An automatic balance-maintaining platform control device

Abstract

The utility model relates to balance platform control device technical field, especially automatic keeping balance platform control device, including base, three drive motors are evenly arranged on base along the circumference, the output shaft of drive motor connects support mechanism, and support mechanism top end supports load platform, support mechanism includes support arm, and the top of support arm is provided with ball head, the lower surface of load platform is fixed with ball socket, and ball head rotatably contains in ball socket, the inner wall of ball socket is opened at least two rows semicircular recess along the circumference direction, and each recess is embedded with ball, and the partial spherical surface of ball protrudes recess and forms the rolling contact with the surface of ball head, be used for reducing the friction force when ball head rotates in ball socket when load platform is adjusted, and the device replaces the structure of sliding friction with rolling friction, and the dynamic response speed, the leveling accuracy and the stability of long -term use of platform are improved significantly reduced movement resistance and component wear.

Description

Technical Field

[0001] This utility model relates to the technical field of balance platform control devices, and in particular to an automatic balance platform control device. Background Technology

[0002] An automatic balancing platform is an electromechanical system that uses sensors to detect changes in its own posture in real time and automatically adjusts itself using a drive mechanism to maintain the platform in a horizontal and stable state. In industrial maintenance, such as when maintaining large or medium-sized equipment, this device provides operators with an extremely stable working surface, improving operational safety and accuracy in complex environments. In laboratory environments, it is widely used to support various precision instruments, such as optical measuring equipment or high-sensitivity analytical instruments, ensuring high accuracy and reliability of experimental data and measurement results by effectively isolating vibrations from the ground and unavoidable tilt.

[0003] Existing automatic balancing platform control devices typically consist of a base, drive mechanism, support mechanism, load platform, and motion joints. The motion joint, as the core component connecting the support mechanism and the load platform, primarily functions to precisely transmit driving force and enable flexible rotation of the load platform in multiple directions, thereby achieving dynamic attitude adjustment to maintain balance. Currently, most common motion joints employ ball joints, the core of which is the fit between the ball head and the socket. The contact between the ball head and the inner wall of the socket is mainly sliding friction, resulting in high frictional resistance and slow dynamic response during operation. Furthermore, continuous wear increases the clearance between the joints, ultimately causing platform vibration and accuracy degradation.

[0004] Therefore, this application provides an automatic balance platform control device to solve the problems mentioned in the background art. Utility Model Content

[0005] The purpose of this invention is to provide an automatic balance control device for a platform, which solves the problems of high resistance, slow response, and easy wear caused by sliding friction in traditional ball joints in the prior art.

[0006] To solve the above-mentioned technical problems, this utility model provides an automatic balance platform control device, characterized in that it includes a base, on which three drive motors are evenly arranged circumferentially, and the output shafts of the drive motors are connected to a support mechanism. The top of the support mechanism supports a load platform. The support mechanism includes a support arm, and the top of the support arm is provided with a ball head. A ball socket is fixed on the lower surface of the load platform, and the ball head is rotatably accommodated in the ball socket. At least two rows of semi-circular grooves are formed on the inner wall of the ball socket along the circumferential direction. A ball is embedded in each groove, and part of the spherical surface of the ball protrudes from the groove and forms rolling contact with the surface of the ball head. This is used to reduce the friction of the ball head rotating in the ball socket when the load platform is leveled.

[0007] A further improvement of the present invention is that the load platform also includes a circular bracket, the bottom edge of which is provided with three ball sockets, the axis of which faces outward of the bracket and forms an angle of 110° to 135° with the vertical.

[0008] A further improvement of this utility model is that: the ball socket includes an inverted frustum, which is fixed to the bottom surface of the bracket. The bottom surface of the inverted frustum is integrally formed with a hemispherical ball socket body. The hemispherical ball socket body opens downward, and four radial notches are evenly distributed along the circumference on its side wall. The radial notches divide the side wall of the ball socket body into four arc-shaped pieces. The arc-shaped pieces have elastic deformation capability due to the setting of the radial notches, so as to facilitate the assembly of the ball head into the ball socket body.

