TR201911009A1 - BALANCE WEIGHT MECHANISM THAT CAN BE USED AS A COUNTER WEIGHT IN PRECISION GIMBAL SYSTEMS - Google Patents

BALANCE WEIGHT MECHANISM THAT CAN BE USED AS A COUNTER WEIGHT IN PRECISION GIMBAL SYSTEMS Download PDF

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Publication number
TR201911009A1
TR201911009A1 TR2019/11009A TR201911009A TR201911009A1 TR 201911009 A1 TR201911009 A1 TR 201911009A1 TR 2019/11009 A TR2019/11009 A TR 2019/11009A TR 201911009 A TR201911009 A TR 201911009A TR 201911009 A1 TR201911009 A1 TR 201911009A1
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TR
Turkey
Prior art keywords
spring
balance weight
weight mechanism
different devices
linear actuator
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TR2019/11009A
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Turkish (tr)
Inventor
Karakaya Gürkan
Anakli Mete
Türker Caner
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Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi
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Priority to TR2019/11009A priority Critical patent/TR201911009A1/en
Priority to PCT/TR2020/050386 priority patent/WO2021015693A1/en
Publication of TR201911009A1 publication Critical patent/TR201911009A1/en

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    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/001—Counterbalanced structures, e.g. surgical microscopes
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course

Abstract

Buluş; iki eksen hassas hareket simülatörlerinde, yunuslama eksenlerine test edilecek farklı cihazlar takıldığında motor üzerinde oluşan torkların azalmasını, üzerine herhangi bir ağırlık takılmadan sağlayan, motorun pozisyon ve yük kontrol performansını artıran denge ağırlık mekanizması (A) ile ilgilidirMeet; In two-axis precision motion simulators, it is related to the balance weight mechanism (A) that reduces the torque generated on the motor when different devices to be tested are attached to the pitching axes, without any weight being attached to the motor and increases the position and load control performance of the motor.

Description

TARIFNAME HASSAS GIMBAL SISTEMLERINDE KARSI AGIRLIK OLARAK KULLANILABILEN DENGE AGIRLIK MEKANIZMASI Teknik Alan Bulus; hassas gimbal sistemlerin (stabilizasyon sistemlerin) yunuslama eksenleri ile Bulus, özellikle; iki eksen hassas hareket simülatörlerinde, yunuslama eksenlerine test edilecek farkli cihazlar takildiginda motor üzerinde olusan torklarin azalmasini, üzerine herhangi bir agirlik takilmadan saglayan denge agirlik mekanizmasi ile ilgilidir. DESCRIPTION CAN BE USED AS A COUNTERWEIGHT IN PRECISION GIMBAL SYSTEMS BALANCE WEIGHT MECHANISM Technical Area Meet; with pitch axes of precision gimbal systems (stabilization systems) The invention, in particular; Test pitch axes in two-axis precision motion simulators Reducing the torques on the motor when different devices to be installed, It is related to the balance weight mechanism that provides without any weight being attached.

Teknigin Bilinen Durumu Günümüzde kullanilan gimbal sistemleri çogunlukla kamera stabilizasyon sistemleri için kullanilmaktadir. Ozellikle hareketli sahne veya görüntülerin herhangi bir titresime maruz kalmadan mutlak bir netlikle izleyiciye ulastirilmasi gimbal sistemleri ile saglanmaktadir. Bahsedilen hassas gimbal sistemlerin yunuslama ekseninde test edilecek farkli cihazlar takildiginda, yunuslama eksen motorunun üzerinde olusan farkli torklar motorun pozisyon kontrol ve yük tasima performansini olumsuz yönde etkilemektedir. Bu nedenle takilan farkli agirliklara göre farkli yönde torku azaltmak için karsi bir agilik takilmasi gerekmektedir. State of the Art The gimbal systems used today are mostly used for camera stabilization systems. is used. In particular, moving scenes or images may cause any vibration. with gimbal systems to reach the audience with absolute clarity without exposure. is provided. Testing on the pitch axis of the aforementioned precision gimbal systems When different devices to be installed are attached, the different effects on the pitch axis motor torques negatively affect the position control and load carrying performance of the motor. affects. Therefore, to reduce the torque in different direction according to the different weights attached. A counterweight must be fitted.

