Automatic balancing device capable of visually adjusting height at variable speed

Abstract

The utility model relates to an automatic balancing device capable of visually adjusting the height in a variable speed mode. The automatic balancing device effectively solves the problems that an existing balancing device is low in automation degree, insufficient in adjusting precision, low in response speed and poor in user operation experience. According to the automatic balancing device with the visual variable-speed height adjustment function, the height and the balance state of the objective table can be accurately detected through the monitoring mechanism, and the state of the objective table is finely adjusted through the four-way transmission mechanism and the differential gear transmission mechanism; high-precision balance adjustment can be carried out on the objective table under various loads and environments; through the four-way transmission mechanism and the differential gear transmission mechanism, the lead screw transmission mechanism can move quickly and orderly, so that quick adjustment is achieved, and the requirement for quick adjustment of detection and control and operation equipment such as a mechanical arm in a short time is met; therefore, a user can visually monitor the real-time state of the device and adjust parameters, and the operation process is simplified.

Description

Technical Field

[0001] The utility model belongs to the technical field of electromechanical equipment, and in particular relates to an automatic balancing device capable of visually changing speed and adjusting height. Background Art

[0002] Mechatronic systems combine mechanical and electronic devices to achieve complex functions and performance through the integration of sensors, actuators, computers, and control algorithms. In mechatronic systems, mechanical components are responsible for physical operation and movement, while electronic components control, monitor, and regulate the behavior of the mechanical components. Within the field of mechatronic technology, the design and development of platform balancing devices is a complex process involving the integrated application of multiple technical fields.

[0003] Although existing balancing devices can achieve a high degree of automatic adjustment to a certain extent, their degree of automation is limited, especially when performing fine adjustments. In the actual application of devices with a low degree of automation, manual intervention may still be required to complete the balance adjustment. For example, when performing initial balance adjustments, the device may only provide a rough balance state and cannot achieve more precise fine-tuning. During the fine-tuning process, the limited degree of automation may cause the device to be unable to accurately respond to small height changes, thereby affecting the overall balance accuracy. In addition, this lack of automation may also lead to low efficiency in automated production lines or rapid mold change systems;

[0004] In traditional balancing devices, height adjustment usually relies on the transmission ratio of the gears to calculate the height. Although this method can simplify the design of the system and reduce the dependence on specific sensors to a certain extent, it has a fundamental limitation: the device cannot directly determine its current absolute height and can only indirectly infer the height change by calculating the distance the gears rotate. This means that the device cannot know its own initial height when it starts, and can only calculate the distance of ascent or descent from a preset reference point. Due to factors such as manufacturing errors, installation errors, wear and backlash during operation of the gears, this method of calculating height based on relative displacement will result in a loss of accuracy. The device's limited adjustment range for loads of different weights may also affect its load-bearing capacity and safety. If the weight is too high, relying solely on a single screw may cause the platform to slide down and produce a deviation in height adjustment.

[0005] The response speed issues of existing balancing devices primarily stem from their reliance on a motor-driven lead screw. This design has significant limitations in adjustment speed. In situations where rapid and frequent adjustments to the platform height are required, such as rapid positioning and operation of robotic arms on automated production lines, this slow adjustment speed can lead to reduced production efficiency. Because the motor needs to drive the lead screw incrementally, this process cannot achieve instant or rapid response, causing delays during urgent adjustments or precise operations, potentially leading to equipment damage or safety accidents.

[0006] In addition, some existing balancing devices may not yet have integrated visualization functions, which to a certain extent limits their practicality and user-friendliness. The lack of a visual interface means that users cannot intuitively see the real-time status of the device, including the current height of the stage, the balance state, and other key parameters. This opacity increases the difficulty of operation, and users must use other means to perceive the feedback of the device. During initial use or during complex operations, the lack of a visual interface may result in the user being unable to intuitively observe the balancing process of the device. This inconvenience may affect the user's work efficiency and may even lead to operational errors. The difficulty of maintenance and troubleshooting will also increase due to the lack of visual data. Technicians will need to spend more time diagnosing problems, which not only reduces maintenance efficiency but may also increase maintenance costs. Without visual display feedback, it is difficult for users to achieve precise control when adjusting the height of the stage, which may lead to reduced adjustment accuracy and affect the stability and reliability of the device. Utility Model Content

[0007] In view of the above situation, in order to overcome the defects of the existing technology, the present invention provides an automatic balancing device with visual speed change and height adjustment. The automatic balancing device with visual speed change and height adjustment can accurately detect the height and balance state of the work platform, and finely adjust the state of the work platform through a four-way transmission mechanism and a differential gear transmission mechanism, ensuring that the work platform can be balanced with high precision under various loads and environments. The four-way transmission mechanism and the differential gear transmission mechanism can enable the screw transmission mechanism to move quickly and orderly to achieve rapid adjustment, meeting the needs of rapid adjustment of inspection and control and operating equipment such as robotic arms in a short time.

