Angular momentum balance control system and balance operation system

Abstract

The invention relates to the technical field of balance control systems, in particular to an angular momentum balance control system and a balance operation system. The system comprises a sensor module, a controller module, an actuator module and a power supply module, the device comprises a rack, a storage table, a driving ring and a supporting and adjusting assembly. Working parameters of a real-time collection device are collected through the sensor module, a control instruction is output in real time after calculation, the driving ring provides angular kinetic energy for the storage table, meanwhile, the state of the storage table is controlled through the supporting and adjusting assembly, and therefore rapid balance and online balance operation is achieved. Objects can be balanced in an angular momentum balance mode, and the stability of the storage table can be greatly improved. And meanwhile, the system is highly automatic, the labor cost is greatly reduced, and the working safety is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of balance control systems, and particularly to an angular momentum balance control system and a balance operation system. Background Art

[0002] In modern industrial production and daily life, the balance control technology of objects plays a crucial role. During the working process, operations such as rotating, flipping, or balancing objects often need to be carried out. However, traditional balance methods often have many deficiencies. For example, many traditional balance methods rely on complex mechanical devices. These devices not only have a cumbersome structure, high manufacturing costs, but also are difficult to maintain. Once a certain component fails, the entire balance system may fail, resulting in production interruption or equipment damage; in many scenarios, operators need to repeatedly adjust the object based on experience or with the help of simple tools to achieve a balanced state. This method not only consumes a large amount of manpower and time, reducing work efficiency, but also due to the uncertainty of human factors, it is difficult to ensure the accuracy and stability of balance. In addition, traditional balance technologies often show great limitations when dealing with objects of different shapes, masses, and center-of-gravity positions. For some irregular objects or special working conditions, existing balance equipment is difficult to adapt quickly, and it is necessary to redesign or adjust the balance scheme, further increasing the complexity and cost of balance operations.

[0003] Therefore, in order to overcome the various defects of traditional balance methods, improve the efficiency, accuracy, and versatility of object balance, and reduce labor costs and equipment complexity, it is particularly urgent to develop a new type of angular momentum balance system. Summary of the Invention

[0004] The present invention aims to solve the problems existing in the prior art, and provides an angular momentum balance control system and a balance operation system. By increasing the angular momentum, the stability of the balance device is improved, enabling the device to quickly balance. At the same time, the system integrates multiple sensors to perceive the balance state in real time and output corresponding instructions, thereby achieving the purpose of simplifying operations and realizing online balance.

[0005] To solve the above technical problems, the technical solution provided by the present invention is as follows: An angular momentum balance control system includes a control unit for intelligently controlling the angular momentum and rotation angle of a balance device. The control unit includes a sensor module, a controller module, an actuator module, and a power supply module; the sensor module is used to sense the angle and angular velocity of an object; the controller module generates control instructions based on the information of the sensor module; the actuator module controls the balance device to execute based on the instructions generated by the controller module, applying torque, pressure, or angular momentum to balance the object; the power supply module provides the required electrical energy for the entire system.

[0006] As an improvement, the sensor module includes a variety of sensors, and the sensor module includes one or more of an inertial measurement unit (IMU) and a rotational speed sensor. As an improvement, the actuator module includes a motor and an electromagnetic damper. The motor is used to provide angular kinetic energy for an object or adjust the tilt angle of the object, and the electromagnetic damper is used to provide a torque for the object to counteract the rotation of the object, and at the same time convert the kinetic energy of the object's rotation into internal energy and release it.

[0007] The angular momentum balance control system disclosed in the present invention is used to control an angular momentum balance device to perform a balancing operation on an object to be balanced. The angular momentum balance device includes a frame (1), a placement table (2), a driving ring (3) and a support adjustment assembly. The driving ring is arranged on the outer edge of the placement table and rotates along the outer circle of the placement table to provide angular kinetic energy for the placement table; the placement table is stabilized by the angular kinetic energy, so that the placement table can quickly perform a balancing operation. The support adjustment assembly is used to connect the frame and the placement table; the sensor module in the angular momentum balance control system is used to monitor the tilt angle of the placement table and the angular velocity of the object to be balanced on the angular momentum balance device in real time, and transmit the monitoring data to the controller module. The controller module is used to generate a control instruction according to the monitoring data; the execution module is used to control the driving ring and the support adjustment assembly according to the control instruction, change the angular kinetic energy of the placement table by adjusting the rotational speed of the driving ring; change the tilt angle of the placement table through the support adjustment assembly, and provide a torque and damping for the placement table through the support adjustment assembly, so that the placement table can quickly balance the object to be balanced.

[0008] As an improvement, a placement groove is provided at the center position of the placement table. A turntable is arranged inside the placement groove. The bottom of the turntable is rotatably connected to the placement groove through a first electromagnetic damper. A rotational speed sensor for measuring the rotational speed of the turntable is arranged in the placement groove; the first electromagnetic damper is used to provide damping for the turntable and convert the kinetic energy of the turntable into internal energy and release it. The rotational speed sensor is used to monitor the real-time rotational speed of the turntable; an inertial measurement unit is arranged at the bottom of the placement table for real-time monitoring of the tilt angle, rotational speed and rotational acceleration of the placement table.

