CN207670622U - A kind of adaptive dynamic balancer of flexibility - Google Patents
A kind of adaptive dynamic balancer of flexibility Download PDFInfo
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- CN207670622U CN207670622U CN201721782238.XU CN201721782238U CN207670622U CN 207670622 U CN207670622 U CN 207670622U CN 201721782238 U CN201721782238 U CN 201721782238U CN 207670622 U CN207670622 U CN 207670622U
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- lead screw
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Abstract
The utility model discloses a kind of adaptive dynamic balancers of flexibility, including lower plate, moving platform, motor lead screw rail module, the first branch and the second branch, the lower plate is fixed on ground, the motor lead screw rail module is fixed on lower plate, one end of first branch is connect by spherical pair with the sliding block of motor lead screw rail module, and the other end of the first branch is logical hinged with moving platform；One end of second branch is connect by spherical pair with lower plate, and the other end and moving platform of the second branch are hinged；First branch is provided with five, and corresponding motor lead screw guide rail is provided with five groups, and second branch is provided with one；Fully be utilized parallel institution bearing capacity is strong, compact-sized, movement flexibly, inertia it is small and the advantages that convenient for real-time control, the design of integrated symmetric structure has simple and compact for structure, reasonable design, processing and assembly technology good.
Description
Technical field
The utility model is related to dynamic balancer research fields, more specifically, more particularly to a kind of flexible adaptive
Dynamic balancer.
Background technology
The difficulty of marine recycling spacecraft is big at present, main reasons is that sea recycle platform dynamic impulsion balance with
And the posture that spacecraft declines is difficult to ensure.Since sea recycling platform on sea, rock by constantly movement, cause to recycle spacecraft
Sea recycling platform be very easy to tilt fall down, make the recycling mission failure of spacecraft.In order to solve this problem, existing one
A little platforms can solve the problems, such as this to a certain extent, such as application No. is the Chinese utility model patent of 201610843328.X public affairs
The manual adjustment means for having opened achievable five degree of freedom, use manual adjustment means, can not only adjust displacement of the lines and can also
Realize the adjustment of angular displacement, it is simple in structure, it is at low cost and easy to operate.But the utility model is using adjusting manually, precision
Not high and inefficiency.Currently, majority dynamic balancers use serial mechanism, there is working space is big, movement is flexible etc.
Advantage, but the problems such as there are complicated, bearing capacity is small, inertia is big, real-time is poor.Against the above deficiency, need design and
A kind of flexible adaptive dynamic equilibrium adjusting stage apparatus of high-precision is developed, above-mentioned each disadvantage can be supplied.
Utility model content
Utility model aims to solve existing dynamic balancer need manually adjust, degree of regulation it is not high and
Structure is led to that bearing capacity is low, inertia is big based on series connection and the shortcomings that being unfavorable for real-time control, it is proposed that one kind having nothing
The parallel adaptive dynamic balancer of flexibility of degree of freedom, can automatic, high-precision adjusting moving platform with realize its level
The requirement of real-time control.