[0008] 14. The automatic balancing device of claim 13, wherein the lifting mechanism comprises a first gear and a second gear arranged on the support frame for lifting the lifting mechanism and a second gear arranged on the support frame for adjusting the height of the lifting mechanism. The first gear and the second gear arranged on the support frame for adjusting the height of the lifting mechanism are a plurality of gears arranged on the support frame and a plurality of gears are arranged on the support frame for adjusting the height of the lifting mechanism. The second gear and the second gear arranged on the support frame for adjusting the height of the lifting mechanism are a plurality of gears arranged on the support frame for adjusting the height of the lifting mechanism.

[0009] Preferably, the screw transmission mechanism includes a screw and a worm gear, the screw is vertically fixedly connected to the center of the upper surface of the worm gear and is rotatably connected between the base and the support frame, the worm gear is rotatably connected to the inner bottom wall of the base, and the four screws are connected to the four corners of the worktable through threaded transmission.

[0010] Preferably, the monitoring mechanism includes a balancing ball, a pressure sensor group, a six-axis sensor and a laser displacement sensor. The balancing ball is embedded in the center of the stage and is surrounded by a pressure sensor group. The pressure sensor group is embedded in the center of the stage and surrounds the outside of the balancing ball. The six-axis sensor is embedded in the middle of the center of the stage and is arranged below the balancing ball and vertically corresponds to the balancing ball. The laser displacement sensor is fixedly installed in the center of the lower surface of the stage and is on the same axis as the balancing ball and the six-axis sensor.

[0011] Preferably, the four-way transmission mechanism includes a cross guide rail, a drive motor, a driven ring and a gear rod, the cross guide rail is fixedly connected to the inner bottom wall of the base and the gear rod is slidably connected to the inside of the cross guide rail, there are four gear rods and the four gear rods are slidably connected around the cross guide rail, the driven ring is connected to the output shaft of the drive motor through a spline, and the drive motor is fixedly mounted on the inner top wall of the base.

[0012] Preferably, the upper surface of the driven ring is provided with an arc groove and the number of the arc grooves is four. The four arc grooves are provided on the upper surface of the driven ring in the form of a ring array. The upper surfaces of the four gear rods close to one end are fixedly connected with a clamping column that can be adapted to the arc groove. The four clamping columns are respectively arranged inside the four arc grooves and can move inside them.

[0013] Preferably, the differential gear transmission mechanism includes a driving gear, a first bevel gear, a planetary gear, a second bevel gear, a first bevel gear, a third bevel gear, a second bevel gear and a worm. The driving gear is meshed with the gear rod and is fixedly connected to the first bevel gear through a transmission shaft. The outside of the differential gear transmission mechanism is sleeved with a gear box and the gear box is fixedly connected to the inside of the base. The transmission shaft between the driving gear and the first bevel gear is rotatably connected to the side of the gear box and the first bevel gear is arranged inside the gear box.

[0014] Preferably, both sides of the first bevel gear are meshed with planetary gears and the ends of the two planetary gears away from each other are provided with a connecting rod, the two planetary gears are rotatably connected to the side of the two connecting rods close to each other, the second bevel gear is sleeved on the outside of the transmission shaft between the driving gear and the first bevel gear, the ends of the two connecting rods away from the planetary gears are fixedly connected to the two ends of the second bevel gear close to the first bevel gear, the first bevel gear and the third bevel gear are connected to each other through a transmission shaft and the outside of the transmission shaft is sleeved with a support plate, the support plate is fixedly connected to the inner side wall of the gear box, the first bevel gear meshes with the second bevel gear, the second bevel gear is fixedly connected to the worm through the transmission shaft and the second bevel gear meshes with the third bevel gear, the transmission shaft between the second bevel gear and the worm is rotatably connected to the side of the gear box, and the worm is arranged on the outside of the gear box and is connected to the worm gear.

[0015] Preferably, the differential gear transmission mechanism also includes a fine-tuning motor and a fourth bevel gear, the fine-tuning motor is fixedly installed inside the gear box and the axis of the output shaft corresponds to the transmission shaft between the driving gear and the first bevel gear, and the fourth bevel gear is connected to the output shaft of the fine-tuning motor through a spline and is engaged with the two planetary gears.

[0016] Preferably, the number of the differential gear transmission mechanisms is four, and the four worms in the four differential gear transmission mechanisms are respectively connected to the four worm wheels in the four screw transmission mechanisms.