[0009] As an improvement, a ball groove is provided on the side of the storage table. The driving ring is sleeved on the outside of the storage table and is rotatably connected to the storage table through side balls; a first cage is provided between the side balls, and a ball groove matching the side balls is also provided on the inner side of the driving ring; a counterweight placement groove and a counterweight are further provided on the driving ring. A groove is provided in the counterweight placement groove, and a bump matching the groove is provided at the bottom of the counterweight; axial pressure-bearing components are provided at the top and bottom of the outer ring of the storage table. The axial pressure-bearing components are detachably connected to the storage table by screws, and a second ball groove is provided on the axial pressure-bearing components; second balls, a second ball cage and an axial guard plate are provided on the driving ring. A third ball groove is provided on the axial guard plate. The axial guard plate is fixedly connected to the driving ring by screws and presses the second balls and the second ball cage in the space surrounded by the second ball groove and the third ball groove.

[0010] As an improvement, the support adjustment component includes a support frame, a motor, a main support shaft and a buffer damping component; the support frames are provided on both sides of the storage table. After the support frames bypass the driving ring, they are respectively fixedly connected to the top and bottom of the storage table; the motor is provided between each group of support frames. A gear ring is provided on the inner side of the axial guard plate, and a driving gear matching the gear ring is provided at the end of the output shaft of the motor; the support frame is fixedly connected to the main support shaft, and the buffer damping component is provided at the end of the main support shaft. The buffer damping component includes a seat body, a second electromagnetic damper and a torsion spring; the bottom of the second electromagnetic damper is fixedly connected to the seat body, and the top rotating shaft rotates synchronously with the main support shaft. The torsion spring is sleeved on the outside of the second electromagnetic damper and is respectively connected to the main support shaft and the seat body at both ends; a second rotational speed sensor is provided at the second electromagnetic damper for monitoring the real-time rotational speed of the main support shaft.

[0011] As an improvement, a second motor is arranged in the seat body. The output shaft of the second motor extends to the front side of the seat body, and a second driving gear is arranged at the end of the output shaft. A tooth disc matching the second driving gear is provided at the front end of the seat body. The tooth disc is rotatably connected to the seat body through a bearing. The second electromagnetic damper is arranged on the tooth disc and is fixedly connected to the tooth disc; both ends of the torsion spring are respectively connected to the main support shaft and the tooth disc, so that the torsion spring and the main support shaft can rotate synchronously with the tooth disc.

[0012] As an improvement, second rotating components are provided on both sides of the base body. The second rotating components include a C-shaped support frame, a support frame shaft, a third electromagnetic damper, a second torsion spring, and a second base body. The C-shaped support frame bypasses the storage table from both sides, and both ends are fixedly connected to the base body respectively. The support frame shaft is arranged at the middle position of the C-shaped support frame. The rotating shaft in the third electromagnetic damper rotates synchronously with the support frame shaft. The second torsion spring is sleeved outside the third electromagnetic damper. A rotating component is further provided on the second base body, including a third motor, a third driving gear, and a second gear disc. The second gear disc is rotatably connected to the second base body and fixedly connected to the third electromagnetic damper. The third motor is arranged in the second base body. The third driving gear rotates synchronously with the output shaft of the third motor. The third driving gear drives the second gear disc and the third electromagnetic damper to rotate under the drive of the third motor. Both ends of the second torsion spring are respectively connected to the support frame shaft and the surface of the second gear disc.

[0013] As an improvement, the structures of the first electromagnetic damper, the second electromagnetic damper, and the third electromagnetic damper include: a housing and a rotating shaft. Two oppositely arranged annular electromagnets are provided inside the housing. A metal rotor is arranged between the two annular electromagnets. The metal rotor is fixedly connected to the rotating shaft and rotates synchronously therewith.

[0014] The advantages of the present invention are as follows: 1. The system of the present invention adopts a real-time monitoring and real-time regulation method, and can output control instructions in real time according to the data changes sensed by the sensors. It can save processes such as pre-input, simplify the process of balancing operations, and achieve online balancing. At the same time, since there is no need to pre-input balancing parameters before the balancing operation, the system of the present invention can be used for balancing operations of a variety of different objects, with a wide range of uses and applications.

[0015] 2. The present invention uses the method of angular momentum balance to balance the object. By providing an angular kinetic energy for the storage table by arranging a rotatable drive ring outside the storage table, the stability of the storage table is greatly improved, achieving the purpose of rapid balancing. The system of the present invention adopts a multi-sensor fusion technology. The inertial measurement unit (IMU) accurately senses the tilt angle of the storage table and the object, and the rotational speed sensor monitors the rotational speed of the turntable in real time, so as to accurately obtain the rotational speed and angular momentum of the object. The controller quickly calculates and outputs control instructions based on these data, adjusts the rotational speed of the drive ring through the motor, changes the angular kinetic energy of the storage table, and realizes high-precision balance control.

