An online bias adjusting device for an electric self-balancing rocker

Abstract

This invention provides an online self-balancing shaking table adjustment device, mainly comprising a rotary seat, a slip ring, a turntable, a support plate, a bidirectional lead screw module, an adapter, a ball joint, a self-balancing counterweight mechanism, a self-balancing push head, a communication module, and a main control box. The turntable is rotatably mounted on the rotary seat. The bidirectional lead screw module is fixed to the upper surface of the turntable and symmetrically arranged along its diameter. Two sets of self-balancing counterweight mechanisms are respectively located on both sides of the bidirectional lead screw module, arranged at a certain angle. The support plate and the self-balancing counterweight mechanism are respectively connected to the forward and reverse sliders of the bidirectional lead screw module. The communication module and the main control box are fixed in the gap between the turntable and the rotary seat. The slip ring is mounted between the rotary seat and the turntable and electrically connected to the main control box for power supply. The communication module is electrically connected to the main control box and wirelessly communicates with the shaking table control panel. This invention uses an electrically controlled bidirectional lead screw module to adjust the swing amplitude of the shaker in real time without stopping the machine. At the same time, it synchronously drives the self-balancing counterweight mechanism to move in the opposite direction to suppress vibration. The device has a stable structure, is easy to operate, and can be adapted to various reagent processing needs, improving the mixing, separation and culture efficiency of the shaker.

Description

Technical Field

[0001] This invention relates to the field of shaking table alignment systems, and more specifically, to an online alignment device for an electric self-balancing shaking table. Background Technology

[0002] A shaker incubator is a laboratory device that integrates constant temperature incubation and shaking functions. The incubator's working chamber is equipped with lighting for easy observation. It is widely used in teaching, research, medical, and production departments in environmental protection, medical, public health, drug testing, and food engineering for biochemical research such as microbial, bacterial, cell, and fermentation hybridization studies. The core functions of a shaker include temperature and humidity control and shaking. While the temperature and shaking frequency or speed are generally easily adjustable, the amplitude is relatively difficult to adjust. It suffers from a fixed vibration amplitude, a single shaking stroke, and only unidirectional adjustable swing amplitude, making it unsuitable for diverse experimental requirements with different viscosities and liquid volumes. It cannot selectively choose the appropriate vibration amplitude based on experimental requirements, especially when the sample needs to be symmetrically distributed and securely fixed; otherwise, centrifugal force imbalance and excessive vibration amplitude can easily occur, leading to solution splashing and seriously affecting experimental results. To meet the needs of different research projects, multiple units of different specifications are often purchased, resulting in resource waste and occupying a large amount of laboratory space. Effective innovative improvements have been made to the design, such as changing the length of the lifting linkage to alter the amplitude, using a motor to control the gear meshing with a rack to change the direction and thus the swing amplitude, and replacing the support mechanism with a flexible material to buffer eccentricity and reduce vibration. However, due to variations in the weight of the rocker plate and its load, limitations imposed by the stacking height of the rocker bed, or the influence of swing inertia on the direction change, its vibration stiffness cannot change with weight, amplitude adjustment is limited, degrees of freedom are restricted by the number of mechanisms, operation and control are difficult, or it is difficult to simultaneously achieve amplitude adjustment and vibration control. Summary of the Invention

[0003] The purpose of this invention is to overcome the defects of the prior art and provide a stable and reliable online tilting device for an electric self-balancing rocker.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] An online self-balancing shaking table adjustment device includes a rotating base, a slip ring, a turntable, a support plate, a bidirectional screw module, an adapter, a ball head, a self-balancing counterweight mechanism, a self-balancing push head, a communication module, and a main control box. The turntable has a rotating shaft underneath, and the turntable is rotatably mounted in the rotating base via the shaft. A slip ring hole is formed at the bottom of the turntable, and a groove is carved into its upper surface. The bidirectional screw module is fixed to the upper surface of the turntable and is symmetrically arranged along a diameter line on the upper surface of the turntable. The bidirectional screw module has one forward slider and one reverse slider. The slip ring is installed in the slip ring hole, with both ends positioned between the rotating base and the turntable. The upper end of the slip ring passes through the slip ring hole and then exits through the groove on the upper surface of the turntable, where it is electrically connected to the main control box. The other end of the slip ring is connected to an external power supply. The electrical system is electrically connected; the ball head seat is installed on the upper end of the forward slider of the bidirectional lead screw module through an adapter seat, and the support plate is connected to the forward slider through the ball head seat and the adapter seat; the self-balancing counterweight mechanism contains two symmetrically distributed weights, which are respectively located on the left and right sides of the bidirectional lead screw module and arranged at an angle α with the bidirectional lead screw module. The self-balancing counterweight mechanism is connected to the reverse slider through a self-balancing push head; the communication module and the main control box are installed in the gap of the turntable. The main control box contains circuit hardware and a motor driver that are electrically connected to the bidirectional lead screw module. The communication module is also electrically connected to the main control box. The communication module contains a wireless transceiver control circuit. The communication module communicates wirelessly with the shaking table control panel via Bluetooth, thereby enabling timely transmission and feedback of electrical control signals between the shaking table control panel and the bidirectional lead screw module.