Mevcut teknikte hareket eksenine karsi her agirlik için özel olmak üzere karsi agirlik parçalari ayarlanmaktadir. Bununla birlikte yalnizca belli araliklarda çalisabilen yayli sistemler gelistirilmistir. Her farkli cihaz için farkli bir agirlik takilmasi yerine ayarlanabilir, 360 derece dönmeye izin veren bir mekanizmaya ihtiyaç duyulmaktadir. In the current technique, counterweight to be specific for each weight against the axis of motion. parts are set. However, with springs that can only work in certain ranges systems have been developed. Instead of attaching a different weight for each different device An adjustable mechanism that allows 360 degree rotation is needed.

Literatürde konu ile ilgili yapilan arastirmalarda bulusumuza benzer olmayan ayni teknik alanda faaliyet gösteren KR1016178OSB1 referansli bulusa rastlanilmistir. bulus kameradan bagimsiz olmak üzere bir gimbal' in agirlik merkezini otomatik olarak ayarlayan, bir kamera dengeleme kontrolü islevini içeren gimbal cihazindan bahsedilmektedir. Mevcut dokümanda gimbal sistem üzerine farkli bir cihaz takildiginda motor üzerinde olusacak torklari karsi agirlik gibi azaltmayi saglayacak bir mekanizmadan bahsedilmemektedir. In the studies on the subject in the literature, it is not similar to our finding. An invention with reference to KR1016178OSB1 operating in the technical field was found. meet automatically center of gravity of a gimbal independently of the camera from the gimbal device that includes a camera stabilization control function is mentioned. A different device on the gimbal system in the current document A device that will reduce the torques that will occur on the engine when it is installed, like counterweight. mechanism is not mentioned.

Sonuç olarak, yukarida anlatilan olumsuzluklardan dolayi ve mevcut çözümlerin konu hakkindaki yetersizligi nedeniyle ilgili teknik alanda bir gelistirme yapilmasi gerekli kilinmistir. As a result, due to the above-mentioned disadvantages and current solutions It is necessary to make an improvement in the relevant technical field due to the inadequacy of the is locked.

Bulusun Amaci Bulus, mevcut durumlardan esinlenerek olusturulup yukarida belirtilen olumsuzluklari çözmeyi amaçlamaktadir. Purpose of the Invention The invention was created by being inspired by the current situations, and the above-mentioned negativities aims to solve.

Bulusun ana amaci; gimbal sistemlerin yunuslama eksenlerine test için farkli cihazlar konumlandirildiginda motorun kontrol ve yük tasima performansini olumsuz etkisini azaltmak için karsi agirlik yerine denge agirlik mekanizmasinin kullanilmasidir. The main purpose of the invention; Different devices for testing pitch axes of gimbal systems When positioned, it negatively affects the control and load carrying performance of the motor. It is the use of the balance weight mechanism instead of the counterweight to reduce the weight.

Bulusun diger amaci; denge agirlik mekanizmasi sayesinde test edilecek her farkli cihaz için 360 derece dönebilen bir yapilanma ortaya koymaktir. The other purpose of the invention; every different item to be tested thanks to the balance weight mechanism. The aim is to present a 360 degree rotating configuration for the device.

Bulusun bir diger amaci; her test edilecek farkli cihaz için farkli bir karsi agirlik üretiminin önüne geçmektir. Bu sayede kullaniciya isçilik ve maliyet açisindan tasarruf saglamaktadir. Another purpose of the invention; a different counterweight for each different device to be tested to prevent its production. In this way, the user saves on labor and cost. it provides.