[0016] 3. The present invention uses an electromagnetic damper to quickly convert kinetic energy into internal energy, realizing the rapid deceleration and stability of the turntable and the storage table, and improving the balance efficiency. At the same time, the torsion spring in the buffer damping component and the electromagnetic damper cooperate with each other to effectively buffer the swing of the storage table, avoid large swings and detachment, and ensure the safe and stable operation of the system. In addition, the system is also equipped with multiple groups of motors and electric lifting rods and other actuating components, which can work synchronously to realize the precise control of the lifting and rotation of the storage table, further improving the operation efficiency and convenience of the system.

[0017] 4. The system significantly reduces labor costs through its highly automated balancing function, while remarkably enhancing work safety. Traditional balancing methods often require frequent manual intervention, which not only consumes manpower but also poses certain safety risks. Once this system is activated, the entire process from object placement to balance completion can be automatically achieved. Workers do not need to directly contact the equipment, thus avoiding accidental injuries that may be caused by manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a structural block diagram of an angular momentum balance control system in the present invention.

[0020] Figure 2 It is a structural diagram of an angular momentum balance control device in Embodiment 1.

[0021] Figure 3 It is a structural diagram of the object placement table in an angular momentum balance control device in Embodiment 1.

[0022] Figure 4 It is an internal structural diagram of the object placement table in an angular momentum balance control device in Embodiment 1.

[0023] Figure 5 It is an internal structural diagram of the first electromagnetic damper in an angular momentum balance control device in Embodiment 1.

[0024] Figure 6 It is a connection relationship diagram between the object placement table and the drive ring in an angular momentum balance control device in Embodiment 1.

[0025] Figure 7 It is an exploded view of the object placement table and the drive ring in an angular momentum balance control device in Embodiment 1.

[0026] Figure 8 It is an exploded view at the axial guard plate in an angular momentum balance control device in Embodiment 1.

[0027] Figure 9 It is a structural diagram of the support adjustment assembly in an angular momentum balance control device in Embodiment 1.

[0028] Figure 10 It is a side view of the support adjustment assembly in an angular momentum balance control device in Embodiment 1.

[0029] Figure 11 It is a structural block diagram of an angular momentum balance control system in Embodiment 1.

[0030] Figure 12 It is a structural diagram at the seat body of an angular momentum balance control device in Embodiment 2.

[0031] Figure 13 It is a structural block diagram of an angular momentum balance control system in Embodiment 2.

[0032] Figure 14 It is a structural diagram of an angular momentum balance control device in Embodiment 3.

[0033] Figure 15 It is a structural diagram of the second rotating assembly of an angular momentum balance control device in Embodiment 3.

[0034] Figure 16 It is a structural block diagram of an angular momentum balance control system in Embodiment 3.

[0035] Reference signs: 1 - Frame, 101 - Slide groove; 2 - Placing table, 201 - Placing groove, 202 - Turntable, 203 - First electromagnetic damper, 2031 - Housing, 2032 - Rotating shaft, 2033 - Ring-shaped electromagnet, 2034 - Metal rotor, 204 - Rotation speed sensor, 205 - Inertial measurement unit, 206 - Ball groove, 207 - Axial bearing component, 2071 - Second ball groove; 3 - Driving ring, 301 - Side ball, 302 - First cage, 303 - Counterweight placing groove, 3031 - Groove, 304 - Counterweight, 3041 - Protrusion, 305 - Second ball, 306 - Second ball cage, 307 - Axial guard plate, 3071 - Third ball groove, 3072 - Gear ring; 4 - Support adjustment component, 401 - Support frame, 402 - Motor, 4021 - Driving tooth, 403 - Main support shaft, 404 - Buffer damping component, 4041 - Seat body, 4042 - Second electromagnetic damper, 4043 - Torsion spring, 4044 - Second driving gear, 4045 - Tooth disc, 405 - Second rotating assembly, 4051 - C-shaped support frame, 4052 - Support frame shaft, 4053 - Third electromagnetic damper, 4054 - Second torsion spring, 4055 - Second seat body, 4056 - Third driving gear, 4057 - Second tooth disc, 4058 - Auxiliary support frame, 4059 - Fixed rod. Detailed implementation manners

[0036] To make the objectives, technical solutions and advantages of the present invention more clear, the following will, in conjunction with the accompanying drawings in the present invention, clearly and completely describe the technical solutions in the present invention. Apparently, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without any creative work belong to the scope of protection of the present invention.

[0037] The present invention discloses an angular momentum balance control system. As Figure 1 shown, it includes a control unit for intelligently controlling the angular momentum and rotation angle of a balance device. The control unit includes a sensor module, a controller module, an actuator module, and a power supply module. The sensor module is used to sense the angle and angular velocity of an object; the controller module generates control instructions based on the information of the sensor module, and the actuator module controls the balance device to execute based on the instructions generated by the controller module, applying torque, pressure or angular momentum to balance the object, and the power supply module provides the required electrical energy for the entire system.