[0017] The beneficial effects of the above technical solution are:

[0018] (1) The automatic balancing device with visual variable speed height adjustment can accurately detect the height and balance state of the loading platform through the setting of the monitoring mechanism, and finely adjust the state of the loading platform through the four-way transmission mechanism and the differential gear transmission mechanism, ensuring that the loading platform can be balanced with high precision under various loads and environments; the four-way transmission mechanism and the differential gear transmission mechanism can enable the screw transmission mechanism to move quickly and orderly to achieve rapid adjustment, meeting the needs of rapid adjustment of inspection and control and operating equipment such as robotic arms in a short time, and at the same time enabling the device to adapt to a wider range of balance adjustment needs, solving the problem of limited adjustment range of the transmission balance adjustment device;

[0019] (2) The automatic balancing device with visual variable speed height adjustment enables users to intuitively monitor the real-time status and adjustment parameters of the device through the setting of the control screen, which simplifies the operation process. Through real-time monitoring and adjustment, the device can quickly respond to unbalanced conditions, reducing the risk of equipment damage or safety accidents caused by imbalance. In addition, the one-way transmission characteristics of the screw transmission mechanism can effectively prevent the loading platform from sliding down due to its own weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the base of the utility model;

[0022] Figure 3 This is a schematic diagram of the connection state of the four-way transmission mechanism, differential gear transmission mechanism and screw transmission mechanism of the utility model;

[0023] Figure 4 This is a schematic diagram of the disassembled state of the four-way transmission mechanism of the utility model;

[0024] Figure 5 This is a schematic diagram of the monitoring mechanism of the utility model;

[0025] Figure 6 This is a schematic diagram of the differential gear transmission mechanism of the utility model.

[0026] In the figure: 1. Base; 2. Support frame; 3. Loading platform; 4. Control screen; 5. Gearbox; 6. Lead screw; 7. Worm gear; 8. Balancing ball; 9. Pressure sensor group; 10. Six-axis sensor; 11. Laser displacement sensor; 12. Cross guide rail; 13. Driving motor; 14. Driven ring; 15. Gear rod; 16. Arc groove; 17. Clamping column; 18. Driving gear; 19. First bevel gear; 20. Planetary gear; 21. Second bevel gear; 22. First bevel gear; 23. Third bevel gear; 24. Second bevel gear; 25. Worm; 26. Connecting rod; 27. Fine-tuning motor; 28. Fourth bevel gear. DETAILED DESCRIPTION

[0027] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figures 1 to 6 The embodiments are described in detail.

[0028] This embodiment provides an automatic balancing device that can visually adjust the height by changing the speed. Figure 1-6As shown, it includes a base 1, a support frame 2, a loading platform 3 and a control screen 4, the control screen 4 is fixedly mounted on the side of the support frame 2, the support frame 2 is fixedly connected to the upper surface of the base 1 and the four corners between it and the base 1 are rotatably connected with a screw transmission mechanism for driving the loading platform 3 to rise and fall, the four corners of the loading platform 3 are connected to the outside of the screw transmission mechanism through threaded transmission, the screw transmission mechanism includes a screw 6 and a worm gear 7, the screw 6 is vertically fixedly connected to the center of the upper surface of the worm gear 7 and is rotatably connected between the base 1 and the support frame 2, the worm gear 7 is rotatably connected to the inner bottom wall of the base 1, the four screws 6 are all connected to the four corners of the loading platform 3 through threaded transmission, and the synchronous rotation of the four screws 6 can drive the loading platform 3 to rise or fall synchronously.

[0029] The center of the stage 3 is provided with a monitoring mechanism for monitoring its overall balance, which includes a balancing ball 8, a pressure sensor group 9, a six-axis sensor 10 and a laser displacement sensor 11. The balancing ball 8 is embedded in the center of the stage 3 and is surrounded by a pressure sensor group 9. The pressure sensor group 9 is embedded in the center of the stage 3 and surrounds the outside of the balancing ball 8. The pressure sensor group 9 can monitor the pressure change of the balancing ball 8 on the pressure sensor group 9 in an unbalanced position, thereby providing direct feedback on the balance state of the stage 3; the six-axis sensor 10 is embedded in the stage 3. In the middle of the center of platform 3, below and vertically aligned with balancing ball 8, is a six-axis sensor 10, model MPU6050. Combining the functions of a gyroscope and an accelerometer, it can detect the tilt and movement of platform 3 in three-dimensional space, providing accurate data on its posture. A laser displacement sensor 11 is fixedly mounted at the center of the lower surface of platform 3, coaxial with balancing ball 8 and six-axis sensor 10. Laser displacement sensor 11 precisely measures the height change of platform 3 relative to the ground by emitting laser light and measuring the time it takes for it to reflect back. This multi-dimensional monitoring capability enables the device to more precisely control the position and posture of the platform, achieving high-precision balancing adjustments. Even in the event of load changes or external disturbances, the device can quickly adjust to ensure stable operation of the electromechanical equipment.

