CN109668014A - A kind of four axis stabilizers having vertical vibration-damping function - Google Patents
A kind of four axis stabilizers having vertical vibration-damping function Download PDFInfo
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- CN109668014A CN109668014A CN201910105687.8A CN201910105687A CN109668014A CN 109668014 A CN109668014 A CN 109668014A CN 201910105687 A CN201910105687 A CN 201910105687A CN 109668014 A CN109668014 A CN 109668014A
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- 238000013016 damping Methods 0.000 title claims abstract description 43
- 239000003381 stabilizer Substances 0.000 title claims abstract description 17
- 230000006641 stabilisation Effects 0.000 claims abstract description 9
- 238000011105 stabilization Methods 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 8
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 4
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
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- 230000033001 locomotion Effects 0.000 description 15
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- 230000005484 gravity Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a kind of four axis stabilizers for having vertical vibration-damping function, including the three-axis stabilization device with pitch axis, roll axis and course axis, it further include vertical vibration damping axis, the vertical vibration damping axis includes rack, elastic component, load table, driving member, and the driving member includes the rotary shaft being fixed on the rack, the driving wheel rotated by rotary shaft, the involute wheel being fixedly connected with driving wheel；One end of the elastic component is fixed on the rack, and the other end is by a linear part solderless wrapped connection on involute wheel；The load table includes the positive drive portion of the supporting part that top is fixedly connected with three-axis stabilization device and lower part, and load table is flexibly connected by positive drive portion with driving wheel.The present invention is by vertical vibration damping shaft design, and using lever principle, solving elastic component active force is variation, simply using the slow vibration of elastic component, still can be to the non-uniform impact force of load transmission and vibration the problem of.
Description
Technical field
The present invention relates to photographic equipment technical field, especially a kind of four axis stabilizers for having vertical vibration-damping function.
Background technique
Shooting shake in order to prevent, many photographic equipments are all erected on holder and are shot, but holder stabilization is
It is preferable for the anti-shake effect of horizontal direction, but it is bad for the anti-shake effect of vertical direction.Currently, related vertical stabilization
Research is few, wherein a PCT Patent Application WO2017/132814A1 disclose it is a kind of vertically increase steady structure, cradle head device and
Capture apparatus, vertically increasing steady component includes elastic component, revolving part and outstanding draw piece, hangs one end of draw piece around the periphery of revolving part
On face, the elastic force of elastic component can be converted to the outstanding draw piece pulling force constant to load for connecting load, revolving part by the other end,
To achieve the effect that vertical vibration damping stabilization of getting up to load.There are still deficiencies for the program, are mainly reflected in the following aspects: first
First, the program carrys out carry load due to using flexible piece, can accomplish that certain power is mended to shake vertically upward
It repays, reaches certain anti-vibration effect, but cannot accomplish quick, sensitive, accurate force compensating；Secondly the program is only applicable to erect
It is loaded to lifting, and the use scope of the device cannot be limited in support load vertically upward；Last program loading range
It is non-adjustable, narrow application range.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of four axis stabilizers for having vertical vibration-damping function, can
Quick, sensitive, accurate force compensating is carried out with the vertical shake to four axis stabilizers, realizes more excellent effectiveness in vibration suppression, and can
To realize lifting load upwards or the upwards vibration damping in a manner of a variety of load-carryings such as support load, and cost is lower, reliably
Property is higher.
To achieve the above object of the invention, a kind of four axis stabilizers having vertical vibration-damping function of the present invention, including band
The three-axis stabilization device of pitch axis, roll axis and course axis further includes vertical vibration damping axis, and the vertical vibration damping axis includes rack, bullet
Property part, load table, driving member；
The driving member includes that the rotary shaft being fixed on the rack, the driving wheel rotated by rotary shaft and driving wheel are consolidated
Surely the involute wheel connected；
One end of the elastic component is fixed on the rack, and the other end is by a linear part solderless wrapped connection on involute wheel；
The load table includes the positive drive portion of the supporting part that top is fixedly connected with three-axis stabilization device and lower part, load
Platform is flexibly connected by positive drive portion with driving wheel, realizes the conversion of linear motion and rotary motion.