The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of adaptive dynamic balancer of flexibility,
Including lower plate, moving platform, motor lead screw rail module, the first branch and the second branch, the lower plate is fixed on ground, institute
It states motor lead screw rail module to be fixed on lower plate, one end of first branch passes through spherical pair and motor lead screw guide rail mould
The sliding block of block connects, and the other end of the first branch is logical hinged with moving platform；One end of second branch is by spherical pair under
Bottom plate connects, and the other end and moving platform of the second branch are hinged；First branch is provided with five, and corresponding motor lead screw is led
Rail is provided with five groups, and second branch is provided with one；
The motor lead screw rail module includes lead screw motor, sliding block, motor fixed rack, shaft coupling, lead screw, bearing
Seat, slide unit and slide unit supporting rack, the slide unit supporting rack are fixed on lower plate, and slide unit is fixed on the slide unit supporting rack,
The lead screw motor is fixed on motor fixed rack, and the motor fixed rack is fixed on slide unit, the lead screw motor
Output end is by one end of shaft coupling connection wire rod, the bearing seat supports that the lead screw is fixed on by two on slide unit；It is described
It is provided on sliding block and is mounted on the slide unit across the threaded hole and slide block set of sliding block with the matched threaded hole of lead screw, lead screw,
By driving the lead screw rotation band movable slider to be slided along the slide unit when lead screw motor moves；
First branch includes connector, fixed push rod, fixation under bulb support, bulb end cap, bulb, fixed push rod
Push rod upper connector and third Hooke's hinge, the bulb support are fixed on the sliding block, and bulb is fitted to bulb support
Interior, bulb end cap is bolted in bulb support and is only capable of rotating in bulb support by limitation bulb；The fixation
One end of connector is fixedly connected with the shaft end of bulb under push rod, the other end of connector and the one of fixed push rod under fixed push rod
The other end of end connection, fixed push rod is connected and fixed push rod upper connector, and the fixed push rod upper connector connects third Hooke
Hinge, the third Hooke's hinge are fixed on the moving platform；
Second branch include fixed station, lower end connection, the first Hooke's hinge, linear motor connector, linear motor,
Line handspike, push rod connector, upper end connection and the second Hooke's hinge, second Hooke's hinge include being connected on the second Hooke's hinge
Connector under part, the second Hooke's hinge middleware and the second Hooke's hinge, first Hooke's hinge include the first Hooke's hinge upper connector,
Connector under first Hooke's hinge middleware and the first Hooke's hinge；The fixed station is fixed on the lower plate, and the lower end connects
Fitting is fixed on the fixed station, and connector is fixedly connected with lower end connection under first Hooke's hinge, the first Hooke's hinge
Lower connector connects the first Hooke's hinge upper connector by the first Hooke's hinge middleware, and the first Hooke's hinge upper connector passes through
Linear motor connector connects the fixing end of linear motor, one end of the movable end connection line handspike of the linear motor, institute
It states the other end of line handspike and connector under the second Hooke's hinge is connected by push rod connector, connector under second Hooke's hinge
The second Hooke's hinge upper connector, the second Hooke's hinge upper connector and upper end connection are connected by the second Hooke's hinge middleware
It is fixedly connected, the upper end connection is fixed on moving platform bottom.
Further, the fixed station is fixed on the middle part of the lower plate, and the upper end connection is fixed on described dynamic
The bottom centre position of platform.
Further, the third Hooke's hinge includes third Hooke's hinge upper connector, third Hooke's hinge middleware, third tiger
Gram lower connector of hinge, connector is connected by third Hooke's hinge middleware under the third Hooke's hinge connects on third Hooke's hinge
Part, the third Hooke's hinge upper connector are fixed on moving platform；Under the third Hooke's hinge in connector and third Hooke's hinge
Between part be interference fitted, the third Hooke's hinge middleware and third Hooke's hinge upper connector are interference fitted.
Further, connector and the first Hooke's hinge middleware are interference fitted under first Hooke's hinge, first tiger
Gram hinge middleware and the first Hooke's hinge upper connector interference fit；Under second Hooke's hinge among connector and the second Hooke's hinge
Part is interference fitted, and the second Hooke's hinge middleware and the second Hooke's hinge upper connector are interference fitted.
Further, the slide unit is welded on slide unit supporting rack, and the slide unit supporting rack is welded on the lower plate.
Further, the lower plate and moving platform are regular pentagon shapes, and the upper end of five the first branches is connected to
Five apexes of moving platform.
Further, the slideway of five uniform protrusions, the slide unit support frame bottom setting are provided on the lower plate
There are a groove and the groove to be used for coordinating positioning with slideway raised on lower plate.
Further, the moving platform and the lower plate edge and lower plate of keeping parallelism and moving platform in initial assembly
Sideline intersect 36 degree of angles.