[0006] Furthermore, the bidirectional lead screw module includes a forward and reverse bidirectional lead screw, a reverse slider, a forward slider, a drive motor, and a motor brake. The forward and reverse bidirectional lead screw has positive and negative threads, and the pitch of the positive and negative threads is set in an inverse proportion according to the different loads on the forward and reverse sliders. The drive motor controls the forward and reverse sliders to slide simultaneously towards the center or simultaneously towards both sides through the forward and reverse bidirectional lead screw. The sliding paths of the forward and reverse sliders controlled by the forward and reverse bidirectional lead screw coincide with the diameter direction of the turntable and intersect perpendicularly with the rotation axis of the turntable. The motor brake is installed at the rear end of the drive motor so as to lock it in time when the drive motor stops, thereby controlling the parking of the forward and reverse sliders.

[0007] In addition, the pitch of the reverse thread can also be a non-constant quantity. The pitch is determined by experimentally obtaining different vibrations of the shaker under different loads on the plate of the forward slider and different adjustment amounts, and calculating the minimum vibration amount according to the least squares method.

[0008] The self-balancing counterweight mechanism includes a fixing screw, a counterweight, a guide rail slider, a telescopic horizontal push rod, and an inclined connecting seat. The guide rail slider includes a guide rail and a slider, with the slider movably connected to the guide rail. The guide rail is fixed to the upper surface of the turntable. The left and right guide rails and the symmetry line of the bidirectional lead screw module are outwardly oriented, i.e., the left and right guide rails and the bidirectional lead screw module form a certain angle α. Therefore, when the forward slider adjustment amount increases, the slider moves away from the bidirectional lead screw module accordingly, thereby increasing the rotational inertia of the turntable to counteract the asymmetrical swaying of the support plate on the ball joint seat due to the vertical increase of the bidirectional lead screw module. The counterweight is fixed on the slider and includes... The base block and several attachments: Attachment 1, Attachment 2, and Attachment 3. The attachments have different thicknesses and are numerous. The attachments are locked to the outer side of the counterweight block by fixing screws. By attaching different numbers of attachments to the base block, the left-right imbalance caused by structural asymmetry can be adjusted. For example, if the attachments include 1 Attachment 1, 2 Attachment 2, and 1 Attachment 3, and assuming that the thickness of Attachment 1 is y, the thickness of Attachment 2 is 2y, and the thickness of Attachment 3 is 5y, then the counterweight block, including the base block and different numbers of attachments, can form 11 different weights from X+0 to 10y, thereby quickly adjusting the left-right or front-back imbalance of the shaker. The inclined connecting seat is fixed to the upper surface of the counterweight and forms an angle α with the counterweight. The telescopic horizontal push rod is connected to the inclined connecting seat at both ends and comprises left and right parts that can extend and retract relative to each other. The self-balancing counterweight mechanism is connected to the reverse slider on the bidirectional screw module via a self-balancing push head. The forward and backward sliding of the reverse slider drives the counterweight and slider to slide obliquely along the guide rail. Two sets of the self-balancing counterweight mechanism are provided, symmetrically on the left and right sides, both mounted on the upper surface of the turntable and located on the left and right sides of the bidirectional screw module. The two self-balancing counterweight mechanisms are not parallel to the bidirectional screw module and are distributed at an angle α.

[0009] In addition, the present invention also includes a grating ruler, which is set next to the bidirectional lead screw module. The displacement of the positive slider is obtained through the grating ruler to obtain the deflection amount of the shaker, so as to monitor or provide feedback control of the deflection amount of the shaker.