[0038] The following will explain the system disclosed in the present invention in conjunction with embodiments.

[0039] Embodiment 1 This embodiment discloses an angular momentum balance control system and a balance operation system. The system is used to control an angular momentum balance device to perform a balance operation on an object to be balanced. First, the structure of the angular momentum balance device will be introduced below, and then the working principle of the system of the present invention will be explained in conjunction with the balance device.

[0040] The structure of the angular momentum balance device is as Figure 2 shown, and it includes: a frame 1, a placement table 2, a drive ring 3, and a support adjustment assembly 4. Among them, the drive ring 3 is provided on the outer edge of the placement table 2 and rotates along the outer circle of the placement table 2, providing angular kinetic energy for the placement table 2 to make the placement table 2 in a relatively stable state. Therefore, when the object to be balanced is placed on the placement table 2, it can be quickly balanced under the action of the angular kinetic energy of the placement table 2. The support adjustment assembly 4 is used to connect the frame 1 and the placement table 2.

[0041] As Figure 3 and Figure 4 shown, a placement groove 201 is provided at the center position of the placement table 2, and a turntable 202 is provided inside the placement groove 201. The bottom of the turntable 202 is rotationally connected to the placement groove 201 through a first electromagnetic damper 203. The first electromagnetic damper 203 includes a housing 2031 and a rotating shaft 2032. The rotating shaft 2032 rotates synchronously with the turntable 202, and the bottom of the housing 2031 is fixedly connected to the bottom of the placement groove 201.

[0042] Figure 5It is the internal structure diagram of the housing 2031. As shown in the figure, there are two oppositely arranged toroidal electromagnets 2033 inside the housing 2031. A metal rotor 2034 is arranged between the two toroidal electromagnets 2033. The metal rotor 2034 is fixedly connected to the rotating shaft 2032 and rotates synchronously. When the two toroidal electromagnets 2033 are not energized, there is no or only a weak magnetic field between the two toroidal electromagnets 2033, and the metal rotor 2034 can rotate by itself. When the toroidal electromagnet 2033 is energized, the metal rotor 2034 will cut the magnetic induction lines when rotating, and convert kinetic energy into internal energy. Thus, the purpose of reducing the rotation speeds of the rotating shaft 2032 and the turntable 202 is achieved.

[0043] As Figure 4 shown, a rotational speed sensor 204 for measuring the rotational speed of the turntable is arranged in the placement groove 201. The rotational speed sensor 204 adopts a photoelectric rotational speed sensor. When the object to be balanced is directly placed on the turntable 2 during use, if the object rotates, the turntable 2 will rotate along with the object. At this time, the rotational speed sensor 204 detects the rotational speed of the turntable 2, and then the rotational speed of the object can be measured, and the angular momentum of the object can be calculated.

[0044] When it is necessary to reduce the rotational speed of the object during balancing, the magnitude of the current in the coil of the toroidal electromagnet 2033 can be adjusted, so as to adjust the magnetic field strength between the two toroidal electromagnets 2033, and then generate damping in the first electromagnetic damper 203 and control the magnitude of the damping to reduce the speed of the turntable 2.

[0045] As Figure 4 shown, an inertial measurement unit 205 is arranged at the bottom of the placement table 2. When an object is placed on the placement table 2, if the object is placed obliquely, it will drive the placement table 2 to tilt together. The inertial measurement unit 205 can be used to sense the tilt angle, rotational speed and rotational acceleration of the placement table 2 and the object, which is convenient for the control system to perform operations and output operation instructions.

[0046] As Figure 2 、 6 、7 shown, a ball groove 206 is arranged on the side of the placement table 2. The driving ring 3 is sleeved outside the placement table 2 and is rotatably connected to the placement table 2 through the side balls 301. A first cage 302 is arranged between the side balls 301, and a ball groove matching with the side balls 301 is also arranged inside the driving ring 3. The side balls 301 can reduce the sliding friction to rolling friction when the driving ring 3 rotates around the side of the placement table 2, thereby reducing the friction between the driving ring 3 and the placement table 2.

[0047] The driving ring 3 is also provided with a counterweight placement groove 303 and a counterweight 304. The counterweight placement groove 303 is provided with a groove 3031, and the bottom of the counterweight 304 is provided with a convex block 3041 that cooperates with the groove 3031. After the counterweight 304 is placed in the counterweight placement groove 303, it can rotate synchronously with the driving ring 3 through the cooperation of the groove 3031 and the convex block 3041. The moment of inertia of an object is related to its mass. When the device performs angular velocity balance, the moment of inertia of the driving ring 3 can be changed by changing the counterweight 304, so as to adapt to the angular momentum balance of objects with different masses.

