CN1743231A - Novel six-degree-of-freedom gravity balance mechanism - Google Patents
Novel six-degree-of-freedom gravity balance mechanism Download PDFInfo
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- CN1743231A CN1743231A CN 200410050354 CN200410050354A CN1743231A CN 1743231 A CN1743231 A CN 1743231A CN 200410050354 CN200410050354 CN 200410050354 CN 200410050354 A CN200410050354 A CN 200410050354A CN 1743231 A CN1743231 A CN 1743231A
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- 230000005484 gravity Effects 0.000 title abstract description 5
- 239000000725 suspension Substances 0.000 claims description 8
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 9
- 238000004088 simulation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention relates to mechanical engineering, in particular to a novel six-degree-of-freedom gravity balance mechanism. By support, first ~ seven revolute pairs, balancer, first sliding pair, ball pair, pocket rings constitute, wherein: the first revolute pair is connected with the support, the second revolute pair is connected with the first revolute pair, the first revolute pair is connected with the third revolute pair, the rigid connecting rod between the fourth revolute pair and the seventh revolute pair is connected with the first revolute pair through the third revolute pair, and the pocket lifting ring is connected with the sixth revolute pair and the fifth revolute pair. The invention solves the problem of the free state of the object in the ground simulated space weightless environment.
Description
Technical field
The present invention relates to mechanical engineering, specifically is a kind of novel six degree of freedom gravitational equilibrium mechanism.
Background technology
At present, when the ground simulation space environment, experimental set-up or object need be in state of weightlessness, and this just need carry out gravitational equilibrium to device or object.In the prior art, device or object are carried out the mode that gravitational equilibrium generally adopts the extension weight, the degree of freedom that this mode provides is limited, can not satisfy the state status of weightless object in space.Yet according to the free state of object in the space, balancing under the situation of gravity, also need provide the object six-freedom degree, promptly three are moved and three rotations, and in each gyroscopic movement process, center of turn remains unchanged, and do not produce and derive from motion.But this mechanism in six degree of freedom yet there are no report.
Summary of the invention
The purpose of this invention is to provide a kind of novel six degree of freedom gravitational equilibrium mechanism, can solve the object free state problem in the ground simulation weightlessness of space environment.
The object of the present invention is achieved like this: be made up of bearing, the first～two revolute pair, balancing device, first moving sets, the 3rd revolute pair, ball pair, the four～five revolute pair, pocket suspension ring, the six～seven revolute pair, wherein: first revolute pair is connected with bearing, second revolute pair is connected with first revolute pair, first moving sets is connected with the 3rd revolute pair, connect with the 3rd revolute pair between the rigid connecting rod between the 4th revolute pair and the 7th revolute pair and first moving sets, the pocket suspension ring are connected with the 5th revolute pair with the 6th revolute pair;
Wherein the 7th revolute pair, the 4th revolute pair and the 6th revolute pair, the 5th revolute pair vertical are provided with, and their place axles are vertical mutually; Wherein balancing device can be Spring balancer, torque motor or servomotor.
The present invention has following advantage:
1. mechanism of the present invention is simple, cost is low.
2. motion is not derived from rotational motion provided by the invention.The free state of object in the design consideration space of the present invention, balancing under the situation of gravity, the object six-freedom degree is provided, promptly three are moved and three rotations, adopt the present invention, can solve the object free state problem in the ground simulation weightlessness of space environment, simultaneously in each gyroscopic movement process, center of turn remains unchanged, and does not produce to derive from motion.
3. the present invention is when gravitational equilibrium, and the exciting force and the rotor inertia of introducing are little, and the response frequency height.
4. the present invention realizes easily, and is applied widely.
Description of drawings
Fig. 1 is a six degree of freedom gravitational equilibrium mechanism sketch of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
As shown in Figure 1, the present invention is by bearing 1, first revolute pair 2, second revolute pair 3, balancing device 4, first moving sets 5, the 3rd revolute pair 6, ball pair 7, the 4th revolute pair 8, the 5th revolute pair 9, pocket suspension ring 10, the six revolute pairs 11 and the 7th revolute pair 12 are formed, and wherein: first revolute pair 2 is connected with bearing 1, second revolute pair 3 is connected with first revolute pair 2, first moving sets 5 is connected with the 3rd revolute pair 6, connects the 5th revolute pair 9 with the 3rd revolute pair 6 between the rigid connecting rod between the 4th revolute pair 8 and the 7th revolute pair 12 and first moving sets 5, the 6th revolute pair 11, state of kinematic motion between the 7th revolute pair 12 and the 4th revolute pair 8 constitutes a parallelogram, this quadrangle can be realized between the 4th revolute pair 8 and the 7th revolute pair 12, rigid rod between the 5th revolute pair 9 and the 6th revolute pair 11 rotates and the O point is mobile around ball secondary 7 and O point respectively, and pocket suspension ring 10 are connected with the 5th revolute pair 9 with the 6th revolute pair 11; Wherein: the 4th revolute pair 8, the 5th revolute pair 9, pocket suspension ring 10, the six revolute pairs 11 and the 7th revolute pair 12 by gravitys, the 7th revolute pair 12, the 4th revolute pair 8 and the 6th revolute pair 11, the 5th revolute pair 9 are verticals on the position of placing, and their place axle is vertical mutually.