[0010] The rotating seat is fixed inside the box; a support plate is fixed on the ball head seat, and the edge of the support plate is provided with at least two support connection points, all of which are fixed to the lower connector; the upper end of the box is provided with at least two upper connectors; at least two connecting rods are provided, and the upper and lower ends of the connecting rods are respectively movably connected to the upper connectors and the lower connectors through movable joints; a rocking motor is also provided on the edge of the box, and a small rocking pulley is provided on the rotating shaft of the rocking motor, which is connected to the turntable belt through a transmission belt; thus, the rocking motor rotates, which can drive the turntable to rotate, and the eccentric distance (adjustment amount) of the ball head seat relative to the axis of the turntable can be adjusted by the bidirectional screw module, thereby controlling the swing amplitude of the support plate. In order to counteract the dynamic balance problem caused by the eccentric adjustment, a self-balancing counterweight mechanism is used to counteract the vibration of the shaker, so that the present invention can stably and reliably adjust the shaking of the shaker under different swing amplitudes to complete different and controllable mixing, separation or culture accelerations.

[0011] The communication module establishes a two-way communication transmission channel between the main control box and the rocking table control panel via Bluetooth. It transmits the operation commands from the rocking table control panel to the main control box and then to the drive motor for execution. It also transmits the feedback information from the main control box and the running data of the drive motor back to the rocking table control panel in real time. Ultimately, the system can automatically and precisely adjust the eccentricity of the ball head relative to the turntable axis, thereby controlling the size of the pallet swing.

[0012] Compared with the prior art, the online deviation adjustment device for the electric self-balancing shaking table provided by the present invention has the following advantages:

[0013] (1) The electric control (bidirectional) screw module is used for deflection adjustment, which can realize online deflection adjustment without stopping the machine. The operation is simple and intuitive. The swing amplitude parameters can be digitized and visualized, thereby controlling the acceleration of the reaction between the reagent shaken by the shaker and the air.

[0014] (2) The dynamic balance is automatically adjusted by using a two-way screw module + self-balancing push head + self-balancing counterweight mechanism. While adjusting the deviation, the mechanical structure ensures the dynamic balance problem and counteracts the imbalance and shaking table vibration caused by the deviation. The programming is simple, no complex intelligent feedback control is required, and no repeated adjustment is required. Even if a large offset increment is set, there is no need for step adjustment. The performance is stable and reliable and is not affected by the control accuracy and time delay.

[0015] (3) The counterweight is made by using a base block with several additional plates of different thicknesses. This can effectively reduce the number of counterweights required and can be quickly equipped for use on shakers of different sizes or different pallet weights to adjust imbalances before and after (longitudinal of the bidirectional screw module). It can also quickly adjust the left and right imbalance caused by asymmetric installation of the left and right (vertical of the bidirectional screw module).

[0016] (4) The self-balancing online adjustment method can dynamically adjust the level in a timely manner, improve the stability of the shaking table, prevent damage to the mechanism, improve the safety of the mechanism, effectively reduce the drawbacks of excessive weight increase of the shaking table body due to anti-vibration, and make the shaking table lightweight. Attached Figure Description

[0017] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is an exploded structural diagram of the present invention;

[0020] Figure 3(A) is a schematic diagram of the structure of the turntable in this invention;

[0021] Figure 3(B) is a structural schematic diagram of the turntable in this invention from another perspective;

[0022] Figure 4 This is a schematic diagram of the self-balancing counterweight mechanism in this invention;

[0023] Figure 5 This is a schematic diagram of the guide rail assembly on the turntable in this invention;

[0024] Figure 6 This is a schematic diagram of the counterweight block in the present invention;

[0025] Figure 7 for Figure 6 A schematic diagram of the decomposed structure;

[0026] Figure 8 This is a schematic diagram of the structure of the base block in this invention;

[0027] Figure 9 This is a schematic diagram of the guide rail slider in the present invention;

[0028] Figure 10 This is a schematic diagram of the telescopic push rod in this invention;

[0029] Figure 11 This is a schematic diagram of the oblique connecting seat in the present invention;

[0030] Figure 12 This is a schematic diagram of the self-balancing pusher in this invention;

[0031] Figure 13 This is a schematic diagram of the bidirectional lead screw module in this invention;