Yukarida anlatilan amaçlari yerine getirmek üzere bulus, gimbal sistemlerde test edilecek farkli cihazlarin, motorun kontrol ve yük tasima performansi üzerinde olusturdugu olumsuz etkisini azaltmayi saglayan ve herhangi bir karsi agirlik kullanimini ortadan kaldiran denge agirlik mekanizmasi olup, özelligi; o sistemde test edilecek farkli cihazlarin agirlik merkezinin aksi yönünde moment olusturulmasini saglayan yay o sistemde farkli cihazlar tarafindan olusturulan ekstra momenti 360 derecede tamamen sifirlanmasini saglayan lineer aktüatör Içermesidir. In order to fulfill the above-described purposes, the invention is tested in gimbal systems. on the control and load carrying performance of the motor. any counterweight, which allows to reduce the negative effect of It is a balance weight mechanism that eliminates its use, and its feature is; in the opposite direction of the center of gravity of the different devices to be tested in that system spring that creates moment the extra moment created by different devices in that system. linear actuator that provides full reset is to contain.

Bulusun yapisal ve karakteristik özellikleri ve tüm avantajlari asagida verilen sekiller ve bu sekillere atiflar yapilmak suretiyle yazilan detayli açiklama sayesinde daha net olarak anlasilacaktir ve bu nedenle degerlendirmenin de bu sekiller ve detayli açiklama göz önüne alinarak yapilmasi gerekmektedir. The structural and characteristic features and all advantages of the invention are given in the following figures and It is clearer thanks to the detailed explanation written by making references to these figures. will be understood as such, and therefore the assessment will also include these figures and should be taken into account.

Bulusun Anlasilmasina Yardimci Olacak Sekiller Sekil 1, bulusa konu olan denge agirlik mekanizmasinin arkadan perspektif görünümüdür. Figures to Help Understand the Invention Figure 1 is the rear perspective of the balance weight mechanism which is the subject of the invention. is the view.

Sekil 2, bulusa konu olan denge agirlik mekanizmasinin önden perspektif görünümüd'ûr. Figure 2 is the front perspective of the balance weight mechanism which is the subject of the invention. is view.

Sekil 3, bulusa konu olan denge agirlik mekanizmasinin gimbal sistem Üzerinde monte halinin görünümüdür. Figure 3 shows the balance weight mechanism of the invention on the gimbal system. This is the mounted view.

Parça Referanslarinin Açiklamasi A. Denge agirlik mekanizmasi 1. Ana döner parça 2. Saft 3. Yay 4. Sapkali pim . Somun 6. Lineer aktüatör 7. Sabitleme pimi Bulusun Detayli Açiklamasi Bu detayli açiklamada, bulusa konu olan denge agirlik mekanizmasinin (A) tercih edilen yapilanmalari, sadece konunun daha iyi anlasilmasina yönelik olarak açiklanmaktadir. Description of Part References A. Balance weight mechanism 1. Main rotating part 2nd shaft 3. Bow 4. Pin with hat . Nut 6. Linear actuator 7. Fixing pin Detailed Description of the Invention In this detailed explanation, the preference of the balance weight mechanism (A) which is the subject of the invention is explained. structuring, only for a better understanding of the subject is explained.