[0048] When the object is placed obliquely on the placement table 2, it will cause the placement table 2 to swing, which will further cause an axial force between the driving ring 3 and the placement table 2, affecting the operation of the side ball bearings 31 or causing the driving ring 3 to come off. Therefore, in this embodiment, axial pressure-bearing components 207 are provided at the top and bottom of the outer ring of the placement table 2. The axial pressure-bearing components 207 are detachably connected to the placement table 2 by screws, and the axial pressure-bearing components 207 are provided with second ball grooves 2071. Correspondingly, the driving ring 3 is provided with second ball bearings 305, second ball retainers 306 and axial guard plates 307. The axial guard plates 307 are provided with third ball grooves 3071. The axial guard plates 307 are fixedly connected to the driving ring 3 by screws, and press the second ball bearings 305 and the second ball retainers 306 in the space enclosed by the second ball groove 2071 and the third ball groove 3071.

[0049] The axial pressure-bearing components 207 can be used to bear the axial force that appears when the placement table 2 swings. When an axial force appears, the second ball bearings 305 can play a supporting role to prevent the driving ring 3 from coming off the top or bottom of the placement table 2. At the same time, the second ball bearings 305 can also prevent the driving ring 3 from rubbing against the top or bottom of the placement table 2, improving the smoothness of the rotation of the driving ring 3. In addition, the upper axial guard plate 307 can press the counterweight 304 inside the counterweight placement groove 303 from above.

[0050] As Figure 8 、 9 As shown in FIGS. 10, the support adjustment assembly 4 includes a support frame 401, a motor 402, a main support shaft 403 and a buffer damping assembly 404. The support frames 401 are in groups of two, divided into two groups, and are respectively arranged on both sides of the placement table 2. After the support frames 401 bypass the driving ring 3, they are respectively fixedly connected to the top and bottom of the placement table 2. The motor 402 is arranged between each group of support frames 401. A gear ring 3072 is provided on the inner side of the axial guard plate 307, and a driving gear 4021 that cooperates with the gear ring 3072 is provided at the end of the output shaft of the motor 402. The motor 402 is a stepper motor and can rotate at a specified speed. The driving ring 3 is driven to rotate through the driving gear 4021 and the gear ring 3072, providing angular kinetic energy for the placement table 2.

[0051] AsFigure 10 As shown, the number of motors 402 is four, which are respectively arranged at the top and bottom positions on both sides of the storage table 2, and can provide power for the driving ring 3 from multiple positions to reduce the vibration of the driving ring 3 and improve the overall balance effect of the device. In practical applications, in order to save costs, two motors 402 can also be arranged only at the top or bottom on both sides of the storage table 2, and counterweights equivalent to the weight of the motors are arranged on the opposite side to maintain the overall balance of the storage table 2.

[0052] As Figure 9 shown, the support frame 401 is fixedly connected to the main support shaft 403, and the buffer damping assembly 404 is arranged at the end of the main support shaft 403. The buffer damping assembly 404 includes a seat body 4041, a second electromagnetic damper 4042, and a torsion spring 4043. The structure and function of the second electromagnetic damper 4042 are the same as those of the first electromagnetic damper 203, and will not be further described here. The bottom of the second electromagnetic damper 4042 is fixedly connected to the seat body 4041, and the top rotating shaft rotates synchronously with the main support shaft 403. The torsion spring 4043 is sleeved outside the second electromagnetic damper 4042, and both ends are respectively connected to the main support column 403 and the seat body 4041.

[0053] After the object is placed obliquely on the storage table 2, the storage table 2 swings to a certain extent and drives the main support shaft 403 to rotate. At this time, the torsion spring 4043 can play a role in rapid buffering to prevent the storage table 2 from swinging greatly. At the same time, the kinetic energy of the swing of the storage table 2 is quickly converted into internal energy through the second electromagnetic damper 4042, achieving the effects of rapid stability and balance.

[0054] A second rotational speed sensor is arranged at the second electromagnetic damper 4042 to sense the real-time rotational speed of the main support shaft 403 and feedback the rotational speed to the controller module. The controller module performs calculations and makes decisions after calculation, and controls the magnitude of the coil current in the second electromagnetic damper 4042, thereby changing the damping magnitude in the second electromagnetic damper 4042 to make the storage table 2 quickly stable.

[0055] As Figure 9 shown, a sliding groove 101 is arranged on the frame 1, and an electric lifting rod is arranged inside the frame 1. The top of the electric lifting rod is fixedly connected to the seat body 4041, so that the seat body 4041 can slide up and down along the sliding groove 101. The electric lifting rods in the two side frames 1 work synchronously to control the lifting of the storage table 2.

[0056] Figure 11 This is the system structure block diagram of this embodiment. As shown in the figure, it includes: a sensor module, a controller module, an actuator module, and a power supply module.

[0057] Among them, the sensor module includes: 1. An inertial measurement unit 205, which is used to measure the tilt angle of the placement table 2 and the object, as well as the initial rotational speed of the placement table 2 after the object is placed on the placement table 2, and then transmits the measured data to the controller module. The controller module calculates and outputs a control instruction to control the rotational speed of the motor 402.