[0032] Figure 14 This is a schematic diagram of the bidirectional lead screw in this invention;

[0033] Figure 15 This is a control flowchart of the present invention;

[0034] Explanation of reference numerals in the attached figures:

[0035] 1-Box;

[0036] 2-Reseat;

[0037] 3-Slip ring;

[0038] 4-Turntable; 401-Shaft; 402-Slip ring hole; 403-Wire groove;

[0039] 5-Communication module;

[0040] 6-Main control box;

[0041] 7-Drive belt;

[0042] 8- Shaking the small pulley;

[0043] 9- Shaking motor;

[0044] 10-Plate;

[0045] 11-Self-balancing counterweight mechanism; 1101-Fixing screw; 1102-Counterweight; 11021-Base block; 11022-Attachment piece one; 11023-Attachment piece two; 11024-Attachment piece three; 1103-Guide rail slider; 11031-Guide rail; 11032-Slider; 1104-Telescopic horizontal push rod; 11041-Telescopic cylinder; 11042-Telescopic shaft; 1105-Angled connecting seat;

[0046] 12-Self-balancing pusher; 1201-U-shaped push groove;

[0047] 13-Ball head seat;

[0048] 14-Adapter socket;

[0049] 15-Bidirectional lead screw module; 1501-Bidirectional lead screw; 15011-Positive thread; 15012-Negative thread; 1502-Reverse slider; 1503-Positive slider; 1504-Drive motor; 1505-Motor brake;

[0050] 16-Upward connection;

[0051] 17-Linkage;

[0052] 18-Lower connector. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0055] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, all directional indications (such as up, down, left, right, front, back, bottom, etc.) in this application are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indication will also change accordingly. Furthermore, descriptions involving "first," "second," etc., in this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0056] See Figure 1 , Figure 2See Figures 3(A) and 3(B) for details. This embodiment relates to an online adjustment device for an electric self-balancing rocker, including a rotating base 2, a slip ring 3, a turntable 4, a support plate 10, a bidirectional lead screw module 15, an adapter 14, a ball head seat 13, a self-balancing counterweight mechanism 11, a self-balancing push head 12, a communication module 5, and a main control box 6. The turntable 4 has a rotating shaft 401 underneath, and the turntable 4 is rotatably mounted in the rotating base 2 via the rotating shaft 401. A slip ring hole 402 is formed at the bottom end of the turntable 4, and a wire groove 40 is formed on the upper surface of the turntable 4. 3; The bidirectional lead screw module 15 is fixed on the upper surface of the turntable 4, and the bidirectional lead screw module 15 is symmetrically placed on a certain diameter line on the upper surface of the turntable 4. The bidirectional lead screw module 15 is provided with one forward slider 1503 and one reverse slider 1502; The slip ring 3 is installed in the slip ring hole 402, and the two ends of the slip ring 3 are supported between the rotary seat 2 and the turntable 4. After the upper end of the slip ring 3 passes through the slip ring hole 402, it passes through the wire groove 403 on the upper surface of the turntable 4, and after passing through, it connects with the main control box 6. The slip ring 3 is electrically connected to an external power supply system at one end. The ball head seat 13 is installed on the upper end of the forward slider 1503 of the bidirectional lead screw module 15 via an adapter seat 14. The support plate 10 is connected to the forward slider 1503 via the ball head seat 13 and the adapter seat 14. The self-balancing counterweight mechanism 11 consists of two symmetrically distributed components, located on the left and right sides of the bidirectional lead screw module 15 at an angle α. The self-balancing counterweight mechanism 11 is connected to the reverse slider 1502 via a self-balancing push head 12. The communication module 5 and the main control box 6 are installed in the gap of the turntable 4. The main control box 6 contains circuit hardware and a motor driver that are electrically connected to the bidirectional lead screw module 15. The communication module 5 is also electrically connected to the main control box 6. The communication module 5 contains a wireless transceiver control circuit. The communication module 5 communicates wirelessly with the rocking table control panel via Bluetooth, thereby enabling timely transmission and feedback of electrical control signals between the rocking table control panel and the bidirectional lead screw module 15.