Bulus; gimbal sistemlerde test edilecek farkli cihazlarin, motorun kontrol ve yük tasima performansi üzerinde olusturdugu olumsuz etkisini azaltmayi saglayan ve herhangi bir karsi agirlik kullanimini ortadan kaldiran denge agirlik mekanizmasi olup, özelligi; sistemde test edilecek farkli cihazlarin agirlik merkezinin aksi yönünde moment olusturulmasini saglayan yay (3) içermektedir. Bununla birlikte sistemde farkli cihazlar tarafindan olusturulan ekstra momenti 360 derecede tamamen sifirlanmasini saglayan lineer aktüatör (6)Içermektedir. Bulus konusu denge agirlik mekanizmasi bahsedilen yayin (3) ana döner parçaya (1) sabitlenmesini saglayan sapkali pim (4) ile bahsedilen sapkali pimin (4) ana döner parçaya (1) sabitlenmesini saglayan somun (5) içermektedir. Ayrica dönme esnasinda lineer aktüatörün (6) yayi (3) takip edebilmesi için bahsedilen lineer aktüatörün (6) iki eksenli cihaz yüzeyine sabitlenmesini saglayan Sekil 1 ve sekil 2! de perspektif görünümü verilen bulus konusu denge agirlik mekanizmasi (A), ana döner parça (1), saft (2) yay (3), sapkali pim(4), somun(5), lineer aktüatör(6), sabitleyici pim(7) olmak üzere yedi farkli parçadan olusmaktadir. Meet; Control and load carrying of different devices to be tested in gimbal systems, motor which allows to reduce the negative effect it has on the performance and It is a balance weight mechanism that eliminates the use of counterweight, and its feature is; moment in the opposite direction of the center of gravity of the different devices to be tested in the system It contains a spring (3) that ensures its formation. However, different devices in the system The extra moment created by the linear actuator (6). The balance weight mechanism which is the subject of the invention is mentioned. the spring (3) is fixed to the main rotating part (1) with the head pin (4). the nut (5) that fixes the head pin (4) to the main rotating part (1) contains. In addition, the linear actuator (6) can follow the spring (3) during rotation. for fixing the linear actuator (6) on the biaxial device surface. Figure 1 and Figure 2! balance weight, which is the subject of the invention, whose perspective view is given in mechanism (A), main rotating part (1), shaft (2), spring (3), handle pin (4), nut (5), linear It consists of seven different parts, namely the actuator (6) and the fixing pin (7).

Ana döner parça (1), gimbalin yunuslama eksenine baglantisini saglayan saft (2) parçasi üzerine merkezinden konumlandirilarak vida ile sabitlenmistir. Bahsedilen ana döner parça ile agirlik merkezini dengeleyen yayin olusturdugu kuvveti büyütmek amaçlanmaktadir. Bu sayede yay sabiti daha düsük olan yay (3) sistemde kullanilmaktadir. Bununla birlikte yayin (3) sistemi 360 derecede dengeleyebilmesi için ana döner parçaya (1) ihtiyaç duyulmaktadir. Yay (3) ise sapkali pime (4) geçirilerek somun (5) yardimiyla sabitlenmistir. Yay (3) baglanti çapinin sapkali pimin (4) sapkasindan ve takilan somunun (5) dis çapindan büyük olmasi amaçlanmaktadir. Main swivel (1), shaft (2) connecting the gimbal to the pitch axis It is positioned on the part from the center and fixed with a screw. mentioned main magnifying the force created by the spring balancing the center of gravity with the rotating part is intended. In this way, the spring (3), which has a lower spring constant, is in the system. is used. However, in order for the spring (3) to balance the system at 360 degrees, the main rotating part (1) is needed. The spring (3) is passed to the cap pin (4). fixed with the help of nut (5). The spring (3) connection diameter of the head pin (4) It is intended to be larger than the cap and the outer diameter of the fitted nut (5).

Böylece çalisma esnasinda yayin (3) sistemden ayrilmasi engellenmistir. Bununla birlikte yay (3), somun(5) ve sapkali pim(4) arasinda döner hareket edebilecek sekilde hapsedilmistir. Thus, the broadcast (3) is prevented from leaving the system during operation. With this Together, the spring (3) can rotate between the nut (5) and the cap pin (4). is imprisoned.