[0030] The four-way transmission mechanism and the differential gear transmission mechanism are also provided inside the base 1. The four-way transmission mechanism is provided at the center of the base 1 and the output end is connected to the differential gear transmission mechanism. The four-way transmission mechanism includes a cross guide rail 12, a drive motor 13, a driven ring 14 and a gear rod 15. The cross guide rail 12 is fixedly connected to the inner bottom wall of the base 1 and the gear rod 15 is slidably connected to the inside of the cross guide rail 12. There are four gear rods 15 and the four gear rods 15 are slidably connected to the four sides of the cross guide rail 12 respectively. The driven ring 14 is connected to the output shaft of the drive motor 13 via a spline. The drive motor 13 is fixedly mounted on the inner top wall of the base 1. The upper surface of the driven ring 14 is provided with four arcuate grooves 16. The four arcuate grooves 16 are provided in a circular array on the upper surface of the driven ring 14. The upper surfaces of the four gear rods 15 close to one end are fixedly connected with a clamping column 17 that can adapt to the arcuate groove 16. The four clamping columns 17 are respectively provided in the interior of the four arcuate grooves 16 and can move therein.

[0031] When the driving motor 13 drives the driven ring 14 to rotate counterclockwise or clockwise, it can drive the surrounding gear rods 15 to be pushed outward or retracted inward synchronously through the arc groove 16, thereby driving the surrounding differential gear transmission mechanisms to move synchronously.

[0032] The outside of the differential gear transmission mechanism is sleeved with a gear box 5 for supporting and protecting it. The gear box 5 is fixedly connected to the inner bottom wall of the base 1. The output end of the differential gear transmission mechanism is transmission-connected to the screw transmission mechanism. The differential gear transmission mechanism includes a driving gear 18, a first bevel gear 19, a planetary gear 20, a second bevel gear 21, a first bevel gear 22, a third bevel gear 23, a second bevel gear 24 and a worm 25. The driving gear 18 is meshed with the rack 15 and is fixedly connected to the first bevel gear 19 through a transmission shaft. The outside of the differential gear transmission mechanism is sleeved with a gear box 5 and the gear box 5 is fixedly connected to the inside of the base 1. The transmission shaft between the driving gear 18 and the first bevel gear 19 is rotatably connected to the side of the gear box 5 and the first bevel gear 19 is arranged inside the gear box 5. Planetary gears 20 are meshed on both sides of the first bevel gear 19 and the two planetary gears 20 are far away from each other. A connecting rod 26 is provided at one end thereof, and the two planetary gears 20 are rotatably connected to the side of the two connecting rods 26 close to each other. The second bevel gear 21 is sleeved on the outside of the transmission shaft between the driving gear 18 and the first bevel gear 19. The two connecting rods 26 are fixedly connected to the two ends of the second bevel gear 21 close to the first bevel gear 19 at one end away from the planetary gears 20. The first bevel gear 22 and the third bevel gear 23 are connected to each other through a transmission shaft and a support plate is sleeved on the outside of the transmission shaft. The support plate is fixedly connected to the inner wall of the gearbox 5. The first bevel gear 22 is meshed with the second bevel gear 21. The second bevel gear 24 is fixedly connected to the worm 25 through the transmission shaft and the second bevel gear 24 is meshed with the third bevel gear 23. The transmission shaft between the second bevel gear 24 and the worm 25 is rotatably connected to the side of the gearbox 5. The worm 25 is arranged on the outside of the gearbox 5 and is transmission connected to the worm gear 7.

[0033] The differential gear transmission mechanism also includes a fine-tuning motor 27 and a fourth bevel gear 28. The fine-tuning motor 27 is fixedly mounted inside the gear box 5 and the axis of the output shaft corresponds to the transmission shaft between the driving gear 18 and the first bevel gear 19. The fourth bevel gear 28 is splined to the output shaft of the fine-tuning motor 27 and is meshed with the two planetary gears 20. There are four differential gear transmission mechanisms and the four worms 25 in the four differential gear transmission mechanisms are respectively connected to the four worm gears 7 in the four screw transmission mechanisms.

[0034] The gear rod 15 is meshed with the corresponding driving gear 18. When the gear rod 15 extends outward, the gear rod 15 will drive the driving gear 18 to rotate, and the first bevel gear 19 connected to the driving gear 18 via the transmission shaft will also rotate at the same time. The pair of planetary gears 20 are meshed with the first bevel gear 19 and will rotate as the first bevel gear 19 rotates. At this time, the fine-tuning motor 27 is locked, and the fourth bevel gear 28 is connected to the output shaft of the fine-tuning motor 27. Therefore, the fourth bevel gear 28 is fixed and does not rotate. However, the pair of planetary gears 20 are meshed with the fourth bevel gear 28. When the pair of planetary gears 20 are in a rotating state, they will rotate around the fourth bevel gear 28 while rotating themselves. The pair of planetary gears 20 are connected to the second bevel gear 21 via the connecting rod 26. When the pair of planetary gears 20 rotate around the fourth bevel gear 28, the second bevel gear 21 will also rotate as the connecting rod 26 rotates through the planetary gear 20; when the second bevel gear 21 rotates, it meshes with the second bevel gear 21. The first bevel gear 22 will also rotate along with it, and the first bevel gear 22 and the third bevel gear 23 are connected by a transmission shaft, so when the first bevel gear 22 rotates, the third bevel gear 23 will also be driven to rotate, the second bevel gear 24 is meshed with the third bevel gear 23, and the worm 25 is connected with the second bevel gear 24 through a transmission shaft, so when the third bevel gear 23 rotates, it will also drive the second bevel gear 24 and the worm 25 to rotate synchronously, and the worm 25 is in turn connected to its corresponding worm gear 7. When the worm 25 rotates, it can drive the worm gear 7 and the lead screw 6 to rotate synchronously. Therefore, by driving the driven ring 14 by the driving motor 13, the lead screws 6 at the four corners can be driven to drive the loading platform 3 up and down.