[0057] The rotating base 2 is fixed inside the housing 1; a support plate 10 is fixed on the ball head 13, and the edge of the support plate 10 is provided with at least two support connection points, all of which are fixed to the lower connector 18; at least two upper connectors 16 are provided at the upper end of the housing 1; at least two connecting rods 17 are provided, and the upper and lower ends of the connecting rods 17 are respectively movably connected to the upper connectors 16 and the lower connectors 18 through movable joints; a rocking motor 9 is also provided on the edge of the housing 1, and a rocking pulley 8 is provided on the shaft of the rocking motor 9. The drive belt 7 is connected to the turntable 4 via belt drive; thus, the shaking motor 9 rotates, which drives the turntable 4 to rotate. The eccentricity distance (adjustment amount) of the ball head seat 13 relative to the axis of the turntable 4 is adjusted by the bidirectional screw module 15, thereby controlling the swing amplitude of the tray 10. In order to counteract the dynamic balance problem caused by the eccentric adjustment, a self-balancing counterweight mechanism 11 is used to counteract the vibration of the shaker. Ultimately, the present invention can stably and reliably adjust the shaking of the shaker under different swing amplitudes to achieve different and controllable mixing, separation or culture acceleration.

[0058] Ultimately, this invention enables stable and reliable adjustment of shaker oscillation at different amplitudes, achieving different and controllable mixing, separation, or culture accelerations.

[0059] See Figure 4 See also Figure 1 , Figure 2 , Figures 5-12 The self-balancing counterweight mechanism 11 includes a fixing screw 1101, a counterweight 1102, a guide rail slider 1103, a telescopic horizontal push rod 1104, and an inclined connecting seat 1105; the guide rail slider 1103 includes a guide rail 11031 and a slider 11032, the slider 11032 being movably connected to the guide rail 11031, the guide rail 11031 being fixed to the upper surface of the turntable 4, and the left and right guide rails 11031 forming an outward symmetrical line with the bidirectional lead screw module 15. The two guide rails 11031 are in a flip-up configuration, meaning that they form a certain angle α with the bidirectional lead screw module 15. As the adjustment amount of the forward slider 1503 increases, the slider 11032 moves away from the bidirectional lead screw module 15 accordingly, thereby increasing the rotational inertia of the turntable 4 to counteract the asymmetrical swaying of the support plate 10 on the ball head seat 13 in the bidirectional lead screw module 15 as the vertical direction increases. Depending on the magnitude of the load applied by the support plate 10 to the bidirectional lead screw module 15, the corresponding angle α is between 5° and 45°.

[0060] The counterweight 1102 is fixed on the slider 11032. The counterweight 1102 includes a base block 11021 and several attachments: attachment 1 11022, attachment 2 11023, and attachment 3 11024. The attachments have different thicknesses and are numerous. The attachments are locked to the outer side of the counterweight 1102 by fixing screws 1101. Thus, by attaching different numbers of attachments to the base block 11021, the left-right (vertical) imbalance caused by the asymmetry of the structural assembly can be adjusted. If the attachment includes one attachment 1, two attachments 2, and one attachment 3, and assuming the thickness of attachment 1 is y, the thickness of attachment 2 is 2y, and the thickness of attachment 3 is 5y, then the counterweight block, by including the base block and different numbers of attachments, can form 11 different weights from X+0 to 10y, which are provided for adjusting the dynamic balance of shakers of different sizes or different pallet weights. This allows for quick adjustment of shakers that are unbalanced in the left and right (vertical direction of the bidirectional screw module, adjusting the attachments between the left and right counterweight blocks 1102) or in the front and back (longitudinal direction of the bidirectional screw module, with the weight of the left and right counterweight blocks 1102 increasing simultaneously), and can also effectively reduce the number of counterweight blocks required.

[0061] The inclined connecting seat 1105 is fixed to the upper surface of the counterweight 1102 and forms an angle α with the counterweight 1102; the telescopic horizontal push rod 1104 is connected to the inclined connecting seat 1105 at both ends. The telescopic horizontal push rod 1104 includes two parts, namely the telescopic cylinder 11041 and the telescopic shaft 11042, which can extend and retract to change length; the telescopic cylinder 11041 and the telescopic shaft 11042 can be a combination of optical axis and optical hole, or a polygonal or keyway structure.