Further, the longitudinal cross-section of the slide unit supporting rack is at right angles triangular shaped, bevel edge and right-angle side at 30 degree,
The inclined surface of slide unit supporting rack is towards the outside of the lower plate.
Further, position sensor and force snesor are additionally provided on the moving platform, the position sensor passes through
First sensor fixed plate is fixed on the bottom of moving platform, and the force snesor is fixed on dynamic flat by second sensor fixed plate
The bottom of platform.
The utility model is using PLC and six servo-driver as control system, five lead screw motors and a straight line
Encoder is mounted on motor, the output end of controller is connect with the input terminal of six servo-drivers respectively, five lead screws
The input terminal of motor and a linear motor respectively connects the output end of a servo-driver, position sensor and force snesor
It is directly connected to controller and to controller transmission location and force-bearing situation.
Controller can according to the status requirement and force request of moving platform, by algorithm calculate five lead screw motors and
The optimal combination of one linear motor corner calculates umber of pulse and the pulse of corresponding motor further according to corresponding motor angle data
The pulse signal being made of umber of pulse and pulse signal is sent on corresponding servo-driver, servo by frequency by controller
Driver respectively drives corresponding lead screw motor or linear motor operation；Encoder is used to acquire lead screw motor or linear motor
Corner and rotary speed information, and the information conveyance of acquisition to servo-driver, servo-driver is by comparison initial information and instead
Feedforward information, so as to adjust corresponding lead screw motor or speed of linear motor and corner, it is ensured that lead screw motor or linear motor can be with
Reach the rotating speed and corner of setting；Position and the force-bearing situation of position sensor and force snesor detection platform on moving platform,
And by transmitting measured values to controller, whether controller measurement of comparison value is consistent with setting value, if inconsistent then adjustment is corresponding
Lead screw motor or linear motor corner and rotating speed, wanted to make moving platform reach given status requirement and stress balance
It asks.
The course of work of the utility model is as follows：When moving platform is impacted by external force, originally horizontal moving platform by
Origin position is tilted or is deviated to External force interference, position sensor measures deviation distance and angle and handle
Measured value sends controller to, and controller receives and controls five lead screw motors and a straight line by servo-driver after information
The corner and rotating speed of motor；And moving platform force-bearing situation is transferred in controller by force snesor, according to moving platform force request
Reasonably the corner of one group of optimum motor of selection and rotating speed are inputted most steady and output power minimum principle, are realized real
The posture of platform is braked in time control.
The flexible control algorithmic procedure that the utility model uses is on the basis of given moving platform posture, passes through movement
The angular speed that inverse solution calculates articulation is learned, the required driving force torque of motor is gone out by dynamics calculation, then basis
Three energy consumption indexs are lost to determine ideal input displacement and combining form, so in mean power, mean power deviation, average torque
It controls to obtain actual displacement amount with deviation is corrected according to position and Impedance feedback afterwards to realize that existing energy consumption is low, high accurately optimal defeated
Enter combination.
The beneficial effects of the utility model are：The utility model is abundant to be utilized that parallel institution bearing capacity is strong, knot
The advantages that structure is compact, movement is flexible, inertia is small and is convenient for real-time control, the design of integrated symmetric structure have simple in structure tight
It gathers, reasonable design, processing and assembly technology are good；Using six motors as power source, control five degree of freedom of moving platform and
It is reasonably inputted by one group of best motor corner of algorithms selection and rotary speed data, while utilizing position sensor and power
Sensor detects the posture of moving platform, and the accuracy of platform movement is ensured using closed-loop control system, accurate so as to realize
And control in real time.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of flexible adaptive dynamic balancer of the utility model.
Fig. 2 is a kind of main structure diagram of flexible adaptive dynamic balancer of the utility model.
Fig. 3 is the structural schematic diagram of the first branch of the utility model.