[0035] When the loading platform 3 rises to a certain approximate height, the balancing ball 8 embedded in the center of the loading platform will squeeze the pressure sensor group 9 due to the imbalance of the loading platform 3. The squeezing of the pressure sensor group 9 by the balancing ball 8 will generate relevant information different from the equilibrium state, and the six-axis sensor 10 below the loading platform 3 will also generate information different from the equilibrium state by detecting the inclination of the loading platform 3 relative to the equilibrium state. The laser displacement sensor 11 below the loading platform 3 emits a beam of laser, which is reflected by the ground and received to generate height information compared to the horizontal ground; and the information generated by the pressure sensor group 9, the six-axis sensor 10 and the laser displacement sensor 11 will be transmitted to the control screen 4, and the position status information of the loading platform 3 will be displayed on the control screen 4.

[0036] After the pressure sensor group 9, the six-axis sensor 10, and the laser displacement sensor 11 generate the balance information of the stage 3, a relatively finer height adjustment is started. At this time, the drive motor 13 changes from a rotating state to a locked state, and the four gear rods 15 also change to a locked state. Similarly, the driving gear 18 meshing with the four gear rods 15 will also be in a locked state, and the first bevel gear 19 connected to the driving gear 18 via the input shaft will also change from a rotating state to a locked state. At this time, the fine-tuning motor 27 will start to change from a locked state to a rotating state, and the fourth bevel gear 28 connected to the output shaft of the fine-tuning motor 27 will also change from a locked state to a rotating state. At this time, since the first bevel gear 19 is in a locked state and the fourth bevel gear 28 is in a rotating state, the pair of planetary gears 20 will rotate around the first bevel gear 19 due to the power provided by the rotation of the fourth bevel gear 28. When the pair of planetary gears 20 rotate around the first bevel gear 19, the second bevel gear 21 will also rotate as the connecting rod 26 rotates through the planetary gear 20. The first bevel gear meshing with the second bevel gear 21 The wheel 22 will also rotate. Similarly, when the first bevel gear 22 rotates, it will also drive the third bevel gear 23 to rotate through the transmission shaft. When the third bevel gear 23 rotates, it can drive the second bevel gear 24 and the worm 25 to rotate synchronously, and the worm 25 then drives the worm wheel 7 and the lead screw 6 to rotate; since the rotational power (i.e., the transmission ratio) provided to the worm 25 by the driving gear 18 is greater than the transmission ratio provided to the worm 25 by the fourth bevel gear 28, the rotation of the worm 25 driven by the fine-tuning motor 27 will be slower than the rotation of the worm 25 driven by the drive motor 13, so that the lead screw 6 can perform more precise height adjustment of the worktable 3.

[0037] At the same time, the four fine-tuning motors 27 in the four differential gear transmission mechanisms can all operate independently. Therefore, the control unit can control the operation of the corresponding fine-tuning motor 27 according to the balance information of the loading platform 3 monitored by the monitoring mechanism to make fine adjustments to the relatively uneven side of the loading platform 3, and can quickly adjust the loading platform 3 to a balanced state according to the real-time monitoring of the monitoring mechanism.

[0038] The present invention addresses the technical problems identified in the aforementioned background technology, including low automation, insufficient adjustment accuracy, slow response speed, and a poor user experience. To overcome these limitations, the present invention provides an automatic balancing device with visual variable-speed height adjustment. By integrating sensors with a mechanical structure, the device achieves high-precision, fast-response, and easy-to-operate balancing adjustment. The present automatic balancing device primarily comprises a four-way transmission mechanism, a lead screw 6, a worm 25, a loading platform 3, and electronic devices such as a control screen 4, a balancing ball 8, a pressure sensor assembly 9, and a six-axis sensor 10. The balancing device functions based on an operator inputting elevation parameters via the control screen 4, which displays the current status of the loading platform 3. Next, a drive motor 13 rotates the driven ring 14, extending the four racks 15. This, in turn, rapidly raises the loading platform 3 via a differential gear transmission and a lead screw transmission mechanism. The pressure sensor assembly 9, the six-axis sensor 10, and the laser displacement sensor 11 then detect the balance status of the loading platform 3, displaying the information on the control screen 4. Finally, fine adjustment is performed by adjusting the rotation of the planetary gear 20 through the fine-tuning motor 27 to achieve millimeter-level height adjustment of the stage 3.