By being used cooperatively for elastic component and involute wheel, constant moment is obtained, and is designed by positive drive, realization
When receiving the vertical vibration from external environment, actively, rapidly compensation is perpendicular shifts up to reliable and inexpensive
Mode obtained it is a kind of be quick on the draw, the vertical vibration-damping apparatus that structure is simple, compensation effect is good.
Further, the elastic component be volute spring, helical spring, rubber band, hydraulic damper or air-pressure damping part
One or more of combination.Allow to manufacture and produce the vertical vibration-damping apparatus in a manner of low cost as a result,.
Further, the driving wheel be at least partly be the constant round tooth gear member of radius, positive drive portion is and tooth
The rack gear that gear member is meshed.Via such design, realized in mode reliable and that vertical displacement compensation precision is high to vertical
The damping of vibration.
Further, the driving wheel is balance wheel, is provided with a sliding part at balance wheel periphery, positive drive portion is configured to
With the linear displacement part for forming the sliding slot being slidably connected with balance wheel sliding part.Vertical vibration-damping apparatus is further reduced as a result,
Present in friction loss, the sensitivity of reaction that the vertical vibration-damping apparatus vertically shakes outside and compensation can be improved in this
Accuracy.Further, the linear part is one of steel wire, nylon wire, carbon fiber line.Vertical damping can be further decreased
The manufacturing cost of device, and since the quality of linear part is smaller, it will not actually increase vertical vibration-damping apparatus additional quality,
To provide simple and reliable connection.
Further, the linear part is directed to along the outer periphery of involute wheel, further includes for changing the linear part
Guide the guide wheel in direction.Can permit linear part in the whole work process of vertical vibration-damping apparatus all reliably with the rotation
Wheel is kept in contact.
It further, further include guide part, the guide part is fixed on the rack, and load table is made to make linear fortune along guide part
It is dynamic；It realizes and load table is vertically guided with low in cost and reliable way.
It further, further include the linear bearing being fixedly connected with positive drive portion, linear bearing is socketed over the guide.
Further improve the effect vertically guided load table.
The working principle of the invention: this structure is solved by the combination of involute wheel and elastic component using lever principle
Elastic component active force is variation, still can be to the non-uniform impact force of load transmission and vibration simply using the slow vibration of elastic component
Problem.Utilize the force balance load of elastic component.But due to the elastic force of elastic component be not it is constant, with the shape of elastic component
Become, the active force that elastic component generates is also variation, the weight of load and the dynamics of elastic component be it is corresponding, load it is heavier,
Elastic component deformation is bigger, and the dynamics of elastic component is also bigger.Outer periphery is introduced as a result, at a distance from rotary shaft with angle linear change
Involute wheel, one end of linear part is connected by elastic component, the other end solderless wrapped connection of linear part on involute wheel so that variation
Elastic component elastic force and product (the i.e. power of elastic component of the arm of force that changes to axis of rotation of its position on involute wheel
Square) it is constant all the time；In order to make torque and the torque of load of this equilibrium cancel out each other, it is further introduced into transformation curve movement
With the transmission device of linear motion, the i.e. cooperation in positive drive portion and driving wheel, driving wheel is coaxially fixed with involute wheel；Work as machine
When frame vertically shakes, by working in coordination for elastic component, driving wheel and involute wheel, so that branch of the driving wheel to positive drive portion
Support force is invariable；In addition, positive drive portion and load are in a kind of levitated equilibrium state of weightlessness relative to rack always, pass
When driving wheel is rotated with the up and down motion of rack, then it is equivalent to only to do in positive drive portion and smoothly rolls, and without
Dynamic positive drive portion follows movement, namely loads at relative to environment when rack as cameraman moves when dipping and heaving
In the equilibrium state not risen and fallen substantially, to reach preferable effectiveness in vibration suppression.
The beneficial effects of the invention are as follows can substantially reduce the influence vertically shaken and loaded to holder, there is more excellent subtract
Vibration effect, and the vibration damping for lifting load upwards or supporting a variety of load-carrying modes such as load upwards may be implemented.