Fig. 4 is the structural schematic diagram of the second branch of the utility model.
Fig. 5 is the structural schematic diagram of the utility model moving platform and its bottom attached portion part.
In figure, 1- lower plates, 2- slide units supporting rack, 3- slide units, 4- lead screw motors, 5- bearing blocks, 6- sliding blocks, 7- bulb branch
It is straight that frame, 8- bulbs, 9- fix connector under push rod, 10- fixes push rod, 11- fixes push rod upper connector, 12- moving platforms, 13-
Line push rod, 14- linear motors, the first Hooke's hinges of 15- upper connector, the first bolts of 16-, 17- fixed stations, 18- third Hooke's hinges
Lower connector, 19- third Hooke's hinges upper connector, 20- beads, 21- motor fixed racks, 22- shaft couplings, 23- lead screws, 24-
Connector, 27- thirds bolt, 28- linear motors connector, 29- under bulb end cap, the second bolts of 25-, the first Hooke's hinges of 26-
Connector under push rod connector, the second Hooke's hinges of 30-, the second Hooke's hinges of 31- middleware, the second Hooke's hinges of 32- upper connector,
33- first sensors fixed plate, 34- position sensors, 37- second sensors fixed plate, 38- force snesors.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in Fig. 1~5, a kind of adaptive dynamic balancer of flexibility, including lower plate 1, moving platform 12, motor lead screw
Rail module, the first branch and the second branch, the lower plate 1 are fixed on ground, and the motor lead screw rail module is fixed on
On lower plate 1, one end of first branch is connect by spherical pair with the sliding block 6 of motor lead screw rail module, the first branch
The other end it is logical hinged with moving platform 12；One end of second branch is connect by spherical pair with lower plate 1, the second branch
The other end is hinged with moving platform 12；First branch is provided with five, and 23 guide rail of corresponding motor lead screw is provided with five groups, institute
It states the second branch and is provided with one.
The motor lead screw rail module includes lead screw motor 4, sliding block 6, motor fixed rack 21, shaft coupling 22, lead screw
23, bearing block 5, slide unit 3 and slide unit supporting rack 2, the slide unit supporting rack 2 are fixed on lower plate 1, and slide unit 3 is fixed on described
On slide unit supporting rack 2, the lead screw motor 4 is fixed on motor fixed rack 21, and the motor fixed rack 21 is fixed on cunning
On platform 3, by one end of 22 connection wire rod 23 of shaft coupling, the lead screw 23 is solid by two for the output end of the lead screw motor 4
The bearing block 5 being scheduled on slide unit 3 supports；It is provided on the sliding block 6 and passes through cunning with 23 matched threaded hole of lead screw, lead screw 23
The threaded hole and sliding block 6 of block 6 are sleeved on the slide unit 3, by driving the rotation of lead screw 23 to drive when lead screw motor 4 moves
Sliding block 6 is slided along the slide unit 3.
First branch includes connector 9, fixed push rod under bulb support 7, bulb end cap 24, bulb 8, fixed push rod
10, fixed push rod upper connector 11 and third Hooke's hinge, the bulb support 7 are fixed on the sliding block 6, the cooperation peace of bulb 8
In bulb support 7, bulb end cap 24 is fixed in bulb support 7 by the second bolt 25 and is only capable of limitation bulb 8
Rotation in bulb support 7；One end of connector 9 is fixedly connected with the shaft end of bulb 8 under the fixed push rod, is connected under fixed push rod
The other end of fitting 9 is connect with one end of fixed push rod 10, and the other end of fixed push rod 10 is connected and fixed push rod upper connector 11,
The fixed push rod upper connector 11 connects third Hooke's hinge, and the third Hooke's hinge is fixed on the moving platform 12.