[0062] The self-balancing counterweight mechanism 11 is connected to the reverse slider 1502 on the bidirectional lead screw module 15 via the self-balancing push head 12. The reverse slider 1502 can drive the counterweight 1102 and slider 11032 to slide obliquely along the guide rail 11031 by sliding back and forth. The self-balancing push head 12 is provided with a U-shaped push groove 1201, the inner dimensions of which match the outer dimensions of the telescopic horizontal push rod 1104 of the self-balancing counterweight mechanism 11.

[0063] The self-balancing counterweight mechanism 11 has two sets that are symmetrically arranged on the left and right sides. Both sets are installed on the upper surface of the turntable 4 and are located on the left and right sides of the bidirectional lead screw module 15. The two self-balancing counterweight mechanisms 11 and the bidirectional lead screw module 15 are not parallel to each other and are distributed at an angle of α.

[0064] See Figure 13 , Figure 14 See also Figure 1 , Figure 2 , Figure 4 , Figure 5The bidirectional lead screw module 15 includes a forward and reverse bidirectional lead screw 1501, a reverse slider 1502, a forward slider 1503, a drive motor 1504, and a motor brake 1505. The forward and reverse bidirectional lead screw 1501 has a positive thread 15011 and a negative thread 15012. The pitch of the positive thread 15011 and the negative thread 15012 is set in an inverse proportion according to the different loads on the forward slider 1503 and the reverse slider 1502. The drive motor 1504 controls the forward slider 1503 through the forward and reverse bidirectional lead screw 1501. 3. The reverse slider 1502 slides simultaneously toward the middle or simultaneously to both sides; the sliding paths of the forward slider 1503 and the reverse slider 1502 controlled by the forward and reverse bidirectional lead screw 1501 coincide with the diameter direction of the turntable 4 and intersect perpendicularly with the rotation axis of the turntable 4; the motor brake 1505 is installed at the rear end of the drive motor 1504 so as to lock it in time when the drive motor 1504 stops, control the locking of the drive motor 1504 to prevent it from rotating, and thus control the parking of the forward slider 1503 and the reverse slider 1502.

[0065] In addition, the pitch of the reverse thread 15012 can also be a non-constant quantity. The pitch is determined by experimentally obtaining different vibrations of the shaker under different loads of the support plate 10 on the forward slider 1503 and different adjustment amounts, and then calculating the minimum vibration amount according to the least squares method.

[0066] In addition, by equipping the drive motor 1504 with a servo motor, the present invention can obtain the position information of its own moving parts in real time and accurately, thereby realizing the reading and control of the stroke, that is, the adjustment position can be calculated and read. However, the present invention may also include a grating ruler (not shown), which is set next to the bidirectional lead screw module 15. The displacement of the positive slider 1503 is obtained through the grating ruler to obtain the adjustment amount of the shaking table, so as to monitor or provide feedback control of the adjustment amount of the shaking table.

[0067] Furthermore, the present invention also includes a magnetic lock (not shown), which is disposed between the base block 11021 and the turntable 4. The magnetic lock, controlled electronically, can further lock the movement of the counterweight 1102, preventing the counterweight 1102 from changing its equilibrium position due to centrifugal force during rotation, thus preventing oscillation. When power is off, the magnetic lock releases the counterweight 1102 due to the disappearance of the magnetic field, allowing it to be controlled by the bidirectional lead screw module 15 to move back and forth.

[0068] The communication module 5 establishes a bidirectional communication channel between the main control box 6 and the shaking table control panel via Bluetooth. It transmits operation commands from the shaking table control panel (via buttons and the display screen) to the main control box 6, which then sends them to the drive motor 1504 of the bidirectional lead screw module 15 for execution. It also transmits feedback information from the main control box 6 and the operating data of the drive motor 1504 back to the shaking table control panel in real time. Ultimately, this allows the system to automatically and precisely adjust the eccentricity of the ball head relative to the turntable axis, thereby controlling the swing amplitude of the support plate 10. Simultaneously, thanks to the bidirectional lead screw module 15 mechanism, it can simultaneously adjust the eccentricity while also controlling the self-balancing counterweight mechanism 11 to move in the opposite direction and open the counterweight 1102, automatically ensuring the balance and stability of the shaking table.

[0069] See Figure 15 Since the dynamic balance adjustment in this invention is guaranteed by a mechanical mechanism, open-loop control is used for dynamic balance adjustment, and its control flowchart is as follows. Figure 15 As shown, when the main control box 6 receives the tilt adjustment operation command from the rocking table control panel, it performs anti-shake judgment and generates a PWM speed regulation signal or direction control command to directly control the drive motor 1504. The built-in encoder of the drive motor 1504 collects status information such as speed and position and fault codes in real time and sends them back to the control box until the set tilt adjustment value is reached.