Detailed description of the invention
Fig. 1 is a kind of four axis stabilizer overall structure figures for having vertical vibration-damping function of the present invention；
Fig. 2 is the structural schematic diagram of the first vertical vibration damping axis of the present invention
Fig. 3 is the complete structure schematic diagram of the first vertical vibration damping axis of the present invention；
Fig. 4 is second of vertical shock absorption device structure top view of the present invention；
Fig. 5 is second of vertical shock absorption device structure bottom view of the present invention；
Fig. 6 is the vertical vibration damping axle construction figure of the present invention with volute spring；
In figure, 1. vertical vibration-damping apparatus；2. rotary shaft；3. driving member；31. driving wheel；32. involute wheel；33. balance wheel；
331. sliding part；4. load table；40. supporting part；41. positive drive portion；42. linear displacement part；421. sliding slot；5. elastic component 6.
Linear 61. guide wheel of part, 7. guide part；71. guide rail；72. linear bearing；73. linear bearing seat；9, volute spring；103, pitching
Axis；102, roll axis；101, course axis；10, rack.
Specific embodiment
Description, the exemplary scheme of the present invention will be described in detail disclosed vertical vibration-damping apparatus.Although providing attached
Figure is in order to which some embodiments of the present invention are presented, but attached drawing need not be drawn by the size of specific embodiment, and certain
Feature can be amplified, remove or office is cutd open to be better shown and explain the disclosure.Partial component in attached drawing can
Position adjustment is carried out according to actual needs under the premise of not influence technique effect.The phrase occurred in the description is " in attached drawing
In " or similar term need not refer to all attached drawings or example.
It should be noted that it can be directly on another component when component is referred to as " fixation " to another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " setting " in another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.It hereinafter be used to describe attached drawing
Certain directional terminologies, such as " cross ", " perpendicular ", "front", "rear", "inner", "outside", " top ", " lower section " and other directionality arts
Language, it will accordingly be understood that for its normal meaning and criticize often see attached drawing when related those directions.Except as otherwise indicating, this theory
Directional terminology described in bright book is substantially according to conventional direction understood by one of ordinary skill in the art.Term used in the present invention
" first ", " second " and its similar terms are not offered as any sequence, quantity or importance in the present invention, but being used for will
One component is distinguished with other components.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
In Fig. 1, it is schematically shown that an embodiment of the invention.As shown in Figure 1, one kind has vertical vibration damping
Four axis stabilizers of function include pitch axis 103, roll axis 102 and course axis 101, further include vertical vibration damping axis 1, described vertical
Vibration damping axis 1 includes: rack 10, elastic component 5, load table 4, driving member, and wherein driving member includes the rotation for being fixedly attached to rack 10
Shaft 2, the driving wheel 31 rotated by rotary shaft 2, the involute wheel 32 being fixedly connected with driving wheel 31, the elastic component 5
One end is fixed in rack 10, and the other end is by linear 6 solderless wrapped connection of part on involute wheel 32；The load table 4 includes top
The positive drive portion 41 of the supporting part 40 and lower part that are fixedly connected with course axis 101, load table 4 is by positive drive portion 41 and passes
Driving wheel 31 is flexibly connected, and realizes the conversion of linear motion and rotary motion.In the present embodiment, which is configured to
The biography runner is configured to balance wheel 33, and sliding part 331 is arranged at 33 periphery of balance wheel；Positive drive portion is configured to and the sliding
Portion 331 forms the linear displacement part 42 for the sliding slot 421 being slidably connected；Wherein the sliding part 331 is preferably the smooth roller in surface.
Involute wheel 32 be configured at least partly outer periphery at a distance from rotary shaft 2 with the pulley part of angle linear change；It puts herein
Wheel 33 and involute wheel 32 can be to be made respectively and then (such as be fixedly secured to one another with non-relative rotation manner to each other
Or bonding) be coaxially disposed in the rotary shaft 2, so that both balance wheel 33 and involute wheel 32 be allowed to remain common
Rotation.Certainly it is also contemplated that balance wheel 33 and involute wheel 32 can be formed as single type.