Second branch includes fixed station 17, lower end connection, the first Hooke's hinge, linear motor connector 28, straight line
Motor 14, line handspike 13, push rod connector 29, upper end connection and the second Hooke's hinge, second Hooke's hinge include second
Connector 30 under Hooke's hinge upper connector 32, the second Hooke's hinge middleware 31 and the second Hooke's hinge, first Hooke's hinge include
Connector 15 under first Hooke's hinge upper connector 15, the first Hooke's hinge middleware and the first Hooke's hinge；The fixed station 17 is fixed
On the lower plate 1, it is fixedly connected by the first bolt 16 between fixed station 17 and lower plate 1；The lower end connection is solid
It is scheduled on the fixed station 17, connector 15 is fixedly connected with lower end connection under first Hooke's hinge, under the first Hooke's hinge
Connector 15 connects the first Hooke's hinge upper connector 15, the first Hooke's hinge upper connector 15 by the first Hooke's hinge middleware
The fixing end of linear motor 14 is connected by linear motor connector 28, the first Hooke's hinge upper connector 15 is connect with linear motor
It is fixedly connected by third bolt 27 between part 28；One end of the movable end connection line handspike 13 of the linear motor 14, institute
It states the other end of line handspike 13 and connector 30 under the second Hooke's hinge is connected by push rod connector 29, under second Hooke's hinge
Connector 30 connects the second Hooke's hinge upper connector 32, the second Hooke's hinge upper connector by the second Hooke's hinge middleware 31
32 are fixedly connected with upper end connection, and the upper end connection is fixed on 12 bottom of moving platform.
The fixed station 17 is fixed on the middle part of the lower plate 1, and the upper end connection is fixed on the moving platform 12
Bottom centre position.
The third Hooke's hinge includes under third Hooke's hinge upper connector 19, third Hooke's hinge middleware, third Hooke's hinge
Connector 18, connector 18 passes through third Hooke's hinge middleware and connects third Hooke's hinge upper connector under the third Hooke's hinge
19, the third Hooke's hinge upper connector 19 is fixed on moving platform 12；Connector 18 and third tiger under the third Hooke's hinge
Gram hinge middleware interference fit, the third Hooke's hinge middleware and third Hooke's hinge upper connector 19 are interference fitted.
Connector 15 and the first Hooke's hinge middleware are interference fitted under first Hooke's hinge, among first Hooke's hinge
Part and the first Hooke's hinge upper connector 15 are interference fitted；Connector 30 and the second Hooke's hinge middleware 31 under second Hooke's hinge
Interference fit, the second Hooke's hinge middleware 31 and the second Hooke's hinge upper connector 32 are interference fitted.
The slide unit 3 is welded on slide unit supporting rack 2, and the slide unit supporting rack 2 is welded on the lower plate 1.
The lower plate 1 and moving platform 12 are regular pentagon shapes, and the upper end of five the first branches is connected to moving platform
12 five apexes.
Be provided on the lower plate 1 five uniformly protrusion slideways, 2 bottom of slide unit supporting rack be provided with one it is recessed
Slot and the groove, which are used for coordinating with slideway raised on lower plate 1, to be positioned.
The moving platform 12 and lower plate 1 edge of keeping parallelism and moving platform 12 and lower plate 1 in initial assembly
Sideline intersects 36 degree of angles.
The longitudinal cross-section of the slide unit supporting rack 2 is at right angles triangular shaped, and bevel edge and right-angle side are at 30 degree, slide unit branch
The inclined surface of support 2 is towards the outside of the lower plate 1.
Position sensor 34 and force snesor 36 are additionally provided on the moving platform 12, the position sensor 34 passes through
One sensor fixation plate 33 is fixed on the bottom of moving platform 12, and the force snesor 36 is fixed by second sensor fixed plate 35
In the bottom of moving platform 12.
Above-described embodiment is the preferred embodiment of the utility model, is not the limit to technical solutions of the utility model
System, as long as without the technical solution that creative work can be realized on the basis of the above embodiments, is regarded as falling into
In the rights protection scope of the utility model patent.