[0058] The rotational speed of the motor 402 determines the angular kinetic energy of the drive ring 3. After the drive ring 3 rotates, it can effectively improve the stability of the placement table 2 and reduce the amplitude of the swing of the placement table 2 when balancing the object. The magnitude of the current in the coil of the second electromagnetic damper 4042 determines the damping magnitude when the placement table 2 swings, and can make the placement table 2 quickly return to stability.

[0059] 2. A rotational speed sensor 204, which is used to detect the rotational speed of the turntable 202 and measure the rotational speed of the object. The rotational speed sensor 204 transmits the measured rotational speed to the controller module. After the controller module calculates the angular kinetic energy of the object, it outputs a control instruction to change the magnitude of the current in the coil of the first electromagnetic damper 203, so that damping is generated in the first electromagnetic damper 203, and controls the damping magnitude to reduce the speed of the turntable 202.

[0060] 3. A second rotational speed sensor, which is used to detect the real-time rotational speed of the main support shaft 403 and feedback the rotational speed to the controller module. The controller module performs calculations and decisions after calculation and controls the magnitude of the current in the coil of the second electromagnetic damper 4042.

[0061] Correspondingly, the actuator modules in this embodiment are respectively: the motor 402, the second electromagnetic damper 4042, and the first electromagnetic damper 203.

[0062] As Figure 9 shown, in Embodiment 1, the second electromagnetic damper 4042 is fixed on the seat body 4041 and cannot adjust the tilt angle of the main support shaft 403. When it is necessary to place the object obliquely, Embodiment 1 is difficult to meet the working conditions requirements. Based on the above working conditions requirements, Embodiment 1 is improved to design and form Embodiment 2.

[0063] Embodiment 2 This embodiment discloses an angular momentum balance control system and a balance operation system. The system is used to control the angular momentum balance device to perform balance operations on the object to be balanced.

[0064] As Figure 12As shown in the figure, in this embodiment, the thickness of the seat body 4041 is widened, and a second motor is arranged inside the seat body 4041. The output shaft of the second motor extends to the front side of the seat body 4041, and a second driving gear 4044 is arranged at the end of the output shaft. A tooth disc 4045 that cooperates with the second driving gear 4044 is arranged at the front end of the seat body 4041. The tooth disc 4045 is rotatably connected to the seat body 4041 through a bearing. The second electromagnetic damper 4042 is arranged on the tooth disc 4045 and is fixedly connected to the tooth disc 4045. In the control system of this embodiment, a second motor is added at the actuator module, and the second motor adopts a stepping motor. By pre-inputting the rotation angle in the controller module, the second motor can be controlled to rotate to a specified angle, so as to control the tilt angle of the storage table 2 to meet the purpose of balancing an object in an inclined state.

[0065] In this embodiment, both ends of the torsion spring 4043 are respectively connected to the main support shaft 403 and the tooth disc 4045, that is, the torsion spring 4043 and the main support shaft 403 can rotate synchronously with the tooth disc 4045. When the storage table 2 rotates, it can be stabilized at a specified angle by the action of the torsion spring 4043.

[0066] Since Embodiment 2 adopts a single-axis rotation method, only an inclination setting in a single direction can be performed. Therefore, the present invention further optimizes Embodiment 2 by additionally adding a rotating shaft. The storage table 2 can be tilted at any angle by combining two transmission shafts.

[0067] In the control system of this embodiment, the sensor module includes: an inertial measurement unit 205, a rotational speed sensor 204, and a second rotational speed sensor. The actuator modules are respectively: a motor 402, a second electromagnetic damper 4042, a first electromagnetic damper 203, and a second motor.

[0068] Embodiment 3 This embodiment discloses an angular momentum balance control system and a balance operation system, and the system is used to control an angular momentum balance device to perform a balance operation on an object to be balanced.

[0069] As Figure 14 and 15 shown in the figure, in this embodiment, second rotating components 405 are arranged on both sides of the seat body 4041. The second rotating components 405 include a C-shaped support frame 4051, a support frame shaft 4052, a third electromagnetic damper 4053, a second torsion spring 4054, and a second seat body 4055.

[0070] The C-shaped support frame 4051 bypasses the storage table 2 from both sides, and both ends are respectively fixedly connected to the seat body 4041. The support frame shaft 4052 is arranged at the middle position of the C-shaped support frame 4051. The rotating shaft in the third electromagnetic damper 4053 rotates synchronously with the support frame shaft 4052, and the second torsion spring 4054 is sleeved outside the third electromagnetic damper 4053.

[0071] The second body 4055 is also provided with a rotating assembly, including a third motor, a third driving gear 4056, and a second gear disk 4057. The second gear disk 4057 is rotatably connected to the second body 4055 and fixedly connected to the third electromagnetic damper 4053. The third motor is arranged inside the second body 4055, and the third driving gear 4056 rotates synchronously with the output shaft of the third motor. The third driving gear 4056 drives the second gear disk 4057 and the third electromagnetic damper 4053 to rotate under the drive of the third motor. Both ends of the second torsion spring 4054 are respectively connected to the support frame shaft 4052 and the surface of the third gear disk 4056.