As Fig. 4,5 can do the movement velocity of sliding part 331 thereon during the rotary oscillation of the balance wheel 33
Orthogonal Decomposition, wherein the speed of horizontal direction is Vx, and the speed of vertical direction is Vy.As a result, in the rotary oscillation mistake of balance wheel 33
Certain horizontal shift can occur in sliding slot 421 for Cheng Zhong, one side sliding part 331, and on the other hand the sliding part 331 will drive
The linear displacement part 42 vertically moves.It in other words, can be by balance wheel via the mating reaction of sliding part 331 and sliding slot 421
Both 33 and linear displacement part 42 one crank block slider structure of equivalent formation, ensure that linear displacement part 42 is only vertically transported
Dynamic, i.e. the rotary oscillation of the balance wheel is converted into the linear motion of the linear displacement part 42.Preferably, which can be with
It is roller, thus, it is possible to reduce the undesirable friction between sliding part 331 and sliding slot 421 as much as possible to ensure that efficiently
Movement transmitting.
Such as Fig. 4,5, due to the position of the sliding part 331 be it is fixed, i.e., it is entirely putting to the distance between rotary shaft 2
It is also to remain unchanged during dynamic.Simultaneously as sliding part 331 is embedded in the sliding for carrying the linear displacement part 42 of load
In slot 421, the gravity of the load can be inverse in Fig. 4 to the balance wheel 33 with the contact of sliding groove 421 via the sliding part 331
Clockwise applies the torque for being referred to alternatively as the first torque with respect to the rotary shaft 2.Wherein the torque be equal to load gravity with
The product of the distance between load table 4 and the rotary shaft 2 (i.e. the radius of the rotation center of sliding part 331 to balance wheel).
In general, the pulling force of elastic component 5 is directly proportional to its elastic deformation, i.e., the elastic deformation of the described elastic component 5 is bigger,
The elastic force of the elastic component 5 is bigger.In other words, it in 32 circumgyration stretch elastic component 5 counterclockwise of involute wheel, acts on linear
Power in part 6 is bigger, and on the contrary then in the linear part 6 power is smaller.Gravity and transmission for the present embodiment, due to the load
The radius of wheel 31 is constant, and as going out as shown in the figure, the half of the side shown in keeping right of involute wheel 32
Diameter be greater than keep left shown in side radius, in other words, when involute wheel 32 rotates counterclockwise, with elastic component 5
Elastic force is increasing (power for the involute wheel 32 that linear part 6 is applied to is also increasing), but linear part 6 and involute wheel 32
Left side is then increasingly leaned in contact point, i.e. the radius of involute wheel 32 is to reduce.When involute wheel 32 is rotated clockwise
Identical situation can occur, i.e. the elastic force of elastic component 5 is smaller and smaller, but the radius of involute wheel 32 is increasing.Therefore, only
The situation of change of the radius of the involute wheel 32 is rationally designed, the elastic component 5 can be made to be applied to the second torque of rotary shaft 2
Always the gravity that the load is acted on described in balance is applied to the first torque of rotary shaft 2, that is, the rotary shaft 2 can incite somebody to action
The elastic force of elastic component 5 is converted to the constant support force to the load or is properly termed as remaining the weight for balancing the load
Power.In other words, due to the effect of vertical vibration-damping apparatus according to the present embodiment, which is in state of weightlessness always.
It should be noted that vertical vibration refers to the vibration with vertical component herein, as long as that is, vibration has in vertical direction
It is important, that is, it can be referred to as vertical vibration, in other words, the macroscopic motion direction not necessarily vertical direction vertically shaken,
There can be certain angle with vertical direction.When the vertical vibration is, for example, to move downward, due to the vertical vibration-damping apparatus
In rotation be pivotally connected to rack, therefore the vertically displacement certain distance downwards of driving wheel 31 can be driven with rack.Due to
There are meshing relation between the driving wheel 31 and the positive drive portion 41, the vertical displacement of driving wheel 31 can correspondingly cause the biography
Driving wheel 31 is rotated in a clockwise direction certain angle and reaches another Angle Position, while the positive drive portion 41 can be made in driving wheel
Upward displacement certain distance under 31 drive, due to described above, in driving wheel 31 along equal energy during any direction rotation
Keep balancing the gravity of the load, since the distance that driving wheel 31 shifts downwards is substantially equal to positive drive portion 41 to moving up
The distance of position, thus load it is actual it is vertical on absolute position do not change, that is, eliminate the vibration pair of external environment
The influence of load.In other words, since vertical vibration-damping apparatus of the invention can be in the case where keeping balancing the gravity of the load
Opposite direction via positive drive portion 41 with dynamic loading along vibration direction moves, to eliminate the vibration of external environment to load
Influence.Same situation also can the appearance when vertical vibration is movement directed downwardly.It follows that those skilled in the art can
Understanding obtains, and influence of the vertical vibration for load can be substantially eliminated or completely cut off using vertical vibration-damping apparatus of the invention.
Although being pointed out that in the present embodiment, such as Fig. 1,6, using the volute spring 9 as elastic component 5,
This is merely exemplary, elastic component 5 can also be the rubber band that linearly can be stretched or bounce back, hydraulic damper or
The helical spring and/or rubber band and/or hydraulic damper of air-pressure damping part either arrangement in series or in parallel and/or air pressure
Damping piece, as long as the elastic component 5 meets the pulling force relationship directly proportional to its deformation quantity.
Further, as a preferred mode, which can also include the fortune for being parallel to load table 4
The guide part 7 of dynamic direction setting, wherein as shown in figure 3, the guide part 7 includes: to be parallel to the direction of motion of load table 4 to be arranged
At least one guide rail, wherein the guide rail is preferably 2, is parallel to the direction of motion and extends and placed at its both ends by mounting base
It is good.It is equipped with linear bearing 72 respectively on guide rail, the support 73 for being fixedly attached to the positive drive portion 41 can be by means of this
Linear bearing 72 is guided to slide along guide rail.By means of such setting, exist with enabling 41 straight-line guidance of positive drive portion
Perpendicular to move upwards and occur the uncoupling with driving wheel 31, this is conducive to the reliability of vertical elastic axis 1.
Another embodiment according to the present invention, wherein most component and the first implementation are shown in figs 2 and 3
Mode be it is identical, difference be wherein driving wheel and matched positive drive portion.Therefore, identical appended drawing reference quilt
For identical component.
As shown in Figures 2 and 3, it is different from first embodiment, in the present embodiment, the driving wheel 31 is configured to
The round tooth gear member of multiple teeth is evenly equipped on periphery, the side of driving wheel 31 outer circumference substantially at vertical tangent line side
Set up the load table 4 for load described in vertical supporting.As shown in Fig. 2, load table 4 here includes holding for top
The positive drive portion 41 in load portion 40 and lower part, wherein positive drive portion 41 is configured to the tooth being meshed with the tooth of driving wheel 31
Item.When the supporting part of load table 4 is equipped with load, due to the gravity of the load, nibbled via the tooth of the rack and pinion part
The torque for being referred to alternatively as the first torque can be applied to counter clockwise direction of the driving wheel 31 in figure with respect to the rotary shaft 2 by closing.
Wherein the torque is equal to the product of the distance between gravity and the rotary shaft of load table 4 and 2 of load (i.e. the radius of driving wheel 31).
It is symmetrically provided with elastic component 5 about rotary shaft 2 in the lower section of involute wheel 32, with positive drive portion 41, herein
The elastic component 5 is the helical spring that can be stretched or bounce back in the vertical direction.Wherein the lower end of elastic component 5 is by not displaceably
Place, such as the lower end of elastic component 5 can be fixedly attached to rack, at the same the upper end of the elastic component 5 via a linear part 6 around
It connects on involute wheel 32, the linear part 6 can be steel wire or nylon wire or carbon fiber line herein, as long as it is with enough
Tensile strength.For the ease of guiding and make the linear part 6 to deflect, guide wheel 61 is additionally provided near involute wheel 32,
The guide wheel 61 can be the smooth idle pulley of outer peripheral surface.As shown in Figure 1, the linear part 6 along outer periphery and rotary shaft 2 away from
Outer periphery from the involute wheel 32 with angle linear change is directed to.Since the linear part 6 is constantly in the state of dynamic balance,
That is the tension that the frictional force that the linear part 6 is given in the outer periphery of involute wheel 32 is equal to the linear part 6 (is equally equal to elastic component 5
Elastic force).Therefore linear part 6 equally can be to the active force of the same size of involute wheel 32 tangentially, in the active force
Under effect the second torque can be referred to alternatively as along clockwise direction relative rotation axi 2 shown in Fig. 2 application to involute wheel 32
Torque.Wherein the torque is equal to the contact point of the elastic force of elastic component and the outer periphery of linear part 6 and involute wheel 32 to rotation
The product of the distance of shaft 2.