Claims (10)
1. a kind of adaptive dynamic balancer of flexibility, it is characterised in that：Including lower plate (1), moving platform (12), motor lead screw
Rail module, the first branch and the second branch, the lower plate (1) are fixed on ground, and the motor lead screw rail module is fixed
On lower plate (1), one end of first branch is connect by spherical pair with the sliding block (6) of motor lead screw rail module, the
The other end of one branch is logical hinged with moving platform (12)；One end of second branch is connect by spherical pair with lower plate (1),
The other end of second branch is hinged with moving platform (12)；First branch is provided with five, and corresponding motor lead screw (23) is led
Rail is provided with five groups, and second branch is provided with one；
The motor lead screw rail module include lead screw motor (4), sliding block (6), motor fixed rack (21), shaft coupling (22),
Lead screw (23), bearing block (5), slide unit (3) and slide unit supporting rack (2), the slide unit supporting rack (2) are fixed on lower plate (1),
Slide unit (3) is fixed on the slide unit supporting rack (2), and the lead screw motor (4) is fixed on motor fixed rack (21), described
Motor fixed rack (21) is fixed on slide unit (3), and the output end of the lead screw motor (4) passes through shaft coupling (22) connection wire rod
(23) one end, the lead screw (23) are supported by two bearing blocks (5) being fixed on slide unit (3)；It is set on the sliding block (6)
It is equipped with and is sleeved on the cunning across the threaded hole and sliding block (6) of sliding block (6) with lead screw (23) matched threaded hole, lead screw (23)
On platform (3), by driving lead screw (23) the rotation band movable slider (6) sliding along the slide unit (3) when lead screw motor (4) moves
It is dynamic；
First branch includes connector (9) under bulb support (7), bulb end cap (24), bulb (8), fixed push rod, fixes
Push rod (10), fixed push rod upper connector (11) and third Hooke's hinge, the bulb support (7) are fixed on the sliding block (6),
Bulb (8) is fitted in bulb support (7), and bulb end cap (24) is bolted in bulb support (7) and will limit
Bulb (8) processed is only capable of the rotation in bulb support (7)；The shaft end of one end of connector (9) and bulb (8) under the fixed push rod
It is fixedly connected, the other end of connector (9) is connect with one end of fixed push rod (10) under fixed push rod, fixes the another of push rod (10)
One end is connected and fixed push rod upper connector (11), and the fixed push rod upper connector (11) connects third Hooke's hinge, the third
Hooke's hinge is fixed on the moving platform (12)；
Second branch includes fixed station (17), lower end connection, the first Hooke's hinge, linear motor connector (28), straight line
Motor (14), line handspike (13), push rod connector (29), upper end connection and the second Hooke's hinge, the second Hooke's hinge packet
Include connector (30) under the second Hooke's hinge upper connector (32), the second Hooke's hinge middleware (31) and the second Hooke's hinge, described
One Hooke's hinge includes connector (15) under the first Hooke's hinge upper connector (15), the first Hooke's hinge middleware and the first Hooke's hinge；
The fixed station (17) is fixed on the lower plate (1), and the lower end connection is fixed on the fixed station (17), described
Connector (15) is fixedly connected with lower end connection under first Hooke's hinge, and connector (15) passes through the first Hooke under the first Hooke's hinge
It cuts with scissors middleware and connects the first Hooke's hinge upper connector (15), the first Hooke's hinge upper connector (15) is connected by linear motor
Part (28) connects the fixing end of linear motor (14), and the movable end of the linear motor (14) connects the one of line handspike (13)
The other end at end, the line handspike (13) connects connector (30) under the second Hooke's hinge by push rod connector (29), described
Connector (30) connects the second Hooke's hinge upper connector (32) by the second Hooke's hinge middleware (31) under second Hooke's hinge, described
Second Hooke's hinge upper connector (32) is fixedly connected with upper end connection, and the upper end connection is fixed on moving platform (12) bottom
Portion.
2. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The fixed station (17)
It is fixed on the middle part of the lower plate (1), the upper end connection is fixed on the bottom centre position of the moving platform (12).
3. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The third Hooke's hinge
Including connector (18) under third Hooke's hinge upper connector (19), third Hooke's hinge middleware, third Hooke's hinge, the third tiger
Gram lower connector (18) of hinge passes through third Hooke's hinge middleware and connects third Hooke's hinge upper connector (19), the third Hooke's hinge
Upper connector (19) is fixed on moving platform (12)；Connector (18) and third Hooke's hinge middleware mistake under the third Hooke's hinge
It is full of cooperation, the third Hooke's hinge middleware is interference fitted with third Hooke's hinge upper connector (19).
4. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：First Hooke's hinge
Lower connector (15) is interference fitted with the first Hooke's hinge middleware, and the first Hooke's hinge middleware is connected on the first Hooke's hinge
Part (15) is interference fitted；Connector (30) is interference fitted with the second Hooke's hinge middleware (31) under second Hooke's hinge, described
Second Hooke's hinge middleware (31) is interference fitted with the second Hooke's hinge upper connector (32).
5. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：Slide unit (3) weldering
It is connected on slide unit supporting rack (2), the slide unit supporting rack (2) is welded on the lower plate (1).
6. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The lower plate (1)
It is regular pentagon shape with moving platform (12), the upper end of five the first branches is connected to five apexes of moving platform (12).
7. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The lower plate (1)
On be provided with the slideways of five uniform protrusions, slide unit supporting rack (2) bottom be provided with a groove and the groove be used for
Raised slideway cooperation positioning on lower plate (1).
8. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The moving platform (12)
With lower plate (1) in initial assembly the keeping parallelism and edge of moving platform (12) intersects 36 degree with the sideline of lower plate (1)
Angle.
9. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The slide unit supporting rack
(2) longitudinal cross-section is at right angles triangular shaped, and bevel edge and right-angle side are at 30 degree, the inclined surface direction of slide unit supporting rack (2)
The outside of the lower plate (1).
10. a kind of adaptive dynamic balancer of flexibility according to claim 1, it is characterised in that：The moving platform
(12) position sensor (34) and force snesor (36) are additionally provided on, the position sensor (34) is solid by first sensor
Fixed board (33) is fixed on the bottom of moving platform (12), and the force snesor (36) is fixed on by second sensor fixed plate (35)
The bottom of moving platform (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721782238.XU CN207670622U (en) | 2017-12-19 | 2017-12-19 | A kind of adaptive dynamic balancer of flexibility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721782238.XU CN207670622U (en) | 2017-12-19 | 2017-12-19 | A kind of adaptive dynamic balancer of flexibility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207670622U true CN207670622U (en) | 2018-07-31 |
Family
ID=62969516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721782238.XU Expired - Fee Related CN207670622U (en) | 2017-12-19 | 2017-12-19 | A kind of adaptive dynamic balancer of flexibility |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207670622U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963187A (en) * | 2017-12-19 | 2018-04-27 | 浙江工业大学 | A kind of flexible adaptive dynamic balancer |
| CN113104152A (en) * | 2021-04-08 | 2021-07-13 | 清华大学 | High-rigidity heavy ship-based stable platform device |
-
2017
- 2017-12-19 CN CN201721782238.XU patent/CN207670622U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963187A (en) * | 2017-12-19 | 2018-04-27 | 浙江工业大学 | A kind of flexible adaptive dynamic balancer |
| CN107963187B (en) * | 2017-12-19 | 2024-01-30 | 浙江工业大学 | Flexible self-adaptive dynamic balancing device |
| CN113104152A (en) * | 2021-04-08 | 2021-07-13 | 清华大学 | High-rigidity heavy ship-based stable platform device |
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