[0039] The original method of adjusting the height of the platform by controlling the screw to rotate with a single motor is replaced by a method in which a differential gear transmission mechanism provides rotational power to the worm gear, achieving both precise and rapid adjustment capabilities. During the rapid adjustment process, the device utilizes the meshing of the gear rod and the driving gear in the four-way transmission mechanism and the differential gear transmission mechanism, as well as the interaction between the planetary gear and the first bevel gear 19 and the fourth bevel gear 28 to achieve rapid height adjustment. When the drive motor 13 is locked and the fine-tuning motor 27 begins to rotate, the rotation of the fourth bevel gear 28, through a series of interactions between the planetary gear 20 and the second bevel gear 21, causes the third bevel gear 23 and the second bevel gear 24 to rotate in a precise ratio, thereby driving the worm 25 and the worm wheel 7 to achieve a micro-movement of the screw 6.

[0040] The one-way transmission characteristic of the worm 25 and worm wheel 7—that is, the worm 25 can drive the worm wheel 7 to rotate, while the worm wheel 7 cannot—provides a self-locking function for the device. By utilizing this transmission characteristic between the worm 25 and worm wheel 7, the automatic balancing device ensures that the loading platform 3 on the lead screw 6 and the object under test above it remain stable at all times, preventing them from sliding down even if the device loses power or power. The principle behind this self-locking function lies in the structural characteristics of the worm 25 transmission. The worm 25 has a unique helical shape. When the worm wheel 7 meshes with the worm 25, the helical tooth profile of the worm 25 closely matches the tooth profile of the worm wheel 7. The combined tooth profile of the worm wheel 7 and the helical shape of the worm 25 generate sufficient friction, preventing the worm wheel 7 from rotating in the opposite direction without external force. This design ensures that the loading platform 3 will not slide down due to its own weight or other external forces when it needs to remain in a fixed position. In practical applications, this self-locking function is particularly important. For example, during a precision measurement or experiment, if the device needs to stop working temporarily, the self-locking function can ensure that the stage 3 remains at the set height and does not slide down due to its own weight, thereby avoiding affecting the experimental results or damaging the equipment.

[0041] This automatic balancing device employs an innovative solution to address the limitations of traditional balancing devices, which rely on gear ratio calculations for height adjustment. By utilizing a pressure sensor assembly 9, a six-axis sensor 10, and a laser displacement sensor 11, the device can directly detect the balance state of the platform 3, rather than relying solely on relative displacement calculations. This multi-sensor integration significantly improves the accuracy and reliability of balancing adjustments. The pressure sensor assembly 9 monitors the pressure changes exerted by the balancing ball 8 on the pressure sensors when the balancing ball 8 is in an unbalanced position, providing direct feedback on the platform's balance state. The six-axis sensor 10, combining the functions of a gyroscope and an accelerometer, can detect the platform's tilt and movement in three dimensions, providing precise data on its posture. The laser displacement sensor 11 precisely measures the change in height of the platform relative to the ground by emitting laser light and measuring the time it takes for it to reflect back. This multi-dimensional monitoring capability enables the device to more precisely control the position and posture of the platform 3, achieving highly accurate balancing adjustments. Even in the face of load fluctuations or external disturbances, the device can rapidly adjust, ensuring stable operation of the electromechanical equipment.

[0042] Our solution also includes a visual control screen 4, which displays real-time data collected by the pressure sensor group 9, six-axis sensor 10, and laser displacement sensor 11, as well as adjustment instructions and feedback from the information processing module. This screen provides an intuitive user interface, displaying sensor data and adjustment instruction feedback in real time, making the entire adjustment process more transparent and easy to monitor. The screen allows users to instantly understand the device's status, including offset angle, adjustment progress, and final balance state, thereby improving the accuracy and reliability of the adjustment process.

[0043] The purpose of this utility model is to provide an automatic balancing device with a simple structure, convenient operation, and precise adjustment to meet the needs of modern industry for automated and intelligent equipment. Through its innovative design and functions, this device will provide users with an efficient, reliable, and easy-to-operate balancing adjustment solution.

[0044] In summary, the steps for using the automatic balancing device with visual speed change and height adjustment are as follows:

[0045] 1. After the device is started, the operator inputs the parameters to be raised through the control screen 4. The control screen 4 will display the current status of the loading platform 3, including the current height, balance status and other information;

[0046] 2. When the driving motor 13 drives the driven ring 14 to rotate counterclockwise or clockwise, it can drive the surrounding gear rods 15 to be pushed outward or retracted inward synchronously through the arc groove 16, thereby driving the surrounding differential gear transmission mechanisms to move synchronously;