Sapkali pimin (4) ucundan belli bir mesafeye kadar somunlarin (5) dis detayina uygun dis açilmistir. Ana döner parça (1) üzerine merkezden belirli mesafede sapkali pimin (4) geçecegi delikler açilmistir. Ana döner parça (1) üzerine iki farkli sapkali pim deligi açilmasinin amaci yayin (3) her zaman farkli cihazlarin agirlik merkezinin aksi yönünde moment olusturacak sekilde takilmasini gerçeklestirmek içindir. Sapkali pim (4), yay (3) ve somun (5) ,ana döner parçanin (1) dis tarafindan farkli cihazlarin agirlik merkezinin ters tarafinda bulunan delikten geçirilerek takilmistir. Ana döner parçanin (1) iç kisminda kalan sapkali pimin (4) ucuna da yine ayni somundan (5) takilarak sapkali pimin (4) disariya düsmesi engellenmistir. Suitable for the outer detail of the nuts (5) up to a certain distance from the tip of the capped pin (4). the tooth is opened. On the main rotating part (1), at a certain distance from the center, the head pin (4) holes are drilled through which it will pass. Two different head pin holes on the main rotating part (1) The purpose of opening the spring (3) is always in the opposite direction of the center of gravity of the different devices. it is to be attached in a way that creates a moment. Head pin (4), spring (3) and the nut (5), the outer side of the main rotating part (1), the center of gravity of the different devices It is installed by passing through the hole on the reverse side. The inner part of the main rotating part (1) The same nut (5) is attached to the end of the pin (4) remaining on the head of the hat. the pin (4) is prevented from falling out.

Bulus konusu denge agirlik mekanizmasinda (A) yay (3) ile lineer aktüatör (6) arasindaki baglanti ve sistem üzerindeki etkileri su sekildedir; yayin (3) teli lineer akt'uatör'un (6) merkezleme deliginden geçirilerek yay (3) ve lineer aktüat'or (6) birbirine baglanmaktadir. Lineer aktüatör (6) iki eksen cihazin uygun yüzeyine sabitlenmektedir. In the balance weight mechanism (A) which is the subject of the invention, the spring (3) and the linear actuator (6) The connection between them and their effects on the system are as follows; spring (3) wire linear The spring (3) and the linear actuator (6) are connected to each other by passing through the centering hole of the actuator (6). is connecting. The linear actuator (6) is fixed on the appropriate surface of the two axes device.

Bu sabitleme islemi dönme esnasinda lineer aktüatbr'ün (6) yayi (3) takip edebilmesi için sabitleme pimiyle (7) gerçeklestirilmistir. Kullanilan lineer aktüatör (6) yayin boyunu kontrol ederek yayin olusturdugu dengeleyici kuvveti kontrol etmemize olanak saglamaktadir. Bununla birlikte sistem çalisirken farkli cihazlar 'üzerinden gelen momentin farkli derecelerde ayni olmasi; fakat karsisinda takili olan sapkali pime (4) baglanmis olan yayin bu derecelerde fiziki olarak ayni moment degerini verememesi sonucunda sisteme dahil edilmektedir. Sistem çalisirken lineer akt'uat'or (6) ile sinüs grafigine benzer bir pozisyon kontrolü yapilarak sistemde farkli cihazlar tarafindan olusturulan ekstra moment 360 derecede tamamen sitirlanmistir. Böylece iki eksen hareketli sistem üzerinde olusan farkli torklar ortadan kaldirilmis, motorun pozisyon kontrol ve yük tasima performansi artirilmistir. This fixation is so that the linear actuator (6) can follow the spring (3) during rotation. for the fixing pin (7). The linear actuator (6) used is the length of the spring. It allows us to control the balancing force created by the spring by controlling it provides. However, while the system is running, the incoming messages 'through' different devices. the moment being the same in varying degrees; but opposite the hat pin (4) Inability of the connected spring to physically give the same moment value at these degrees are included in the system. Sine with linear act'uat'or (6) while the system is running By making a position control similar to the graphic, it is controlled by different devices in the system. The extra moment created is completely frozen at 360 degrees. So the two axes Different torques on the moving system have been eliminated, the position of the motor has been control and load carrying performance has been increased.

Sistemde olusan momenti sifirlamak için gerekli moment her bir derece için hesaplanmistir. Bu hesaplar dogrultusunda yayin (3) uygulamasi gereken kuvvet belirlenerek lineer akt'uatörün (6) konumu hesaplanmistir. Daha sonrasinda lineer akt'uatör'ün (6) konumu kontrol edilerek sistem 360 derece için dengelenmistir. For each degree of torque required to reset the torque generated in the system calculated. In accordance with these calculations, the force required by the spring (3) and the position of the linear actuator (6) was calculated. Later linear The system is balanced for 360 degrees by controlling the position of the actuator (6).