[0072] The second body 4055 is also provided with an auxiliary support frame 4058 and a fixing rod 4059. The center position of the auxiliary support frame 4058 is provided with an opening for the support frame shaft 4052 to pass through, and a bearing is arranged inside the opening. The fixing rod 4059 is arranged on both sides of the auxiliary support frame 4058, and both ends are respectively fixedly connected to the second body 4055 and the auxiliary support frame 4058. The auxiliary support frame 4058 can improve the support effect of the support frame shaft 4052, so that the device can perform balance adjustment on heavier objects.

[0073] An electric lifting push rod is arranged inside the frame 1 for adjusting the height of the second body 4055.

[0074] In the control system of this embodiment, the sensor module includes: an inertial measurement unit 205, a rotational speed sensor 204, a second rotational speed sensor, and a third rotational speed sensor.

[0075] Among them, the third rotational speed sensor is arranged on the support frame shaft 4052 for detecting the real-time rotational speed of the support frame shaft 4052 and feeding back the rotational speed to the controller module. The controller module performs calculations and makes decisions after calculation, and controls the magnitude of the coil current in the third electromagnetic damper.

[0076] The actuator module in the control system includes: a motor 402, a second electromagnetic damper 4042, a first electromagnetic damper 203, a second motor, and a third motor.

[0077] This embodiment adopts a double-axis structure, that is, the main support shaft 403 and the support frame shaft 4052 cooperate with each other. The main support shaft 403 and the support frame shaft 4052 are vertically arranged, and the two can be used together to tilt the placement table 2 to any angle, so as to adapt to the balance operation under different working conditions.

[0078] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An angular momentum balance control system, characterized in that, It includes a control unit for intelligently controlling the angular momentum and rotation angle of a balancing device. The control unit includes a sensor module, a controller module, an actuator module, and a power module; The sensor module is used to sense the angle and angular velocity of an object; The controller module generates control instructions based on the information of the sensor module; The actuator module controls the execution of the balancing device based on the instructions generated by the controller module, and applies torque, pressure, or angular momentum to balance the object; The power module provides the required electrical energy for the entire system.

2. The angular momentum balance control system according to claim 1, characterized in that The sensor module includes one or more of an inertial measurement unit (IMU) and a rotational speed sensor.

3. The angular momentum balance control system according to claim 1, characterized in that, The actuator module includes a motor and an electromagnetic damper. The motor is used to provide angular kinetic energy for the object or adjust the tilt angle of the object, and the electromagnetic damper is used to provide torque for the object to counteract the rotation of the object, and at the same time convert the kinetic energy of the object's rotation into internal energy and release it.

4. A balancing operation system, characterized in that, The balance operation system includes an angular momentum balancing device and the angular momentum balance control system according to any one of claims 1-3, The angular momentum balancing device includes a frame (1), a placement table (2), a driving ring (3), and a support adjustment assembly (4). The driving ring (3) is provided on the outer edge of the placement table (2) and rotates along the outer circle of the placement table (2) to provide angular kinetic energy for the placement table (2); the placement table (2) is stabilized by the angular kinetic energy, so that the placement table (2) can quickly perform a balancing operation. The support adjustment assembly (4) is used to connect the frame (1) and the placement table (2), The angular momentum balance control system uses the sensor module to real-time monitor the tilt angle of the placement table (2) and the angular velocity of the object to be balanced on the angular momentum balancing device, and transmits the monitoring data to the controller module, Using the controller module, control instructions are generated according to the monitoring data, Using the execution module, according to the control instructions, control the driving ring (3) and the support adjustment assembly (4). By adjusting the rotational speed of the driving ring (3), change the angular kinetic energy of the placement table (2); by changing the tilt angle of the placement table (2) through the support adjustment assembly (4), and providing torque and damping for the placement table (2) through the support adjustment assembly (4), so that the placement table (2) performs a balancing operation on the object to be balanced.

5. A balancing operation system according to claim 4, characterized in that, A placement groove (201) is provided at the center position of the placement table (2). A turntable (202) is provided inside the placement groove (201). The bottom of the turntable (202) is rotatably connected to the placement groove (201) through a first electromagnetic damper (203). A rotational speed sensor (204) for measuring the rotational speed of the turntable is provided in the placement groove (201); The first electromagnetic damper (203) is used to provide damping for the turntable (2) and convert the kinetic energy of the turntable (2) into internal energy and release it. The rotational speed sensor (204) is used to monitor the real-time rotational speed of the turntable (2); An inertial measurement unit (205) is provided at the bottom of the placement table (2) for real-time monitoring of the tilt angle, rotational speed, and rotational acceleration of the placement table (2).