[0047] 3. When the gear rod 15 extends outward, the gear rod 15 will drive the driving gear 18 to rotate. The first bevel gear 19 connected to the driving gear 18 via the transmission shaft will also rotate at the same time. The pair of planetary gears 20 will rotate along with the rotation of the first bevel gear 19. At this time, the fine-tuning motor 27 is in a locked state, so the fourth bevel gear 28 is fixed and does not rotate. When the pair of planetary gears 20 are in a rotating state, they will rotate around the fourth bevel gear 28 while rotating themselves. The second bevel gear 21 will also rotate along with the rotation of the connecting rod 26 through the planetary gears 20. The first bevel gear 22 meshing with the second bevel gear 21 will also rotate. The rotation of the first bevel gear 22 will also drive the third bevel gear 23 to rotate. The rotation of the third bevel gear 23 will also drive the second bevel gear 24 and the worm 25 to rotate synchronously. The rotation of the worm 25 can drive the worm wheel 7 and the lead screw 6 to rotate synchronously. Therefore, by controlling the rotation of the driven ring 14 by the drive motor 13, the lead screws 6 at the four corners can be driven to move the loading platform 3 up and down.

[0048] 4. When the loading platform 3 rises to a certain approximate height, the balancing ball 8 embedded in the center of the loading platform will squeeze the pressure sensor group 9 due to the imbalance of the loading platform 3. The squeezing of the pressure sensor group 9 by the balancing ball 8 will generate relevant information different from the equilibrium state. The six-axis sensor 10 below the loading platform 3 will also generate information different from the equilibrium state by detecting the tilt of the loading platform 3 relative to the equilibrium state. The laser displacement sensor 11 below the loading platform 3 emits a laser beam, which is reflected by the ground and received to generate height information relative to the horizontal ground. The information generated by the pressure sensor group 9, the six-axis sensor 10 and the laser displacement sensor 11 will be transmitted to the control screen 4, and the position status information of the loading platform 3 will be displayed on the control screen 4;

[0049] 5. After the pressure sensor group 9, the six-axis sensor 10 and the laser displacement sensor 11 generate the balance information of the stage 3, they start to make relatively finer height adjustments. At this time, the drive motor 13 changes from a rotating state to a locked state, and the first bevel gear 19 connected to the driving gear 18 through the input shaft will also change from a rotating state to a locked state. At this time, the fine-tuning motor 27 will start to change from a locked state to a rotating state, and the fourth bevel gear 28 will also change from a locked state to a rotating state; at this time, since the first bevel gear 19 is in a locked state and the fourth bevel gear 28 is in a rotating state, the pair of planetary gears 20 will rotate around the first bevel gear 19 due to the power provided by the rotation of the fourth bevel gear 28; the second bevel gear 21 will also rotate as the connecting rod 26 rotates through the planetary gear 20; the first bevel gear 22 meshing with the second bevel gear 21 will also rotate, and the first bevel gear 2 2 also drives the third bevel gear 23 to rotate through the transmission shaft. When the third bevel gear 23 rotates, it can drive the second bevel gear 24 and the worm 25 to rotate synchronously. The worm 25 then drives the worm wheel 7 and the lead screw 6 to rotate. Since the rotational power (i.e., the transmission ratio) provided by the driving gear 18 to the worm 25 is greater than the transmission ratio provided by the fourth bevel gear 28 to the worm 25, the rotation of the worm 25 driven by the fine-tuning motor 27 is slower than the rotation of the worm 25 driven by the drive motor 13, so that the lead screw 6 can perform more precise height adjustment of the loading platform 3.

[0050] The above description is only for the purpose of illustrating the present invention. It should be understood that the present invention is not limited to the above embodiments, and various variations that conform to the concept of the present invention are within the scope of protection of the present invention.

Claims

1. An automatic balancing device capable of visually changing speed and adjusting height, comprising a base (1), a support frame (2), a loading platform (3) and a control screen (4), characterized in that: The support frame (2) is fixedly connected to the upper surface of the base (1), and the four corners between the support frame (2) and the base (1) are rotatably connected to a screw transmission mechanism for driving the loading platform (3) to rise and fall. The four corners of the loading platform (3) are connected to the outside of the screw transmission mechanism through threaded transmission, and a monitoring mechanism for monitoring its overall balance is provided at the center thereof. The control screen (4) is fixedly mounted on the side of the support frame (2); The invention also includes a four-way transmission mechanism and a differential gear transmission mechanism arranged inside the base (1); the four-way transmission mechanism is arranged at the center of the base (1) and the output end is in transmission connection with the differential gear transmission mechanism; the outside of the differential gear transmission mechanism is sleeved with a gear box (5) for supporting and protecting the differential gear transmission mechanism; the gear box (5) is fixedly connected to the inner bottom wall of the base (1); the output end of the differential gear transmission mechanism is in transmission connection with the screw transmission mechanism.

2. The automatic balancing device with visual speed change and height adjustment according to claim 1, characterized in that: The screw transmission mechanism includes a screw (6) and a worm wheel (7), wherein the screw (6) is vertically fixedly connected to the center of the upper surface of the worm wheel (7) and is rotatably connected between the base (1) and the support frame (2), and the worm wheel (7) is rotatably connected to the inner bottom wall of the base (1). The four screws (6) are all connected to the four corners of the loading platform (3) through threaded transmission.