Claims (1)

ISTEMLER . Gimbal sistemlerde test edilecek farkli cihazlarin, motorun kontrol ve yük tasima performansi 'üzerinde olusturdugu olumsuz etkisini azaltmayi saglayan ve herhangi bir karsi agirlik kullanimini ortadan kaldiran denge agirlik mekanizmasi (A) olup, özelligi; o sistemde test edilecek farkli cihazlarin agirlik merkezinin aksi yönünde moment olusturulmasini saglayan yay (3) . sistemde farkli cihazlar tarafindan olusturulan ekstra momenti 360 derecede tamamen sifirlanmasini ve yayin (3) boyunu kontrol ederek yayin (3) olusturdugu dengeleyici kuvveti kontrol etmemize olanak saglayan lineer aktüatör (6) Içermesidir. Istem 1* e bagli denge agirlik mekanizmasi (A) olup, özelligi; bahsedilen yayin (3) ana döner parçaya (1) sabitlenmesini saglayan sapkali pim (4) içermesidir. Istem 1' e bagli denge agirlik mekanizmasi (A) olup, özelligi; bahsedilen sapkali pimin (4) ana döner parçaya (1) sabitlenmesini saglayan somun (5) içermesidir. Istem 1” e bagli denge agirlik mekanizmasi (A) olup, özelligi; dönme esnasinda lineer akt'üatör'ün (6) yayi (3) takip edebilmesi için bahsedilen lineer aktüatör'ün (6) iki eksenli cihaz yüzeyine sabitlenmesini saglayan sabitleme pimi (7) içermesidir.REQUESTS . It is the balance weight mechanism (A), which allows to reduce the negative effects of the different devices to be tested in gimbal systems on the control and load carrying performance of the motor and eliminates the use of any counterweight, and its feature is; the spring (3), which enables the generation of torque in the opposite direction of the center of gravity of the different devices to be tested in that system. It contains a linear actuator (6) that allows us to completely reset the extra moment created by different devices in the system at 360 degrees and to control the balancing force created by the spring (3) by controlling the length of the spring (3). It is the balance weight mechanism (A) according to claim 1*, its feature is; the said spring (3) contains a pin (4) that ensures its fixation to the main rotating part (1). It is the balance weight mechanism (A) according to claim 1, its feature is; it contains a nut (5) that enables the said head pin (4) to be fixed to the main rotating part (1). It is the balance weight mechanism (A) according to Claim 1, and its feature is; it includes a fixing pin (7) that ensures that the linear actuator (6) is fixed to the surface of the two-axis device so that the linear actuator (6) can follow the spring (3) during rotation.
TR2019/11009A 2019-07-23 2019-07-23 BALANCE WEIGHT MECHANISM THAT CAN BE USED AS A COUNTER WEIGHT IN PRECISION GIMBAL SYSTEMS TR201911009A1 (en)

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TR2019/11009A TR201911009A1 (en) 2019-07-23 2019-07-23 BALANCE WEIGHT MECHANISM THAT CAN BE USED AS A COUNTER WEIGHT IN PRECISION GIMBAL SYSTEMS
PCT/TR2020/050386 WO2021015693A1 (en) 2019-07-23 2020-05-06 Balance weight mechanism usable as counter-weight in precise gimbal systems

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* Cited by examiner, † Cited by third party
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US4753128A (en) * 1987-03-09 1988-06-28 Gmf Robotics Corporation Robot with spring pivot balancing mechanism
US7428855B2 (en) * 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
JP2006349131A (en) * 2005-06-20 2006-12-28 Fujitsu Ltd Vibration proof mechanism with compensation of double gimbal position
EP3220038B1 (en) * 2016-03-17 2018-10-24 Leica Instruments (Singapore) Pte. Ltd. Method of balancing a load using a support system and support system

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