[0009] A further improvement of this utility model is that: the inner wall of the arc-shaped piece is provided with a plurality of grooves arranged along the circumferential direction, and a ball is provided in the groove, with the ball protruding from the opening of the groove, so that when the ball head swings in the ball socket body, rolling friction is formed between it and the arc-shaped piece.

[0010] A further improvement of this utility model is that: a square platform is fixed on the top surface of the bracket, and a pair of opposing locking blocks and a pair of opposing L-shaped pieces are arranged around the bracket. The inner sidewalls of the pair of locking blocks abut against the middle of a set of opposite sides of the square platform, and the inner sidewalls of the pair of L-shaped pieces abut against the middle of another set of opposite sides of the square platform, thereby achieving the clamping and positioning of the square platform.

[0011] A further improvement of this utility model is that an angle sensor is installed at the center of the bottom surface of the bracket to detect the spatial tilt angle of the bracket in real time.

[0012] A further improvement of the present invention is that the base also includes a support leg, and a support plate is provided on the top surface of the support leg. The support plate has a triangular outline, and a square plate extends out along the circumference at 120° with the geometric center of the support plate as the origin.

[0013] A further improvement of this utility model is that a vertical mounting plate is provided on the upper surface of the square plate, and the drive motor is horizontally fixed to the side of the mounting plate.

[0014] A further improvement of the present invention is that the support arm includes a first support arm and a second support arm; one end of the first support arm is sleeved on the output shaft of the drive motor, and the other end is pivotally connected to the lower end of the second support arm; the upper end of the second support arm is provided with a ball head.

[0015] By adopting the above technical solution, this utility model has the following beneficial effects: 1. This utility model provides an automatic balancing platform control device. This device transforms the traditional sliding friction between the ball head and the socket into rolling friction by creating a semi-circular groove in the inner wall of the socket and embedding a ball therein. The ball protrudes from the groove and forms rolling contact with the ball head surface. This structure significantly reduces the frictional resistance of the ball head during leveling, improves the dynamic response speed of the system, and avoids jamming and slow response caused by excessive friction. Simultaneously, it reduces wear between the ball head and the socket, prevents increased clearance, effectively suppresses low-frequency flutter and static drift of the platform, and significantly improves the platform's stability, positioning accuracy, and service life.

[0016] 2. This utility model provides an automatic balancing platform control device. This device divides the ball socket into multiple elastic arc-shaped pieces by creating radial notches in the sidewall of the socket body, giving the socket a certain degree of elastic deformation capability during assembly. This structure allows the ball head to expand the arc-shaped pieces and smoothly enter the socket during pressing, significantly improving assembly convenience and efficiency, reducing assembly difficulty, and avoiding mechanical damage to the ball head or socket surface that may be caused by traditional rigid pressing methods, thus improving assembly quality and structural reliability.

[0017] 3. This utility model provides an automatic balance-maintaining platform control device. This device, by installing an inclination sensor on the bottom surface of the bracket to detect the spatial tilt angle of the bracket in real time, combined with a structure in which three drive motors are evenly arranged circumferentially, achieves precise control of the load platform's attitude. The inclination sensor enables the platform to quickly sense changes in its own attitude and adjust the height of the support mechanism in a timely manner through the drive motors, thereby automatically maintaining the platform's horizontal stability. This significantly improves the platform's operational safety and accuracy in industrial maintenance and laboratory environments, and effectively isolates the effects of ground vibration and tilt on precision instruments. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of an automatic balance-maintaining platform control device. Figure 2 This is a schematic diagram of the load platform structure; Figure 3 This is a structural diagram of the bracket; Figure 4 This is a schematic diagram of the structure of the ball-and-socket joint; Figure 5 This is a side view of the ball socket; Figure 6 This is a schematic diagram of the base structure; Figure 7 This is a top view of the base; Figure 8 This is a structural diagram of the base, drive motor, and support arm.