3. The automatic balancing device with visual speed change and height adjustment according to claim 1, characterized in that: The monitoring mechanism comprises a balancing ball (8), a pressure sensor group (9), a six-axis sensor (10) and a laser displacement sensor (11); the balancing ball (8) is embedded in the center of the loading platform (3) and is surrounded by the pressure sensor group (9); the pressure sensor group (9) is embedded in the center of the loading platform (3) and surrounds the outside of the balancing ball (8); the six-axis sensor (10) is embedded in the middle of the center of the loading platform (3) and is arranged below the balancing ball (8) and vertically corresponds to the balancing ball (8); the laser displacement sensor (11) is fixedly mounted in the center of the lower surface of the loading platform (3) and is on the same axis as the balancing ball (8) and the six-axis sensor (10).

4. The automatic balancing device with visual speed change and height adjustment according to claim 2, characterized in that: The four-way transmission mechanism comprises a cross guide rail (12), a driving motor (13), a driven ring (14) and a gear rod (15); the cross guide rail (12) is fixedly connected to the inner bottom wall of the base (1) and the gear rod (15) is slidably connected to the inside of the cross guide rail (12); the number of the gear rods (15) is four and the four gear rods (15) are respectively slidably connected to the four sides of the cross guide rail (12); the driven ring (14) is connected to the output shaft of the driving motor (13) through a spline; and the driving motor (13) is fixedly mounted on the inner top wall of the base (1).

5. The automatic balancing device with visual speed change and height adjustment according to claim 4, characterized in that: The upper surface of the driven ring (14) is provided with an arc groove (16), and the number of the arc grooves (16) is four. The four arc grooves (16) are provided on the upper surface of the driven ring (14) in the form of a ring array. The upper surfaces of the four gear rods (15) close to one end are fixedly connected with a clamping column (17) that can be adapted to the arc groove (16). The four clamping columns (17) are respectively arranged inside the four arc grooves (16) and can move therein.

6. The automatic balancing device with visual speed change and height adjustment according to claim 4, characterized in that: The differential gear transmission mechanism comprises a driving gear (18), a first bevel gear (19), a planetary gear (20), a second bevel gear (21), a first bevel gear (22), a third bevel gear (23), a second bevel gear (24) and a worm (25); the driving gear (18) is meshed with the gear rod (15) and fixedly connected to the first bevel gear (19) via a transmission shaft; a gear box (5) is sleeved on the outside of the differential gear transmission mechanism, and the gear box (5) is fixedly connected to the inside of the base (1); a transmission shaft between the driving gear (18) and the first bevel gear (19) is rotatably connected to the side of the gear box (5), and the first bevel gear (19) is arranged inside the gear box (5).

7. The automatic balancing device with visual speed change and height adjustment according to claim 6, characterized in that: Both sides of the first bevel gear (19) are meshed with planetary gears (20), and the ends of the two planetary gears (20) that are away from each other are provided with connecting rods (26), and the two planetary gears (20) are respectively rotatably connected to the sides of the two connecting rods (26) that are close to each other. The second bevel gear (21) is sleeved on the outside of the transmission shaft between the driving gear (18) and the first bevel gear (19), and the ends of the two connecting rods (26) that are away from the planetary gears (20) are respectively fixedly connected to the two ends of the second bevel gear (21) that are close to the first bevel gear (19). 2) The third bevel gear (23) is connected to each other through a transmission shaft, and a support plate is sleeved on the outside of the transmission shaft, and the support plate is fixedly connected to the inner side wall of the gear box (5); the first bevel gear (22) is meshed with the second bevel gear (21); the second bevel gear (24) is fixedly connected to the worm (25) through the transmission shaft, and the second bevel gear (24) is meshed with the third bevel gear (23); the transmission shaft between the second bevel gear (24) and the worm (25) is rotatably connected to the side of the gear box (5); the worm (25) is arranged outside the gear box (5) and is transmission-connected to the worm wheel (7).

8. The automatic balancing device with visual speed change and height adjustment according to claim 6, characterized in that: The differential gear transmission mechanism further comprises a fine-tuning motor (27) and a fourth bevel gear (28). The fine-tuning motor (27) is fixedly mounted inside the gear box (5) and the axis of the output shaft corresponds to the transmission shaft between the driving gear (18) and the first bevel gear (19). The fourth bevel gear (28) is spline-connected to the output shaft of the fine-tuning motor (27) and meshes with the two planetary gears (20).

9. The automatic balancing device with visual speed change and height adjustment according to claim 6, characterized in that: The number of the differential gear transmission mechanisms is four, and the four worms (25) in the four differential gear transmission mechanisms are respectively connected to the four worm wheels (7) in the four screw transmission mechanisms.

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