Flexible self-adaptive dynamic balancing device

Abstract

The invention discloses a flexible self-adaptive dynamic balancing device. The device includes a lower base plate, a moving platform, motor screw guide rail modules, first branch chains and a second branch chain, the lower base plate is fixed on the ground, each motor screw guide rail module is fixed on the lower base plate, one end of each first branch chain is connected with a slide block of thecorresponding motor screw guide rail module through a spherical pair, and the other end of each first branch chain is hinged with the moving platform; one end of the second branch chain is connectedwith the lower base plate through a spherical pair, and the other end of the second branch chain is hinged with the moving platform; the number of the first branch chains is five, the number of the corresponding motor screw guide rail modules is five, and the number of the second branch chain is one. The advantages are fully used that a parallel mechanism is high in carrying capacity, compact in structure, flexible to move, small in inertia and convenient to control in time, and the whole symmetrical structure design has the advantages of simple and compact structure, reasonable design and good processing and assembly technologies.

Description

technical field [0001] The invention relates to the research field of dynamic balance devices, and more specifically, relates to a flexible self-adaptive dynamic balance device. Background technique [0002] At present, it is very difficult to recover spacecraft at sea. The main reason is that it is difficult to guarantee the dynamic impact balance of the recovery platform on the sea surface and the downward attitude of the spacecraft. Due to the continuous movement and shaking of the sea surface recovery platform on the sea surface, the sea recovery platform for recovering the spacecraft is very easy to tilt and fall, which makes the recovery task of the spacecraft fail. In order to solve this problem, some existing platforms can solve this problem to a certain extent. For example, the Chinese invention patent with application number 201610843328.X discloses a manual adjustment mechanism that can realize five degrees of freedom. Adjusting the linear displacement can also r...

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Problems solved by technology

[0003] The purpose of the present invention is to solve the shortcomings of the existing dynamic balance device that requires manual adjustment, the adjustment accuracy is not high, and the structure is mainly connected in series, which leads to low bearing capacity, large inertia and is not conducive to real-time control. Parallel flexible self-adaptive dynamic balance device can automatically and high-precision adjust the moving platform to meet the requirements of real-time control of its level

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