[0070] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. An online deviation adjustment device for an electric self-balancing shaking table, characterized in that, The components include a rotary seat (2), a slip ring (3), a turntable (4), a support plate (10), a bidirectional lead screw module (15), an adapter (14), a ball head seat (13), a self-balancing counterweight mechanism (11), a self-balancing pusher (12), a communication module (5), and a main control box (6), wherein: The turntable (4) is provided with a rotating shaft (401) and the turntable (4) is rotatably installed in the rotating seat (2) through the rotating shaft (401). The bottom end of the turntable (4) is provided with a slip ring hole (402) and the upper surface of the turntable (4) is provided with a wire groove (403). The bidirectional lead screw module (15) is fixed on the upper surface of the turntable (4), and the bidirectional lead screw module (15) is symmetrically placed on a certain diameter line on the upper surface of the turntable (4). The bidirectional lead screw module (15) is provided with one forward slider (1503) and one reverse slider (1502). The slip ring (3) is installed in the slip ring hole (402). The two ends of the slip ring (3) are mounted between the rotating seat (2) and the turntable (4). The upper end of the slip ring (3) passes through the slip ring hole (402) and then passes through the wire groove (403) on the upper surface of the turntable (4). After passing through, it is electrically connected to the main control box (6). The other end of the slip ring (3) is electrically connected to the external power supply system. The ball head seat (13) is installed on the upper end of the forward slider (1503) of the bidirectional screw module (15) via the adapter seat (14), and the support plate (10) is connected to the forward slider (1503) via the ball head seat (13) and the adapter seat (14); The self-balancing counterweight mechanism (11) has two symmetrically distributed on the left and right sides, respectively located on the left and right sides of the bidirectional screw module (15) and arranged at a preset angle α with the bidirectional screw module (15). The self-balancing counterweight mechanism (11) is connected to the reverse slider (1502) through the self-balancing push head (12). The communication module (5) and the main control box (6) are installed in the gap of the turntable (4). The main control box (6) is equipped with circuit hardware and motor driver and is electrically connected to the bidirectional lead screw module (15). The communication module (5) is also electrically connected to the main control box (6). The communication module (5) is equipped with a wireless transceiver control circuit. The communication module (5) communicates wirelessly with the rocking table control panel via Bluetooth. Thus, the communication module (5) can realize the timely transmission and feedback of electrical control information between the rocking table control panel and the bidirectional lead screw module (15).

2. The online deviation adjustment device for an electric self-balancing shaking table according to claim 1, characterized in that, The bidirectional lead screw module (15) includes a forward and reverse bidirectional lead screw (1501), a reverse slider (1502), a forward slider (1503), a drive motor (1504), and a motor brake (1505). The bidirectional lead screw (1501) includes a positive thread (15011) and a negative thread (15012). The pitch of the positive thread (15011) and the negative thread (15012) are set in an inverse proportion according to the different loads on the positive slider (1503) and the negative slider (1502). The drive motor (1504) controls the forward slider (1503) and the reverse slider (1502) to slide simultaneously toward the middle or simultaneously to both sides via the bidirectional lead screw (1501); The sliding paths of the forward slider (1503) and the reverse slider (1502) controlled by the bidirectional lead screw (1501) coincide with the diameter direction of the turntable (4) and intersect perpendicularly with the rotation axis of the turntable (4). The motor brake (1505) is installed at the rear end of the drive motor (1504) so ​​as to lock it in time when the drive motor (1504) stops, thereby controlling the parking of the forward slider (1503) and the reverse slider (1502).

3. The online deviation adjustment device for an electric self-balancing shaking table according to claim 2, characterized in that, The pitch of the reverse thread (15012) can also be a non-constant quantity. The pitch is determined by obtaining different vibration amounts of the shaking table under different adjustment amounts based on the different loads of the support plate (10) on the forward slider (1503) and the minimum vibration amount calculated according to the least squares method.