6. The balancing operation system according to claim 4, characterized in that, A ball groove (206) is provided on the side of the placement table (2). The driving ring (3) is sleeved outside the placement table (2) and is rotatably connected to the placement table (2) through side balls (301). A first cage (302) is provided between the side balls (301), and a ball groove matching with the side balls (301) is also provided inside the driving ring (3). A counterweight placement groove (303) and a counterweight (304) are further provided on the driving ring (3). A groove (3031) is provided in the counterweight placement groove (303), and a bump (3041) matching with the groove (3031) is provided at the bottom of the counterweight (304). Axial pressure-bearing components (207) are provided at the top and bottom of the outer ring of the placement table (2). The axial pressure-bearing components (207) are detachably connected to the placement table (2) by screws, and a second ball groove (2071) is provided on the axial pressure-bearing components (207). Second balls (305), a second ball cage (306) and an axial guard plate (307) are provided on the driving ring (3). A third ball groove (3071) is provided on the axial guard plate (307). The axial guard plate (307) is fixedly connected to the driving ring (3) by screws, and presses the second balls (305) and the second ball cage (306) in the space surrounded by the second ball groove (2071) and the third ball groove (3071).

7. A balancing operation system according to claim 4, characterized in that, The support adjustment component (4) includes a support frame (401), a motor (402), a main support shaft (403) and a buffer damping component (404). The support frames (401) are in groups of two, divided into two groups, and are respectively arranged on both sides of the placement table (2). After bypassing the driving ring (3), the support frames (401) are respectively fixedly connected to the top and bottom of the placement table (2). The motor (402) is arranged between each group of support frames (401). A gear ring (3072) is provided inside the axial guard plate (307), and a driving gear (4021) matching with the gear ring (3072) is provided at the end of the output shaft of the motor (402). The support frame (401) is fixedly connected to the main support shaft (403). The buffer damping component (404) is arranged at the end of the main support shaft (403). The buffer damping component (404) includes a seat body (4041), a second electromagnetic damper (4042) and a torsion spring (4043). The bottom of the second electromagnetic damper (4042) is fixedly connected to the seat body (4041), and the top rotating shaft rotates synchronously with the main support shaft (403). The torsion spring (4043) is sleeved outside the second electromagnetic damper (4042), and the two ends are respectively connected to the main support shaft (403) and the seat body (4041). A second rotational speed sensor is provided at the second electromagnetic damper (4042) for monitoring the real-time rotational speed of the main support shaft (403).

8. A balancing operation system according to claim 7, wherein, A second motor is disposed within the base body (4041). The output shaft of the second motor extends to the front side of the base body (4041), and a second drive gear (4044) is provided at the end of the output shaft. A toothed disc (4045) that mates with the second drive gear (4044) is provided at the front end of the base body (4041). The toothed disc (4045) is rotatably connected to the base body (4041) through a bearing. A second electromagnetic damper (4042) is disposed on the toothed disc (4045) and is fixedly connected to the toothed disc (4045). Both ends of a torsion spring (4043) are respectively connected to the main support shaft (403) and the toothed disc (4045), so that the torsion spring (4043) and the main support shaft (403) can rotate synchronously with the toothed disc (4045).

9. A balancing operation system according to claim 8, characterized in that, Second rotating assemblies (405) are provided on both sides of the base body (4041). The second rotating assemblies (405) include C-shaped support frames (4051), support frame shafts (4052), third electromagnetic dampers (4053), second torsion springs (4054), and second base bodies (4055). The C-shaped support frames (4051) respectively bypass the storage table (2) from both sides, and both ends are respectively fixedly connected to the base body (4041). The support frame shafts (4052) are disposed at the middle positions of the C-shaped support frames (4051). The rotating shafts within the third electromagnetic dampers (4053) rotate synchronously with the support frame shafts (4052). The second torsion springs (4054) are sleeved outside the third electromagnetic dampers (4053). A rotating assembly is further provided on the second base body (4055), including a third motor, a third drive gear (4056), and a second toothed disc (4057). The second toothed disc (4057) is rotatably connected to the second base body (4055) and is fixedly connected to the third electromagnetic damper (4053). The third motor is disposed within the second base body (4055). The third drive gear (4056) rotates synchronously with the output shaft of the third motor. The third drive gear (4056) drives the second toothed disc (4057) and the third electromagnetic damper (4053) to rotate under the drive of the third motor. Both ends of the second torsion spring (4054) are respectively connected to the support frame shaft (4052) and the surface of the second toothed disc (4057). An auxiliary support frame (4058) and a fixing rod (4059) are further provided on the second base body (4055). An opening for the support frame shaft (4052) to pass through is provided at the central position of the auxiliary support frame (4058). A bearing is provided within the opening. The fixing rod (4059) is disposed on both sides of the auxiliary support frame (4058), and both ends are respectively fixedly connected to the second base body (4055) and the auxiliary support frame (4058).

10. A balancing operation system according to any one of claims 5, 7-9, characterized in that, The structures of the first electromagnetic damper (203), the second electromagnetic damper (4042), and the third electromagnetic damper (4053) include: a housing (2031) and a rotating shaft (2032); two oppositely disposed annular electromagnets (2033) are provided inside the housing (2031). A metal rotor (2034) is provided between the two annular electromagnets (2033). The metal rotor (2034) is fixedly connected to the rotating shaft (2032) and rotates synchronously therewith.

Images