[0020] Reference numerals: 1. Base; 2. Drive motor; 3. Support mechanism; 31. Support arm; 311. First support arm; 312. Second support arm; 32. Ball socket; 33. Groove; 34. Sphere; 35. Ball head; 4. Load platform; 41. Bracket; 411. Square platform; 412. Locking block; 413. L-shaped part; 414. Tilt sensor; 321. Frustum; 322. Ball socket body; 323. Radial notch; 324. Arc-shaped piece; 11. Support leg; 12. Support plate; 13. Square plate; 21. Mounting plate. Detailed Implementation

[0021] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] The present invention will be further explained below with reference to specific embodiments.

[0025] like Figures 1-8 As shown, this embodiment provides an automatic balance-maintaining platform control device, such as... Figure 1As shown, the system includes a base 1, on which three drive motors 2 are evenly arranged circumferentially. The drive motors 2 are existing equipment, preferably servo motors, which offer advantages such as precise control of position, speed, and torque, and fast response. The output shafts of the drive motors 2 are connected to a support mechanism 3, which supports a load platform 4 at its top. The support mechanism 3 includes an arm 31, with a ball head 35 at its top. A ball socket 32 ​​is fixed to the lower surface of the load platform 4, and the ball head 35 is rotatably housed within the ball socket 32. At least two rows of semi-circular grooves 33 are formed along the circumferential direction on the inner wall of the ball socket 32. Each groove 33 contains a ball 34, with a portion of the spherical surface of the ball 34 protruding from the groove 33 and forming rolling contact with the surface of the ball head 35. Specifically, this structure transforms traditional surface contact sliding friction into point contact rolling friction. This significantly reduces the driving torque required for the ball head 35 to rotate within the ball socket 32 ​​during load platform 4 adjustment, thereby reducing system energy consumption and improving response speed. During actual operation, when the platform tilts due to external interference, the drive motor 2 drives the ball head 35 to rotate within the ball socket 32 ​​via the support mechanism 3. The rolling action of the spheres 34 makes the rotation process smoother and more fluid, effectively avoiding the starting jamming phenomenon caused by excessive static friction in traditional structures. This structure also forms a uniform load-bearing force field through the distribution of multiple spheres 34 arrays, effectively dispersing local stress and avoiding premature wear caused by stress concentration.

[0026] like Figures 2-5As shown, in this embodiment, the load platform 4 also includes a circular bracket 41. A tilt sensor 414 (the tilt sensor and drive motor are connected to an external control system, not shown in the figure) is installed at the center of the bottom surface of the bracket 41 to detect the spatial tilt angle of the bracket 41 in real time. Three ball sockets 32 are provided on the bottom edge of the bracket 41. The axis of the ball sockets 32 faces outwards from the bracket 41 and forms an angle of 110° to 135° with the vertical. The ball sockets 32 are fixed to the bottom surface of the bracket 41 using an inverted frustum 321 structure. The bottom surface of the inverted frustum 321 is integrally formed with a hemispherical ball socket body 322. The ball socket body 322 opens downwards, and four radially evenly distributed notches 323 are provided on its sidewalls. The radial notches 323 divide the sidewalls of the ball socket body 322 into four arc-shaped pieces 324. The arc-shaped pieces 324 have a certain elastic deformation capability due to the radial notches 323. This flexible design allows the ball head 35 to be naturally introduced during assembly via the elastic opening of the arc-shaped plate 324, replacing the traditional, forceful pressing method that requires a press machine, thus achieving convenient assembly. The inner wall of the arc-shaped plate 324 has multiple grooves 33 arranged circumferentially, each containing a ball 34 that protrudes from the opening of the groove 33. This ensures that the ball head 35 maintains rolling contact with the ball 34 as it swings within the ball socket body 322. This significantly reduces assembly difficulty while ensuring the accuracy of leveling movements. The inclined arrangement of the three ball sockets 32 forms an optimal spatial support triangle structure. The axis of each ball socket 32 ​​radiates outward at an angle of 110° to 135°, allowing the load platform 4 to spontaneously generate a horizontal constraint component when bearing vertical loads, thereby enhancing overall stability. In the actual assembly process, the operator only needs to press lightly on the ball head 35 to complete the assembly. After the ball head 35 is in place, the arc-shaped piece 324 will automatically recover and wrap around the ball head 35 by means of the material elasticity, forming just the right preload force, which ensures both the flexibility of movement and avoids unnecessary gaps.

[0027] like Figure 2 , Figure 3 As shown, in this embodiment, a square platform 411 is fixed to the top surface of the bracket 41. A pair of opposing locking blocks 412 and a pair of opposing L-shaped members 413 are arranged around the bracket 41. The inner sidewalls of the pair of locking blocks 412 abut against the middle of one set of opposite sides of the square platform 411, and the inner sidewalls of the pair of L-shaped members 413 abut against the middle of another set of opposite sides of the square platform 411, thereby achieving clamping and positioning of the square platform 411. After the square platform 411 is pre-positioned by the four-way clamping of the locking blocks 412 and the L-shaped members 413, the bracket 41 and the square platform 411 are welded together. This eliminates assembly gaps and prevents the outward diffusion of welding heat deformation, ensuring that the central area of ​​the platform maintains high flatness and high rigidity for a long time, providing a stable and stress-free installation reference for precision loads.

[0028] like Figures 6-8As shown, in this embodiment, the base 1 also includes a support leg 11. A support plate 12 is provided on the top surface of the support leg 11. The support plate 12 has a roughly triangular outline. A square plate 13 extends outward from the geometric center of the support plate 12 at a circumferential angle of 120°. A vertical mounting plate 21 is provided on the upper surface of the square plate 13, and the drive motor 2 is horizontally fixed to the side of the mounting plate 21. The support leg 11 provides a stable foundation support for the entire device. The design of using the geometric center of the support plate 12 as the origin of the coordinate system ensures the balanced distribution of the force system. The three square plates 13 are located at the vertices of an equilateral triangle, and this symmetrical layout ensures that the force on each driving point is balanced. The mounting plate 21 on each square plate 13 provides a precise positioning reference for the motor.

[0029] like Figure 8 As shown, in this embodiment, the support arm 31 includes a first support arm 311 and a second support arm 312; one end of the first support arm 311 is sleeved on the output shaft of the drive motor 2, and the other end is pivotally connected to the lower end of the second support arm 312; the upper end of the second support arm 312 is provided with a ball head 35.

[0030] This embodiment provides a usage flow of an automatic balance-maintaining platform control device: After power is turned on, the device completes initialization, and the tilt sensor 414 located at the center of the bottom surface of the bracket 41 immediately begins to continuously monitor the spatial tilt angle of the platform. When the platform tilts due to load changes or external interference, the tilt sensor 414 transmits the detected attitude data to the control system in real time. Based on this data, the control system quickly calculates the adjustment amount and direction of each of the three circumferentially arranged drive motors 2 and issues commands to them. The drive motors 2 then operate, converting the rotational motion into linear lifting motion at the end via the support mechanism 3 composed of the first arm 311 and the second arm 312. During this process, the ball head 35 at the top of the arm 31 swings within the ball socket 32, and its surface forms rolling contact with the ball 34 embedded in the groove 33 of the inner wall of the ball socket 32, thereby driving the load platform 4 to quickly return to a horizontal state with minimal friction. Throughout the leveling process, the elastic arc-shaped piece 324 formed by the radial notch 323 dividing the sidewall of the ball socket 32 ​​can adaptively hold the ball head 35, while the rolling friction achieved by the ball head 35 through the ball 34 ensures the efficiency, smoothness and precision of the adjustment process.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic balance-maintaining platform control device, characterized in that, Includes a base (1), three drive motors (2) are evenly arranged along the circumference of the base (1), the output shaft of the drive motor (2) is connected to the support mechanism (3), and the top of the support mechanism (3) supports the load platform (4). The support mechanism (3) includes a support arm (31), and a ball head (35) is provided at the top of the support arm (31); a ball socket (32) is fixed on the lower surface of the load platform (4), and the ball head (35) is rotatably housed in the ball socket (32); at least two rows of semi-circular grooves (33) are opened on the inner wall of the ball socket (32) along the circumferential direction, and a ball (34) is embedded in each groove (33), and part of the spherical surface of the ball (34) protrudes from the groove (33) and forms a rolling contact with the surface of the ball head (35); this is used to reduce the friction of the ball head (35) rotating in the ball socket (32) when the load platform (4) is leveled.

2. The automatic balance-maintaining platform control device according to claim 1, characterized in that, The load platform (4) also includes a circular bracket (41), with three ball sockets (32) on the bottom edge of the bracket (41). The axis of the ball sockets (32) faces the outside of the bracket (41) and forms an angle of 110° to 135° with the vertical.

3. The automatic balance-maintaining platform control device according to claim 2, characterized in that, The ball socket (32) includes an inverted frustum (321), which is fixed to the bottom surface of the bracket (41). The bottom surface of the inverted frustum (321) is integrally formed with a hemispherical ball socket body (322). The hemispherical ball socket body (322) opens downward, and four radial notches (323) are evenly distributed along the circumference on its side wall. The radial notches (323) divide the side wall of the ball socket body (322) into four arc-shaped pieces (324). The arc-shaped pieces (324) have elastic deformation capability due to the setting of the radial notches (323), so that the ball head (35) can be assembled into the ball socket body (322).

4. The automatic balance-maintaining platform control device according to claim 3, characterized in that, The inner wall of the arc-shaped piece (324) is provided with a plurality of grooves (33) arranged in the circumferential direction. A ball (34) is provided in the groove (33), and the ball (34) protrudes out of the opening of the groove (33), so that when the ball head (35) swings in the ball socket body (322), rolling friction is formed between it and the arc-shaped piece (324).

5. The automatic balance-maintaining platform control device according to claim 4, characterized in that, A square platform (411) is fixed on the top surface of the bracket (41). A pair of opposing locking blocks (412) and a pair of opposing L-shaped pieces (413) are arranged around the bracket (41). The inner sidewalls of the pair of locking blocks (412) abut against the middle of a set of opposite sides of the square platform (411), and the inner sidewalls of the pair of L-shaped pieces (413) abut against the middle of another set of opposite sides of the square platform (411), thereby achieving the clamping and positioning of the square platform (411).

6. The automatic balance-maintaining platform control device according to claim 5, characterized in that, An inclination sensor (414) is installed at the center of the bottom surface of the bracket (41) to detect the spatial tilt angle of the bracket (41) in real time.

7. The automatic balance-maintaining platform control device according to claim 1, characterized in that, The base (1) also includes a support leg (11), and a support plate (12) is provided on the top surface of the support leg (11). The support plate (12) has a triangular outline as a whole, and a square plate (13) extends out along the circumference at 120° with the geometric center of the support plate (12) as the origin.

8. The automatic balance-maintaining platform control device according to claim 2, characterized in that, A vertical mounting plate (21) is provided on the upper surface of the square plate (13), and the drive motor (2) is horizontally fixed to the side of the mounting plate (21).

9. The automatic balance-maintaining platform control device according to claim 1, characterized in that, The support arm (31) includes a first support arm (311) and a second support arm (312); one end of the first support arm (311) is sleeved on the output shaft of the drive motor (2), and the other end is pivotally connected to the lower end of the second support arm (312); the upper end of the second support arm (312) is provided with a ball head (35).

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