4. The online deviation adjustment device for an electric self-balancing shaking table according to claim 1, characterized in that, The self-balancing counterweight mechanism (11) includes a fixing screw (1101), a counterweight (1102), a guide rail slider (1103), a telescopic horizontal push rod (1104), and an inclined connecting seat (1105). The guide rail slider (1103) includes a guide rail (11031) and a slider (11032). The slider (11032) is movably connected to the guide rail (11031). The guide rail (11031) is fixed on the upper surface of the turntable (4). The left and right guide rails (11031) and the bidirectional lead screw module (15) are outwardly symmetrical, that is, the left and right guide rails (11031) and the bidirectional lead screw module (15) form a preset angle α. Thus, when the adjustment amount of the positive slider (1503) increases, the slider (11032) moves away from the bidirectional lead screw module (15) accordingly, thereby increasing the rotational inertia of the turntable (4) to counteract the asymmetrical swaying of the support plate (10) on the ball head seat (13) in the bidirectional lead screw module (15) as the vertical direction increases. The counterweight (1102) is fixed on the slider (11032). The counterweight (1102) includes a base block (11021) and several attachments: attachment one (11022), attachment two (11023), and attachment three (11024). The attachments have different thicknesses and are numerous. The attachments are locked to the outer side of the counterweight (1102) by fixing screws (1101). Thus, by attaching different numbers of attachments to the base block (11021), the left-right imbalance caused by the asymmetry of the structural assembly can be adjusted. The inclined connecting seat (1105) is fixed on the upper surface of the counterweight (1102) and also forms a preset angle α with the counterweight (1102); The telescopic horizontal push rod (1104) is connected to the inclined connecting seat (1105) at both ends. The telescopic horizontal push rod (1104) consists of two parts, left and right, which can extend and retract relative to each other to change length. The self-balancing counterweight mechanism (11) is connected to the reverse slider (1502) on the bidirectional lead screw module (15) through the self-balancing push head (12). Thus, the reverse slider (1502) can drive the counterweight (1102) and the slider (11032) to slide obliquely along the guide rail (11031) by sliding back and forth. The self-balancing counterweight mechanism (11) has two sets that are symmetrically arranged on the left and right sides. Both sets are installed on the upper surface of the turntable (4) and are located on the left and right sides of the bidirectional screw module (15). The two self-balancing counterweight mechanisms (11) and the bidirectional screw module (15) are not parallel to each other and are distributed at an angle of α.

5. The online deviation adjustment device for an electric self-balancing shaking table according to claim 1, characterized in that, It also includes a grating ruler, which is set next to the bidirectional lead screw module (15). The displacement of the positive slider (1503) is obtained through the grating ruler to obtain the deflection amount of the shaker, so as to monitor or provide feedback control of the deflection amount of the shaker.

6. The online deviation adjustment device for an electric self-balancing shaking table according to claim 1, characterized in that, The rotating base (2) is fixed inside the housing (1); The ball head seat (13) is fixed with a support plate (10), and the edge of the support plate (10) is provided with at least two support connection points, all of which are fixed to the lower connector (18); The upper end of the box (1) is provided with at least two upper connectors (16). At least two connecting rods (17) are provided, and the upper and lower ends of the connecting rods (17) are movably connected to the upper connector (16) and the lower connector (18) respectively through movable joints; The edge of the box (1) is also provided with a rocking motor (9), and the shaft of the rocking motor (9) is provided with a rocking pulley (8). The rocking pulley (8) is connected to the turntable (4) by a transmission belt (7). This drives the motor (11) to rotate, which in turn drives the rocking wheel (4) to rotate. By adjusting the offset module (6), the eccentric distance of the swaying (8) relative to the axis of the rocking wheel (4) can be adjusted, thereby controlling the swing amplitude of the rocking plate (13). The vibration of the rocking wheel (4) can be detected and controlled by the bed vibration meter (5).

7. The online deviation adjustment device for an electric self-balancing shaking table according to claim 1, characterized in that, The communication module (5) transmits via Bluetooth to establish a two-way communication transmission channel between the main control box (6) and the rocking table control panel. It transmits the operation instructions of the rocking table control panel to the main control box (6) and then sends them to the drive motor (1504) for execution. It also transmits the feedback information from the main control box (6) and the running data of the drive motor (1504) back to the rocking table control panel in real time. Finally, it realizes the automatic and high-precision adjustment of the eccentricity of the ball head relative to the turntable axis, thereby realizing the control of the swing amplitude of the tray (10).

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