3 will push the supported surface to alternately turn left and right. The dynamic balance mechanism of the bidirectional unilateral rotating shaft under the unbalanced load can be installed downwards, and the purpose of left-right turning of the lower plane is achieved.
As shown in fig. 4, stress concentration occurs at the joint of the support rod 5A and the connecting arm 5B, and the zigzag link 5 can be integrally shot-peened while the joint of the support rod 5A and the connecting arm 5B is rounded to reduce the stress concentration.
The two angular contact bearings 6 are respectively installed at two ends of the support beam 1, the directions of the installation ends are opposite, and two angular contact bearings which are installed back to back can be adopted if bidirectional axial force occurs according to the actual load condition.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (6)
1. A dynamic balance mechanism for a bidirectional single-sided rotating shaft under an unbalanced load, the dynamic balance mechanism comprising: a supporting beam (1), a tail supporting seat (2), a rotating connecting rod (3), a variable-distance electric push rod (4), a Z-shaped connecting rod (5) and an angular contact bearing (6), wherein,
the rotating connecting rod (3) comprises a rotating shaft (3A) and a connecting rod (3B), and the rotating shaft (3A) is vertically fixed on the connecting rod (3B);
the Z-shaped connecting rod (5) is of an integrally formed structure and comprises a supporting rod (5A) and two connecting arms (5B), and the connecting arms (5B) are located at the top end of the supporting rod (5A) and extend along the horizontal direction;
the two angular contact bearings (6) are mounted on the support beam (1), are arranged at intervals along the length direction of the support beam (1), and are opposite in mounting surface direction, the rotating shaft (3A) is mounted in the two angular contact bearings (6), the two rotating connecting rods (3) are respectively positioned at two sides of the support beam (1), the two connecting rods (3B) are rotatably connected to the tail ends of the two connecting arms (5B), the supporting rod (5A) is rotatably connected with the push rod end of the variable-pitch electric push rod (4), the other end of the variable-pitch electric push rod (4) is rotatably connected with the bottom of the tail support seat (2), and the top of the tail support seat (2) is fixed on the support beam (1);
the Z-shaped connecting rods (5), the two rotating connecting rods (3), the two angular contact bearings (6) and the supporting beam (1) jointly form a special-shaped parallel four-bar mechanism, the variable-pitch electric push rod (4) drives the special-shaped parallel four-bar mechanism, the two rotating connecting rods (3) swing, and the motion trails of the output ends of the two rotating connecting rods (3) are circular arcs and are opposite in direction.
2. The dynamic balance mechanism of bidirectional one-sided rotation shaft under unbalanced load as claimed in claim 1, wherein the variable pitch electric push rod (4) is controlled by the controller, and when the variable pitch electric push rod (4) is in the return stroke state, the controller reduces the power output frequency to increase the output tension of the variable pitch electric push rod (4).
3. A dynamic balancing mechanism of a bidirectional single-sided rotating shaft under unbalanced load according to claim 1, characterized in that the shaped parallelogram linkage is not in the same plane, and the two rotating links (3) are respectively located on both sides of the supporting beam (1).
4. The dynamic balance mechanism of the bidirectional unilateral rotating shaft under the unbalanced load according to claim 1, wherein the output end of the rotating connecting rod (3) is provided with a rubber covered wheel, and when the dynamic balance mechanism of the bidirectional unilateral rotating shaft under the unbalanced load works, rolling friction is generated between the rubber covered wheel and a supported surface.
5. The dynamic balancing mechanism of a bi-directional unilateral rotating shaft under unbalanced load according to claim 1, characterized in that, when the variable pitch electric putter (4) is extended or retracted from a balanced position, the two rotating links (3) are respectively in a positive stroke position or a negative stroke position.
6. The dynamic balancing mechanism for bidirectional unilateral rotating shafts under unbalanced load according to claim 1, wherein the stroke angle of the rotating link (3) is adjustable within a range of 0-90 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110879619.4A CN113582102B (en) | 2021-08-02 | 2021-08-02 | Dynamic balance mechanism of bidirectional unilateral rotating shaft under unbalanced load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110879619.4A CN113582102B (en) | 2021-08-02 | 2021-08-02 | Dynamic balance mechanism of bidirectional unilateral rotating shaft under unbalanced load |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113582102A CN113582102A (en) | 2021-11-02 |
| CN113582102B true CN113582102B (en) | 2023-02-24 |
Family
ID=78253561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110879619.4A Active CN113582102B (en) | 2021-08-02 | 2021-08-02 | Dynamic balance mechanism of bidirectional unilateral rotating shaft under unbalanced load |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113582102B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3195549B2 (en) * | 1996-11-14 | 2001-08-06 | 住友重機械工業株式会社 | Table drive of molding machine |
| US8936410B2 (en) * | 2010-10-29 | 2015-01-20 | Roura Material Handling, Inc. | Remote hopper release |
| CN202639664U (en) * | 2012-04-26 | 2013-01-02 | 山东迈赫自动化装备股份有限公司 | Amplifying structure for cylinder stroke |
| CN105538303B (en) * | 2016-02-22 | 2017-04-26 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN207361735U (en) * | 2017-10-13 | 2018-05-15 | 北京中车重工机械有限公司 | A kind of switching mechanism of cab apron |
| CN207390358U (en) * | 2017-10-19 | 2018-05-22 | 汤美娟 | A kind of production line switching mechanism |
| CN208648682U (en) * | 2018-07-17 | 2019-03-26 | 宁波市加力特机械有限公司 | A kind of electric lifting platform panel turnover device |
-
2021
- 2021-08-02 CN CN202110879619.4A patent/CN113582102B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113582102A (en) | 2021-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108190013B (en) | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time | |
| CN107243921B (en) | Waist joint for humanoid robot | |
| CN108163785A (en) | A kind of moveable attitude adjustment platform | |
| CN112060127A (en) | Multi-degree-of-freedom robot with self-walking function | |
| CN105128976A (en) | Under-actuated running gear and turning control method thereof | |
| CN207711949U (en) | A kind of farm machinery navigation display screen driving device | |
| CN108240783A (en) | A kind of bay section docks adjustment mechanism | |
| CN112192608A (en) | Robot head neck structure and robot | |
| CN113582102B (en) | Dynamic balance mechanism of bidirectional unilateral rotating shaft under unbalanced load | |
| CN210915194U (en) | Driving mechanism capable of shifting and changing speed and AGV | |
| CN218570161U (en) | Photovoltaic tracking support and photovoltaic system | |
| KR101090854B1 (en) | Tracker | |
| CN114852932A (en) | Combined lifting device for civil residential construction | |
| CN109516094B (en) | Remote pushing device | |
| CN210239708U (en) | Drive structure, main manipulator and auxiliary manipulator | |
| CN109896005B (en) | Four rotor crafts of improvement structure | |
| CN109514522B (en) | Remote pushing mechanism capable of steering control | |
| CN1224435C (en) | New treadmill | |
| CN113664489A (en) | Automatic overturning and butting device for heavy-load complex structural part | |
| CN112550508B (en) | Double-rotor wheel type floor movement robot | |
| CN112318443A (en) | Movable workbench for sheet metal machining | |
| CN107150727B (en) | Ball shape robot | |
| CN219298815U (en) | Sucking disc adjustment mechanism, glass installation device and aerial working vehicle | |
| CN219495006U (en) | Mobile shooting target | |
| CN218493586U (en) | Oil pipe wax deposition preventing heating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |