CN108956014B - Center of gravity swing sensor and actuator - Google Patents
Center of gravity swing sensor and actuator Download PDFInfo
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- CN108956014B CN108956014B CN201810815272.5A CN201810815272A CN108956014B CN 108956014 B CN108956014 B CN 108956014B CN 201810815272 A CN201810815272 A CN 201810815272A CN 108956014 B CN108956014 B CN 108956014B
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- 230000005484 gravity Effects 0.000 title claims abstract description 86
- 239000007788 liquid Substances 0.000 claims description 46
- 238000004146 energy storage Methods 0.000 claims description 15
- 238000005213 imbibition Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 239000012530 fluid Substances 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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Abstract
The invention provides a gravity center swinging actuator and a sensor, aiming at overcoming the defect that the gravity center of a main frame of a vehicle or an object is not vertical to the main frame in the static or moving process in the prior art.
Description
Technical Field
The invention relates to a vehicle or object main frame which is vertical to the gravity center.
Background
In the existing part of vehicles, the height of the same distance between the vehicle body and the ground is controlled by a sensor to maintain the balance of the vehicle body.
Summary of the invention 1
In order to overcome the defect that the gravity center of a vehicle or an object main frame is not perpendicular to the main frame in the motion process in the prior art, the invention provides a gravity center swinging actuator.
The technical scheme adopted by the invention for solving the technical problems is as follows: a gravity center swinging actuator comprises a main frame, a gravity center swinging hammer, a large ball bearing, a swinging rod protecting frame, an up-down swinging rod A, B, C, D, a small ball bearing A, B, C, D, a driving hydraulic cylinder guide rod A, B, C, D, a driving hydraulic cylinder A, B, C, D, a hydraulic pipe A, B, C, D, a driven hydraulic cylinder A, B, C, D, a driven hydraulic cylinder guide rod A, B, C, D, a supporting disc A, B, C, D and a connecting frame main rod.
A connecting main rod is fixed below the center of the main frame, the lower end of the connecting main rod is fixed on a ball head of a large ball bearing, a gravity center swinging hammer is fixed at the lower end of a ball bowl of the large ball bearing, four side surfaces of the ball bowl are respectively fixed with A, B, C, D four upper and lower swinging rods, A, B, C, D the four upper and lower swinging rods are perpendicular to each other in a plane, the perpendicular to each other in the plane means that A, B, C, D the four upper and lower swinging rods are on the same plane and are shown in a cross form, the included angle between the four upper and lower swinging rods is 90 degrees, A, B, C, D the four upper and lower swinging rods are respectively surrounded by four swinging rod protection frames fixed on the main frame and can only swing up and down, the upper ends of the four swinging rod protection frames are respectively fixed on the main frame, the outer ends of A, B, C, D the four upper and lower swinging rods are respectively fixed on the ball heads of A, B, C, D four, B. C, D four active hydraulic cylinder guide rods, A, B, C, D four active hydraulic cylinder guide rods are respectively propped against A, B, C, D four active hydraulic cylinders, A, B, C, D four active hydraulic cylinders are respectively fixed on four side rods of the main frame, A, B, C, D four active hydraulic cylinders are respectively connected with A, B, C, D four hydraulic pipes, A, B, C, D four hydraulic pipes are respectively connected with A, B, C, D four passive hydraulic cylinders, A, B, C, D four passive hydraulic cylinders are respectively fixed on the lower ends of the four side brackets of the main frame, A, B, C, D four passive hydraulic cylinder guide rods are respectively fixed with A, B, C, D four supporting disks.
When the main frame inclines to the right side of the front side, or the main frame moves to be in turn, the gravity center swinging hammer swings to the right side of the front side, the ball bowl which drives the big ball bearing rotates when swinging, the ball bowl drives A, B two upper and lower swinging rods to swing upwards respectively through A, B two small ball bearings, A, B two active hydraulic cylinder guide rods are respectively pressed into A, B two active hydraulic cylinders, A, B liquid of the two active hydraulic cylinders passes through A, B two hydraulic pipes and is respectively pressed into A, B two passive hydraulic cylinders, A, B two passive hydraulic cylinder guide rods respectively extend out of the passive hydraulic cylinders, A, B two supporting discs are respectively extended from the object or the ground position to the main frame, the main frame of the front side and the right side is lifted, the ball bowl of the big ball bearing also drives C, D two upper and lower swinging rods when rotating, the main frame swings downwards respectively through C, D two small ball bearings, C, D two active hydraulic cylinder guide rods of C, D two active hydraulic cylinders are respectively pulled out simultaneously, C. d two initiative pneumatic cylinders imbibition, C, D two passive hydraulic cylinders's liquid is respectively by C, D two initiative pneumatic cylinders respectively through two hydraulic pressure pipes of C, D suction, C, D two passive pneumatic cylinder guide arms retract into passive pneumatic cylinder, C, D two spinal branchs dish position and main frame distance on object or ground shorten, rear side and left side main frame reduce, and the main frame is as far as possible perpendicular with the focus like this.
The main frame is mainly characterized in that: a connecting main rod is fixed to the lower edge of the middle of the cross, supports are arranged at the four outer ends of the cross downwards respectively, passive hydraulic cylinders are fixed to the lower ends of the supports, driving hydraulic cylinders are fixed to the front side rod, the rear side rod, the left side rod and the right side rod of the cross respectively, and swing rod protection frames are fixed to the driving hydraulic cylinders in the short inward distance.
The gravity center swinging actuator is mainly characterized in that: the main frame swings along with the gravity center when inclining or moving, the top of the upper hammer rod is fixed on the large ball bearing bowl, the gravity of the gravity center swinging hammer cannot be pushed by the pressure of four sides, namely the swinging execution force of the gravity center swinging hammer is larger than the rebounding force by the lever principle during design.
The gravity center swinging actuator is mainly characterized in that: the ball head and the ball bowl can rotate or twist 360 degrees, the upper end of the ball head and the ball bowl are fixed on the connecting frame main rod, the lower end of the ball head and the ball bowl are fixed on the hammer rod of the gravity center swinging hammer, four sides of the ball head and the ball bowl are respectively fixed with four vertical swinging rods, the four vertical swinging rods are perpendicular to each other, the vertical planes are A, B, C, D, the four vertical swinging rods are arranged on one plane and are represented in a cross form, and the included angle between the four vertical.
The gravity center swinging actuator is characterized in that the swinging rod protection frame comprises: the A, B, C, D four up-down swinging rods are blocked, and can only swing up and down and cannot be twisted.
In the above gravity center swinging actuator, the up-down swinging lever A, B, C, D is mainly characterized in that: one ends of the A rod, the B rod, the C rod and the D rod are mutually perpendicular to each other in plane and are fixed on the side face of a ball bowl of the large ball bearing and can move up and down, the other ends of the A rod, the B rod, the C rod and the D rod are connected to a ball head of the small ball bearing, the lengths of the A rod, the B rod, the C rod and the D rod are the same, the mutual perpendicular to the plane means that A, B, C, D four up-down swinging rods are on the same plane and are represented in a cross form, and included angles among the.
In the above gravity center swinging actuator, the small ball bearing A, B, C, D is mainly characterized in that: the ball head and the ball bowl can rotate or twist 360 degrees, and A, B, C, D represents four small ball bearings.
In the above gravity center swinging actuator, the active hydraulic cylinder guide lever A, B, C, D is mainly characterized in that: A. b, C, D represents four active hydraulic cylinder guide rods, one end of which is connected to the ball bowl of the small ball bearing and the other end of which is pushed into the active hydraulic cylinder.
The main features of the active hydraulic cylinder A, B, C, D of the center of gravity swing actuator are: A. b, C, D denotes four active hydraulic cylinders attached to the four side rails of the main frame.
In the above gravity center swinging actuator, the active hydraulic pipe A, B, C, D is mainly characterized in that: A. b, C, D represents four hydraulic pipes, one end of each pipe is connected to the active hydraulic cylinder, and the other end is connected to the passive hydraulic cylinder, so that the two hydraulic cylinders are communicated with each other.
The gravity center swinging actuator, the passive hydraulic cylinder A, B, C, D is mainly characterized in that: A. b, C, D, which are four passive hydraulic cylinders, are fixed to the lower ends of the four brackets of the main frame.
In the above gravity center swinging actuator, the passive hydraulic cylinder guide rod A, B, C, D is mainly characterized in that: A. b, C, D represents four passive cylinder guide rods, one end of which is against the passive cylinder and the other end of which is against the support plate.
In the above gravity center swinging actuator, the branch disc A, B, C, D is mainly characterized in that: A. b, C, D, four support trays, the lower side of which floats on the object or the ground.
The gravity center swinging actuator is mainly characterized in that: the upper end is fixed below the center of the main frame, and the lower end is fixed on the ball head of the large ball bearing.
In the gravity center swinging actuator, the power transmission is mainly hydraulic transmission, and can also be transmitted by using machinery, levers and the like.
Summary of the invention 2
In order to overcome the defect that the gravity center of a vehicle or an object main frame is not perpendicular to the main frame in the motion process in the prior art, the invention provides a gravity center swing sensor.
The technical scheme adopted by the invention for solving the technical problems is as follows: a gravity center swing sensor comprises a main frame, a gravity center swing hammer, a large ball bearing, a swing rod protection frame, an up-down swing rod A, B, C, D, a small ball bearing A, B, C, D, a reversing valve guide rod A, B, C, D, a reversing valve A, B, C, D, an execution hydraulic pipe A, B, C, D, an execution hydraulic cylinder A, B, C, D, an execution hydraulic cylinder guide rod A, B, C, D, a supporting disc A, B, C, D, a connecting frame main rod, a vacuum pipette A, B, C, D, a vacuum cylinder, a vacuum hydraulic pump, a liquid energy storage cylinder and an energy hydraulic pipe A, B, C, D.
A connecting main rod is fixed below the center of the main frame, the lower end of the connecting main rod is fixed on a ball head of a large ball bearing, a gravity center swinging hammer is fixed at the lower end of a ball bowl of the large ball bearing, four side surfaces of the ball bowl are respectively fixed with A, B, C, D four upper and lower swinging rods, A, B, C, D the four upper and lower swinging rods are perpendicular to each other in a plane, the perpendicular to each other in the plane means that A, B, C, D the four upper and lower swinging rods are on the same plane and are shown in a cross form, the included angle between the four upper and lower swinging rods is 90 degrees, A, B, C, D the four upper and lower swinging rods are respectively surrounded by four swinging rod protection frames fixed on the main frame and can only swing up and down, the upper ends of the four swinging rod protection frames are respectively fixed on the main frame, the outer ends of A, B, C, D the four upper and lower swinging rods are respectively fixed on the ball heads of A, B, C, D four, B. C, D four direction changing valve guide rods, A, B, C, D four direction changing valve guide rods are respectively arranged in A, B, C, D four direction changing valves, A, B, C, D four direction changing valves are respectively fixed on four side rods of the main frame, A, B, C, D four direction changing valves are respectively connected with A downwards, B. c, D four executing hydraulic cylinders, A, B, C, D four executing hydraulic cylinders are fixed at the lower end of the four side supports of the main frame, A, B, C, D four executing hydraulic cylinder guide rods are fixed with A, B, C, D four supporting disks, A, B, C, D four reversing valves are respectively provided with two hydraulic pipes upwards, one is a vacuum liquid suction pipe and is connected with the upper end of a vacuum cylinder, the other is an energy hydraulic pipe and is connected with the lower end of a liquid energy storage cylinder, the vacuum cylinder is connected with a vacuum hydraulic pump through a single hydraulic pipe, and the vacuum hydraulic pump is connected with the liquid energy storage cylinder through a single hydraulic pipe.
When the main frame inclines to the right side of the front side, or the main frame moves to turn, the gravity center swinging hammer swings to the front right side, the ball bowl of the big ball bearing is driven to rotate during swinging, when the ball bowl drives A, B two upper and lower swinging rods to swing upwards, the ball bowl respectively passes through A, B two small ball bearings, A, B two reversing valves are respectively pressed into by A, B two reversing valve guide rods, A, B two reversing valves are respectively opened, A, B two energy hydraulic pipes are communicated with A, B two execution hydraulic pipes, liquid of the liquid energy storage cylinder is pressed into A, B two execution hydraulic cylinders, A, B two execution hydraulic cylinder guide rods respectively extend out of the execution hydraulic cylinders, A, B two supporting discs are respectively lengthened from the main frame at the position on the object or the ground, the main frame on the front side and the right side are lifted, the ball bowl of the big ball bearing also drives C, D two upper and lower swinging rods when rotating, the gravity center swinging downwards respectively passes through C, D two small ball bearings, the guide rods of C, D two reversing valves are pulled downwards to open C, D two reversing valves, C, D two vacuum liquid suction pipes are communicated with C, D two execution hydraulic pipes, a vacuum cylinder sucks out liquid of C, D two execution hydraulic cylinders, C, D two execution hydraulic cylinder guide rods are respectively retracted into the execution hydraulic cylinders, C, D two supporting disks are arranged on an object or the ground, the distance between the C, D two supporting disks and the main frame is shortened, the main frame on the rear side and the left side is lowered, and therefore the main frame is as vertical as possible to the center of gravity.
The gravity center swinging sensor is characterized in that: the lower edge of the middle of the cross is fixedly provided with a connecting main rod, four outer ends of the cross are downwards provided with supports respectively, the lower end of each support is fixedly provided with an execution hydraulic cylinder, reversing valves are respectively fixed on a front side rod, a rear side rod and a left side rod and a right side rod of the cross, and swing rod protection frames are respectively fixed on the reversing valves in a short inward distance.
The gravity center swinging sensor is mainly characterized in that: the main frame swings along with the gravity center when inclining or moving, the top of the upper hammer rod is fixed on the large ball bearing bowl, and the gravity of the gravity center swinging hammer can push and pull the reversing valve to change the channel.
The gravity center swinging actuator is mainly characterized in that: the ball head and the ball bowl can rotate or twist 360 degrees, the upper end of the ball head and the ball bowl are fixed on the connecting frame main rod, the lower end of the ball head and the ball bowl are fixed on the hammer rod of the gravity center swinging hammer, four sides of the ball head and the ball bowl are respectively fixed with four vertical swinging rods, the four vertical swinging rods are perpendicular to each other, the vertical planes are A, B, C, D, the four vertical swinging rods are arranged on one plane and are represented in a cross form, and the included angle between the four vertical.
The gravity center swing sensor is characterized in that: the four up-down swinging rods of the block A, B, C, D can only swing up and down and cannot be twisted.
In the above gravity center swinging sensor, the up-down swinging lever A, B, C, D is mainly characterized in that: one ends of the A rod, the B rod, the C rod and the D rod are mutually perpendicular to each other in plane and are fixed on the side face of a ball bowl of the large ball bearing and can move up and down, the other ends of the A rod, the B rod, the C rod and the D rod are connected to a ball head of the small ball bearing, the lengths of the A rod, the B rod, the C rod and the D rod are the same, the mutual perpendicular to the plane means that A, B, C, D four up-down swinging rods are on the same plane and are represented in a cross form, and included angles among the.
In the above gravity center swinging sensor, the ball bearing A, B, C, D is mainly characterized in that: the ball head and the ball bowl can rotate or twist 360 degrees, and A, B, C, D represents four small ball bearings.
The gravity center swing sensor, the direction valve guide rod A, B, C, D is mainly characterized in that: A. b, C, D represents four direction valve guide rods, one end of which is fixed on the direction valve and the other end is fixed on the ball bowl of the small ball bearing, which can make the direction valve change the liquid channel.
The gravity center swinging sensor, the reversing valve A, B, C, D is mainly characterized in that: A. b, C, D, four diverter valves A, B, C, D are shown, which are attached to the four side rails of the main frame.
The gravity center swinging sensor, the actuating hydraulic pipe A, B, C, D is mainly characterized in that: A. b, C, D represent four implement hydraulic lines connected at one end to the directional valve and at the other end to the implement hydraulic cylinder to allow fluid communication.
The above gravity center swinging sensor, the actuating hydraulic cylinder A, B, C, D is mainly characterized in that: A. b, C, D, which represent four hydraulic actuating cylinders, are attached to the lower ends of the four legs of the frame.
The gravity center swing sensor is characterized in that the actuating hydraulic cylinder guide rod A, B, C, D is as follows: A. b, C, D represents four actuator cylinder guide rods, one end of which rests within the actuator cylinder and the other end of which rests on a support plate.
In the above gravity center swinging sensor, the branch disc A, B, C, D is mainly characterized in that: A. b, C, D, four support trays, the lower side of which floats on the object or the ground.
The gravity center swinging sensor is characterized in that: the upper end is fixed below the center of the main frame, and the lower end is fixed on the ball head of the large ball bearing.
The main features of the above-mentioned gravity center oscillation sensor, the vacuum pipette A, B, C, D are: A. b, C, D represents four vacuum pipettes attached to the vacuum cylinder at one end and to the diverter valve at the other end.
The gravity center swinging sensor is characterized in that: fixed on the main frame, one end is connected with the vacuum hydraulic pump, and the other end is connected with the vacuum liquid suction pipe.
The gravity center swinging sensor is mainly characterized in that: fixed on the main frame, one end can pump out the liquid in the vacuum cylinder and press in the liquid energy storage cylinder connected with the other end.
The gravity center swing sensor is characterized in that: the vacuum hydraulic pump is fixed on the main frame, the spring is fixed on the upper part in the cylinder, the liquid pressed in by the vacuum hydraulic pump can compress the spring, some pressure liquid can be stored after the spring is compressed, and the lower end of the spring is respectively connected with A, B, C, D four energy hydraulic pipes.
In the above gravity center swinging sensor, the energy hydraulic pipe A, B, C, D is mainly characterized in that: A. b, C, D represents four energy hydraulic pipes, one end of which is connected to the lower part of the liquid energy storage cylinder, and the other end is connected to A, B, C, D four execution hydraulic cylinders, so that the liquid can flow through each other.
In the gravity center swinging sensor, the power transmission is mainly hydraulic transmission, and can also be transmitted by using machinery, levers and the like.
The invention has the following effects: for example, when the vehicle or an object moves on uneven ground or objects, the main frame is as vertical as possible to the gravity center, so that the vehicle or the object moves more smoothly.
Description of the drawings 1
The invention is further described with reference to the following figures and examples.
Center of gravity swing actuator diagram:
FIG. 1 side view of an actuator
FIG. 2 front view of the actuator
FIG. 3 actuator bottom view
In the figure 1, a main frame 2 of a main frame 2 gravity center swinging hammer 3, a large ball bearing 4, a swinging rod protective frame 5, an upper swinging rod A, B, C, D6, a lower swinging rod 366, a small ball bearing A, B, C, D7, an active hydraulic cylinder guide rod A, B, C, D8, an active hydraulic cylinder A, B, C, D9, a hydraulic pipe A, B, C, D10, a passive hydraulic cylinder A, B, C, D11, a passive hydraulic cylinder guide rod A, B, C, D12, a supporting plate A, B, C, D13 and a main rod of the connecting frame 13
Detailed description of the preferred embodiment 1
When the main frame 1 inclines to the front side and the right side, or the main frame 1 moves to turn, the gravity center swinging hammer 2 swings to the front side and the right side, the ball bowl driving the big ball bearing 3 rotates during swinging, the ball bowl drives A, B two upper and lower swinging rods 5 to swing upwards, each swing is through A, B two small ball bearings 6, A, B two driving hydraulic cylinder guide rods 7 are respectively pressed into A, B two driving hydraulic cylinders 8, the liquid of A, B two driving hydraulic cylinders 8 passes through A, B two hydraulic pipes 9, each is pressed into A, B two driven hydraulic cylinders 10, A, B two driven hydraulic cylinder guide rods 11 are respectively stretched out A, B two driven hydraulic cylinders 10, A, B two supporting discs 12 are respectively lengthened from the main frame 1 at the object or the ground position, the front side and the right side main frame 1 are raised, the ball bowl of the big ball bearing 3 also drives C, D two upper and lower swinging rods 5 during rotating, the downward swinging is respectively through C, D two small ball bearings 6, respectively pull out some two initiative pneumatic cylinder guide arms 7 of C, D of C, D two initiative pneumatic cylinders 8 simultaneously, the imbibition of two initiative pneumatic cylinders 8 of C, D, the liquid of C, D two passive pneumatic cylinders 10 is respectively sucked out by two initiative pneumatic cylinders 8 of C, D respectively through two hydraulic pipes 9 of C, D, C, D two passive pneumatic cylinder guide arms 11 are respectively retracted into C, D two passive pneumatic cylinders 10, C, D two supporting discs 12 are shortened with the distance of main frame 1 on object or ground, rear side and left side main frame 1 are reduced, so main frame 1 is as far as possible perpendicular with the focus.
Description of the drawings 2
The invention is further described with reference to the following figures and examples.
Center of gravity swing sensor diagram:
FIG. 4 side view of a sensor
FIG. 5 front view of the sensor
FIG. 6 bottom view of the sensor
FIG. 7 sensor top view
In the figure, a main frame 2 of a main frame 1, a gravity center swinging hammer 3, a large ball bearing 4, a swinging rod protective frame 5, a vertical swinging rod A, B, C, D6, a small ball bearing A, B, C, D7, a reversing valve guide rod A, B, C, D8, a reversing valve A, B, C, D9, an execution hydraulic pipe A, B, C, D10, an execution hydraulic cylinder A, B, C, D11, an execution hydraulic cylinder guide rod A, B, C, D12, a support plate A, B, C, D13, a main frame 14, a vacuum liquid suction pipe A, B, C, D15, a vacuum cylinder 16, a vacuum hydraulic pump 17, a liquid energy storage cylinder 18, an energy hydraulic pipe A, B, C, D and the like of a main frame 2 are connected with a
Detailed description of the preferred embodiment 2
When the main frame 1 inclines to the front side and the right side, or the main frame 1 moves to turn, the gravity center swinging hammer 2 swings to the front side and the right side, the ball bowl driving the large ball bearing 3 rotates during swinging, the ball bowl drives A, B two upper and lower swinging rods 5 to swing upwards, each swinging rod drives A, B two small ball bearings 6, A, B two reversing valve guide rods 7 are respectively pressed into A, B two reversing valves 8, A, B two reversing valves 8 are both opened, A, B two energy hydraulic pipes 18 and A, B two execution hydraulic pipes 9 are communicated, the liquid of the liquid energy storage cylinder 17 is pressed into A, B two execution hydraulic cylinders 10, A, B two execution hydraulic cylinder guide rods 11 are respectively stretched out of A, B two execution hydraulic cylinders 10, A, B two supporting disks 12 are lengthened from the main frame 1 at the position on the object or the ground, the front side and the right side main frame 1 are raised, C, B and B are also driven when the ball bowl of the large ball bearing 3 rotates, D two up-and-down swinging rods 5 swing downwards through C, D two small ball bearings 6 respectively, C, D two reversing valve guide rods 7 are pulled downwards, C, D two reversing valves 8 are opened, C, D two vacuum liquid suction pipes 14 are communicated with C, D two execution hydraulic pipes 9, a vacuum cylinder 15 sucks liquid out of C, D two execution hydraulic cylinders 10, C, D two execution hydraulic cylinder guide rods 11 are retracted into C, D two execution hydraulic cylinders 10 respectively, the distance between C, D two branch trays 12 on an object or the ground and the main frame 1 is shortened, the rear side main frame 1 and the left side main frame 1 are lowered, and therefore the main frame 1 is as vertical to the center of gravity as far as possible.
Claims (2)
1. A center of gravity swing actuator comprising: the main frame (1), a gravity center swinging hammer (2), a large ball bearing (3), a swinging rod protecting frame (4), an upper swinging rod A, B, C, D (5), a lower swinging rod A, B, C, D (6), a driving hydraulic cylinder guide rod A, B, C, D (7), a driving hydraulic cylinder A, B, C, D (8), a hydraulic pipe A, B, C, D (9), a driven hydraulic cylinder A, B, C, D (10), a driven hydraulic cylinder guide rod A, B, C, D (11), a supporting disc A, B, C, D (12) and a connecting frame main rod (13), wherein the lower edge of the center of the main frame (1) is fixed with the connecting frame main rod (13), the lower end of the connecting frame main rod (13) is fixed on the ball head of the large ball bearing (3), the lower end of the ball bowl of the large ball bearing (3) is fixed with the gravity center swinging hammer (2), and the four side surfaces of the ball bowl are respectively fixed with A, B, C, D four upper and lower swinging rods (, A. b, C, D the four up-down swinging rods (5) are vertical to each other, the vertical to each other means that A, B, C, D and the four up-down swinging rods (5) are on a plane and are shown in a cross form, the included angle is 90 degrees, A, B, C, D the four up-down swinging rods (5) are respectively surrounded by four swinging rod protection frames (4) fixed on the main frame (1) and can only swing up and down, the upper ends of the four swinging rod protection frames (4) are respectively fixed on the main frame (1), the outer ends of A, B, C, D the four up-down swinging rods (5) are respectively fixed on the ball heads of A, B, C, D four small ball bearings (6), A, B, C, D four active hydraulic cylinder guide rods (7) are respectively fixed on the ball bowls at the upper parts of A, B, C, D the four small ball bearings (6), and A, B, C, D the four active hydraulic cylinder guide rods (7) respectively prop against A, B, B. C, D, A, B, C, D four active hydraulic cylinders (8) are respectively fixed on four side rods of a main frame (1), A, B, C, D four active hydraulic cylinders (8) are respectively connected with A, B, C, D four hydraulic pipes (9), the lower ends of A, B, C, D four hydraulic pipes (9) are respectively connected with A, B, C, D four passive hydraulic cylinders (10), A, B, C, D four passive hydraulic cylinders (10) are respectively fixed on the lower ends of four side supports of the main frame (1), and A, B, C, D four passive hydraulic cylinder guide rods (11) are respectively fixed with A, B, C, D four supporting disks (12); the main frame (1) inclines to the front side and the right side or the main frame (1) moves to turn, the gravity center swinging hammer (2) swings to the front side and the right side, the ball bowl driving the big ball bearing (3) rotates during swinging, the ball bowl drives A, B two upper and lower swinging rods (5) to swing upwards, each swings through A, B two small ball bearings (6), A, B two active hydraulic cylinders (8) are respectively pressed into by A, B two active hydraulic cylinder guide rods (7), the liquid of A, B two active hydraulic cylinders (8) is respectively pressed into A, B two passive hydraulic cylinders (10) by A, B two hydraulic pipes (9), A, B two passive hydraulic cylinder guide rods (11) respectively extend A, B two passive hydraulic cylinders (10), A, B two supporting discs (12) are lengthened from the main frame (1) at the object or the ground position, the front side and the right side main frame (1) are lifted, C and C are driven when the ball bearing (3) rotates, D two swing arm (5) from top to bottom are respectively through C, D two little ball bearings (6), two initiative pneumatic cylinder guide arms (7) of C, D of C, D two initiative pneumatic cylinder (8) are respectively pulled out C, D two initiative pneumatic cylinder (8) simultaneously, C, D two initiative pneumatic cylinder (8) imbibition, the liquid of C, D two passive pneumatic cylinder (10) is respectively by C, D two initiative pneumatic cylinder (8) respectively through C, D two hydraulic pipe (9) suction, C, D two passive pneumatic cylinder guide arms (11) retract C, D two passive pneumatic cylinder (10), C, D two pallet (12) are shortened with body frame (1) distance in object or subaerial position, rear side and left side body frame (1) reduce, body frame (1) is perpendicular with the focus as far as possible like this, body frame (1) characteristic here is: a plane cross, lower fixed connecting rod (13) of following in the middle of the cross, four outer end departments of cross all have the support downwards respectively, and the support lower extreme is fixed with passive pneumatic cylinder (10), all are fixed with initiative pneumatic cylinder (8) on the cross front and back both sides pole and on controlling both sides pole, and initiative pneumatic cylinder (8) are inwards respectively fixed with swinging arms fender bracket (4) in short distance, and the characteristic of focus swinging hammer (2) here is: the body frame (1) swings along with the center of gravity when slope or motion, and the upper end hammer stem top is fixed on big ball bearing (3) ball bowl, and center of gravity swinging hammer (2) self gravity can not be moved by the pressure top of four sides here, makes the wobbling execution dynamics of center of gravity swinging hammer be greater than the rebound dynamics with lever principle when also designing, and the characteristic of big ball bearing (3) here is: the ball head and the ball bowl can rotate or twist 360 degrees, the upper end of the ball head and the ball bowl are fixed on a main rod (13) connected with the frame, the lower end of the ball head and the ball bowl are fixed on a hammer rod of a gravity center swinging hammer (2), four sides of the ball head are respectively fixed with four vertical swinging rods (5) which are perpendicular to each other on four planes, the vertical swinging rods (5) are A, B, C, D, the vertical swinging rods (5) are on one plane and are shown in a cross form, the included angle between the vertical swinging rods is 90 degrees, and the swinging rod protection frame (4) is characterized: the four up-down swinging rods (5) of the block A, B, C, D can only swing up and down and can not be twisted, and the up-down swinging rod (5) A, B, C, D is characterized in that: one ends of the A rod, the B rod, the C rod and the D rod are all fixed on the side surface of a ball bowl of the large ball bearing (3) in a mutually plane-perpendicular mode and can move up and down, the other ends of the A rod, the B rod, the C rod and the D rod are connected to a ball head of the small ball bearing (6), the lengths of the A rod, the B rod, the C rod and the D rod are the same, the mutually plane-perpendicular mode means that A, B, C, D four up-down swinging rods (5) are on the same plane and are represented in a cross form, the included angle is 90 degrees, and the small ball bearing (6) A, B, C, D is characterized in: the ball head and the ball bowl can rotate or twist 360 degrees, A, B, C, D represents four small ball bearings (6), and the active hydraulic cylinder guide rod (7) A, B, C, D is characterized in that: A. b, C, D represents four active hydraulic cylinder guide rods (7), one end of each active hydraulic cylinder guide rod is connected to the ball bowl of the small ball bearing (6), and the other end of each active hydraulic cylinder guide rod is pushed into the active hydraulic cylinder (8), wherein the active hydraulic cylinder (8) A, B, C, D is characterized in that: A. b, C, D denotes four active hydraulic cylinders (8) fixed to the four side bars of the main frame (1), where the hydraulic tubes (9) A, B, C, D are characterized by: A. b, C, D represents four hydraulic pipes (9), one end of each hydraulic pipe is connected with the active hydraulic cylinder (8), the other end of each hydraulic pipe is connected with the passive hydraulic cylinder (10), so that the two hydraulic cylinders are communicated with each other, wherein the passive hydraulic cylinder (10) A, B, C, D is characterized in that: A. b, C, D, which is fixed at the lower end of four brackets of the main frame (1), wherein the guide rod (11) A, B, C, D of the passive hydraulic cylinder is characterized in that: A. b, C, D, one end of which is supported in the passive hydraulic cylinder (10) and the other end is supported on a supporting disc (12), wherein the supporting disc (12) A, B, C, D is characterized in that: A. b, C, D, four supporting disks (12), the lower sides of the supporting disks (12) float on the object or the ground, and the connecting main rod (13) is characterized in that: the upper end is fixed below the center of the main frame (1), and the lower end is fixed on the ball head of the large ball bearing (3).
2. A center of gravity swing sensor is divided into: the device comprises a main frame (1), a gravity center swinging hammer (2), a large ball bearing (3), a swinging rod protection frame (4), an up-down swinging rod A, B, C, D (5), a small ball bearing A, B, C, D (6), a reversing valve guide rod A, B, C, D (7), a reversing valve A, B, C, D (8), an execution hydraulic pipe A, B, C, D (9), an execution hydraulic cylinder A, B, C, D (10), an execution hydraulic cylinder guide rod A, B, C, D (11), a supporting disc A, B, C, D (12), a frame connecting main rod (13), a vacuum liquid suction pipe A, B, C, D (14), a vacuum cylinder (15), a vacuum hydraulic pump (16), a liquid energy storage cylinder (17) and an energy hydraulic pipe A, B, C, D (18); the lower edge of the center of the main frame (1) is fixed with a connecting main rod (13), the lower end of the connecting main rod (13) is fixed on a ball head of a large ball bearing (3), the lower end of a ball bowl of the large ball bearing (3) is fixed with a gravity center swinging hammer (2), four side surfaces of the ball bowl are respectively fixed with A, B, C, D four up-down swinging rods (5), A, B, C, D four up-down swinging rods (5) are perpendicular to each other in a plane, the perpendicular to each other in the plane means A, B, C, D four up-down swinging rods (5) are on the same plane and are shown in a cross form, the included angle between the four up-down swinging rods (5) is 90 degrees, A, B, C, D four up-down swinging rods (5) are respectively surrounded by four swinging rod protection frames (4) fixed on the main frame (1) and can only swing up and down, the upper ends of the four swinging rod protection frames (4) are respectively fixed on the main frame (1), A, B, C, D, B. C, D four small ball bearings (6), the ball bowl at the upper part of A, B, C, D four small ball bearings (6) is respectively fixed with A, B, C, D four reversing valve guide rods (7), A, B, C, D four reversing valve guide rods (7) are respectively arranged in A, B, C, D four reversing valves (8), A, B, C, D four reversing valves (8) are respectively fixed on four side rods of the main frame (1), A, B, C, D four reversing valves (8) are respectively connected with A, B, C, D four actuating hydraulic cylinders (10) downwards, A, B, C, D four actuating hydraulic cylinders (10) are respectively fixed at the lower ends of four side brackets of the main frame (1), A, B, C, D four actuating hydraulic cylinder guide rods (11) are respectively fixed with A, B, C, D four supporting discs (12), A, B, C, D four reversing valves (8) are respectively provided with two hydraulic pipes upwards, one is a vacuum pipette (14) connected with the upper end of a vacuum cylinder (15), the other is an energy hydraulic pipe (18) connected with the lower end of a liquid energy storage cylinder (17), the vacuum cylinder (15) is connected with a vacuum hydraulic pump (16) through a single hydraulic pipe, and the vacuum hydraulic pump (16) is connected with the liquid energy storage cylinder (17) through a single hydraulic pipe; when the main frame (1) inclines to the front side and the right side or the main frame (1) moves to turn, the gravity center swinging hammer (2) swings to the front side and the right side, the ball bowl of the large ball bearing (3) is driven to rotate during swinging, when the ball bowl drives A, B two upper and lower swinging rods (5) to swing upwards, A, B two small ball bearings (6) are respectively passed through, A, B two reversing valves (8) are respectively pressed into two reversing valves (7) of A, B, the A, B two reversing valves (8) are respectively opened, A, B two energy hydraulic pipes (18) and A, B two execution hydraulic pipes (9) are communicated, the liquid of the liquid energy storage cylinder (17) is pressed into A, B two execution hydraulic cylinders (10), A, B two execution hydraulic cylinder guide rods (11) respectively extend out of A, B two execution hydraulic cylinders (10), A, B two branch discs (12) are respectively extended from the main frame (1) at the position on an object or the ground, the front side and the right side main frame (1) are lifted, the ball bowl of the large ball bearing (3) drives C, D two up-and-down swinging rods (5) to swing downwards respectively through C, D two small ball bearings (6) when rotating, C, D two reversing valve guide rods (7) are pulled downwards, C, D two reversing valves (8) are opened, C, D two vacuum liquid suction pipes (14) are communicated with C, D two execution hydraulic pipes (9), a vacuum cylinder (15) sucks out liquid of C, D two execution hydraulic cylinders (10), C, D two execution hydraulic cylinder guide rods (11) are respectively retracted into C, D two execution hydraulic cylinders (10), C, D two supporting discs (12) are shortened in distance from the main frame (1) at the position of an object or the ground, the rear side and the left side main frame (1) are lowered, the main frame (1) is thus as perpendicular as possible to the center of gravity, wherein the main frame (1) is characterized in that: a plane cross, lower fixed connecting rod (13) of following in the middle of the cross, four outer end departments of cross all have the support downwards respectively, and the support lower extreme is fixed with execution pneumatic cylinder (10), all is fixed with switching-over valve (8) on the cross front and back both sides pole and on controlling both sides pole, and switching-over valve (8) are inwards respectively fixed with the swinging arms and protect frame (4) not far away, and the characteristic of focus swinging hammer (2) here is: the main frame (1) swings along with the gravity center when inclining or moving, the top of the upper end hammer rod is fixed on the ball bowl of the large ball bearing (3), the gravity center swinging hammer gravity can push and pull the reversing valve to change the channel, and the large ball bearing (3) is characterized in that: the ball head and the ball bowl can rotate or twist 360 degrees, the upper end is fixed on a main rod (13) connected with the frame, the lower end is fixed on a hammer rod of a gravity center swinging hammer (2), four sides are respectively fixed with four vertical swinging rods (5) on four planes, the vertical swinging rods (5) on the four planes refer to A, B, C, D, the vertical swinging rods (5) on one plane are represented in a cross form, the included angle between the vertical swinging rods is 90 degrees, and the swinging rod protection frame (4) is characterized in that: the four up-down swinging rods (5) of the block A, B, C, D can only swing up and down and can not be twisted, and the up-down swinging rod (5) A, B, C, D is characterized in that: one ends of the A rod, the B rod, the C rod and the D rod are all fixed on the side surface of a ball bowl of the large ball bearing (3) in a mutually plane-perpendicular mode and can move up and down, the other ends of the A rod, the B rod, the C rod and the D rod are connected to a ball head of the small ball bearing (6), the lengths of the A rod, the B rod, the C rod and the D rod are the same, the mutually plane-perpendicular mode means that A, B, C, D four up-down swinging rods (5) are on the same plane and are represented in a cross form, the included angle is 90 degrees, and the small ball bearing (6) A, B, C, D is characterized in: the ball head and the ball bowl can rotate or twist for 360 degrees, A, B, C, D represents four small ball bearings (6), and the reversing valve guide rod (7) A, B, C, D is characterized in that: A. b, C, D, one end of which is arranged on the reversing valve (8) and the other end is fixed on the ball bowl of the ball bearing (6) to change the liquid channel of the reversing valve, wherein the reversing valve (8) A, B, C, D is characterized in that: A. b, C, D, four direction-changing valves (8), A, B, C, D, four direction-changing valves (8) are fixed on the four side rods of the main frame (1), and the characteristic of the hydraulic pressure pipe (9) A, B, C, D is that: A. b, C, D represents four hydraulic actuator lines (9) connected at one end to the directional valve (8) and at the other end to the actuator cylinder (10) to allow fluid communication, where the actuator cylinder (10) A, B, C, D is characterized by: A. b, C, D denotes four actuating cylinders (10) fixed to the lower ends of the four legs of the main frame (1), where the actuating cylinder guide rods (11) A, B, C, D are characterized by: A. b, C, D, one end of which is supported in the hydraulic cylinder (10) and the other end of which is supported on a supporting plate (12), wherein the supporting plate (12) A, B, C, D is characterized in that: A. b, C, D, four supporting disks (12), the lower sides of the supporting disks (12) float on the object or the ground, and the connecting main rod (13) is characterized in that: the upper end is fixed below the center of the main frame (1), the lower end is fixed on the ball head of the large ball bearing (3), and the vacuum pipette (14) A, B, C, D is characterized in that: A. b, C, D, which represents four vacuum suction pipes (14), one end of which is connected to the vacuum cylinder (15) and the other end of which is connected to the reversing valve (8), where the vacuum cylinder (15) is characterized in that: is fixed on the main frame (1), one end of the main frame is connected with the vacuum hydraulic pump (16), and the other end of the main frame is connected with the vacuum liquid suction pipe (14), wherein the vacuum hydraulic pump (16) is characterized in that: the main frame (1) is fixed, one end of the main frame can pump out the liquid of the vacuum cylinder (15) and press the liquid into the liquid energy storage cylinder (17) connected with the other end of the main frame, wherein the liquid energy storage cylinder (17) is characterized in that: fix on body frame (1), the upper portion is fixed with the spring in the jar, and the liquid compressible spring that vacuum hydraulic pump (16) pressed in can deposit some pressure liquid after the spring compression, and the lower extreme respectively links A, B, C, D four energy hydraulic pressure pipes (18), and the characteristic of energy hydraulic pressure pipe (18) A, B, C, D here is: A. b, C, D represents four energy hydraulic pipes (18), one end of which is connected with the lower part of the liquid energy storage cylinder (17), and the other end is connected with A, B, C, D four execution hydraulic cylinders (10), so that the liquid can flow mutually.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810815272.5A CN108956014B (en) | 2018-07-24 | 2018-07-24 | Center of gravity swing sensor and actuator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810815272.5A CN108956014B (en) | 2018-07-24 | 2018-07-24 | Center of gravity swing sensor and actuator |
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| CN108956014A CN108956014A (en) | 2018-12-07 |
| CN108956014B true CN108956014B (en) | 2020-07-31 |
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| CN112044759B (en) * | 2020-08-21 | 2021-10-19 | 刘俏良 | Food processing sieve material equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101375226A (en) * | 2006-09-04 | 2009-02-25 | 丰田自动车株式会社 | Moving body and moving body control method |
| CN103738837A (en) * | 2013-12-23 | 2014-04-23 | 柳州正菱集团有限公司 | Transfer hanger for auxiliary frame |
| CN105502221A (en) * | 2016-01-22 | 2016-04-20 | 蔡婷婷 | Three-dimensional direction self-adaptive plane hydraulic jack |
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2018
- 2018-07-24 CN CN201810815272.5A patent/CN108956014B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101375226A (en) * | 2006-09-04 | 2009-02-25 | 丰田自动车株式会社 | Moving body and moving body control method |
| CN103738837A (en) * | 2013-12-23 | 2014-04-23 | 柳州正菱集团有限公司 | Transfer hanger for auxiliary frame |
| CN105502221A (en) * | 2016-01-22 | 2016-04-20 | 蔡婷婷 | Three-dimensional direction self-adaptive plane hydraulic jack |
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