Entire mechanism of the present invention provides 6 degree of freedom, that is: pocket suspension ring 10 pockets hang the object that needs balance, the center of turn of object is positioned at the O point, first revolute pair 2 and second revolute pair 3 constitute the plane rotating mechanism, provide object two plane motions, balancing device 4 is a thrust balancing device, can be Spring balancer, torque motor or servomotor etc., the power of this device output, the weight of lucky balance object, first moving sets 5 provides a degree of freedom that moves up and down along vertical, the 3rd revolute pair 6 provides one on object around vertical axis rotational freedom, and by center of gyration O point, ball pair 7, the 4th revolute pair 8,12 3 kinematic pairs of the 7th revolute pair provide one on object around the rotational freedom of O point in the vertical plane, the 5th revolute pair 9, the 6th revolute pair 11 provides object another rotational freedom, and three rotational freedom quadratures, rotation axis are all by the O point.After the weight of object was balanced, according to the six-freedom degree that this mechanism provides, object can not be subjected to the restriction of degree of freedom according to the orbiting motion of planning.
Entire mechanism of the present invention can be tried out on the space articulation mechanism buffer test platform.
Claims (3)
1. novel six degree of freedom gravitational equilibrium mechanism, it is characterized in that: by bearing (1), the first～two revolute pair (2～3), balancing device (4), first moving sets (5), the 3rd revolute pair (6), ball pair (7), the four～five revolute pair (8～9), pocket suspension ring (10), the six～seven revolute pair (11～12) is formed, wherein: first revolute pair (2) is connected with bearing (1), second revolute pair (3) is connected with first revolute pair (2), first moving sets (5) is connected with the 3rd revolute pair (6), connect with the 3rd revolute pair (6) between rigid connecting rod between the 4th revolute pair (8) and the 7th revolute pair (12) and first moving sets (5), pocket suspension ring (10) are connected with the 5th revolute pair (9) with the 6th revolute pair (11).
2. by the described novel six degree of freedom gravitational equilibrium mechanism of claim, it is characterized in that: wherein the 7th revolute pair (12), the 4th revolute pair (8) and the 6th revolute pair (11), the 5th revolute pair (9) vertical setting, their place axles are vertical mutually.
3. by the described novel six degree of freedom gravitational equilibrium mechanism of claim, it is characterized in that: wherein balancing device (4) can be Spring balancer, torque motor or servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100503543A CN100361869C (en) | 2004-09-01 | 2004-09-01 | Six-freedom-degree gravity balance mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100503543A CN100361869C (en) | 2004-09-01 | 2004-09-01 | Six-freedom-degree gravity balance mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1743231A true CN1743231A (en) | 2006-03-08 |
| CN100361869C CN100361869C (en) | 2008-01-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100503543A Expired - Fee Related CN100361869C (en) | 2004-09-01 | 2004-09-01 | Six-freedom-degree gravity balance mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN100361869C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936807A (en) * | 2010-08-19 | 2011-01-05 | 北京理工大学 | Spatial intelligent following floated platform |
| CN107116901A (en) * | 2017-04-27 | 2017-09-01 | 中国科学院沈阳自动化研究所 | Six degree of freedom spray code spraying apparatus for automatic production line code spraying system |
| CN109421945A (en) * | 2017-08-31 | 2019-03-05 | 天津大学 | Space can open up loop aerial precise synchronization gravity compensation system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101482455B (en) * | 2009-02-24 | 2010-09-08 | 航天东方红卫星有限公司 | Following type zero-gravity simulation test method |
| CN102658874B (en) * | 2012-05-29 | 2014-08-27 | 上海无线电设备研究所 | Ground experiment gravity discharge device of spatial microwave radar servo mechanism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2500366B2 (en) * | 1993-09-28 | 1996-05-29 | 科学技術庁航空宇宙技術研究所長 | Three-dimensional free movement device |
| CN2716943Y (en) * | 2004-09-01 | 2005-08-10 | 中国科学院沈阳自动化研究所 | Novel six-degree-of-freedom gravity balance mechanism |
-
2004
- 2004-09-01 CN CNB2004100503543A patent/CN100361869C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936807A (en) * | 2010-08-19 | 2011-01-05 | 北京理工大学 | Spatial intelligent following floated platform |
| CN107116901A (en) * | 2017-04-27 | 2017-09-01 | 中国科学院沈阳自动化研究所 | Six degree of freedom spray code spraying apparatus for automatic production line code spraying system |
| CN109421945A (en) * | 2017-08-31 | 2019-03-05 | 天津大学 | Space can open up loop aerial precise synchronization gravity compensation system |
| CN109421945B (en) * | 2017-08-31 | 2021-07-20 | 天津大学 | Accurate synchronous gravity compensation system of annular antenna capable of being expanded in space |
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| Publication number | Publication date |
|---|---|
| CN100361869C (en) | 2008-01-16 |
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Granted publication date: 20080116 Termination date: 20100901 |