Likewise, being symmetrically provided with bullet about rotary shaft 2 in the lower section of the involute wheel 32, with the linear displacement part 42
Property part 5, can be the helical spring that can stretch or bounce back in the vertical direction in this elastic component 5.Wherein under the elastic component 5
End is not placed displaceably, such as the lower end of elastic component 5 can be fixedly attached to rack, while the upper end of the elastic component 5
Via linear 6 solderless wrapped connection of part on the involute wheel 32, the linear part 6 is, for example, steel wire or nylon wire or carbon fiber herein
Line, as long as it is with enough tensile strengths.For the ease of guiding and making the linear part 6 to deflect, in the involute wheel 32
It nearby is additionally provided with guide wheel 61, the idle pulley which can be smooth for outer peripheral surface.As shown in Fig. 2, linear 6 edge of part
The outer periphery of involute wheel 32 of the outer periphery at a distance from rotary shaft 2 with angle linear change be directed to.Due to the linear part 6
It is constantly in the state of dynamic balance, i.e. the frictional force that the linear part 6 is given in the outer periphery of involute wheel 32 is equal to the linear part 6
Tension (the same elastic force for being equal to elastic component 5).Therefore linear part 6 equally can be to the same size of involute wheel 32 tangentially
Active force can apply involute wheel 32 along clockwise direction relative rotation axi 2 shown in Fig. 2 under the action of the active force
It is referred to alternatively as the torque of the second torque.Wherein the torque is equal to the elastic force and linear part 6 and involute wheel 32 of elastic component
The contact point of outer periphery to rotary shaft 2 distance product.
As above-mentioned, as long as rationally designing situation of change of the outer periphery of involute wheel 32 at a distance from rotary shaft 2, i.e.,
Can make the elastic component 5 be applied to rotary shaft 2 the second torque balance always described in act on the gravity of the load and be applied to rotation
First torque of shaft 2, that is, the elastic force of elastic component 5 can be converted to the constant support to the load by the rotary shaft 2
Power is properly termed as remaining the gravity for balancing the load.In other words, since vertical damping according to the present embodiment fills
Setting can equally play the role of that load is made to be in state of weightlessness always.
Although not each embodiment only includes one it should be appreciated that this specification describes according to various embodiments
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solutions in the embodiments also may be combined bright book, formed it will be appreciated by those skilled in the art that
Other embodiment.
Although above having used specific embodiment, the present invention is described in detail, on basis of the invention
On, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore, without departing from
These modifications or improvements on the basis of spirit of that invention, fall within the scope of the claimed invention.
Claims (8)
1. a kind of four axis stabilizers for having vertical vibration-damping function, including the three-axis stabilization with pitch axis, roll axis and course axis
Device, it is characterised in that: further include vertical vibration damping axis；The vertical vibration damping axis includes rack, elastic component, load table, driving member；
The driving member includes that the rotary shaft being fixed on the rack, the driving wheel rotated by rotary shaft and driving wheel are fixed and connected
The involute wheel connect；
One end of the elastic component is fixed on the rack, and the other end is by a linear part solderless wrapped connection on involute wheel；
The load table includes the positive drive portion of the supporting part that top is fixedly connected with three-axis stabilization device and lower part, and load table is logical
Positive drive portion is crossed to be flexibly connected with driving wheel.
2. four axis stabilizer according to claim 1, it is characterised in that: the elastic component is volute spring, helical spring, rubber
The combination of one or more of rubber band, hydraulic damper or air-pressure damping part.
3. four axis stabilizer according to claim 1, it is characterised in that: the driving wheel is configured at least part as with rotation
The round tooth gear member that shaft is the center of circle, radius is constant, positive drive portion is configured to the rack gear being meshed with gear member.
4. four axis stabilizer according to claim 1, it is characterised in that: the driving wheel is configured to balance wheel, balance wheel periphery
Place is provided with a sliding part, and positive drive portion is configured to the linear shifting for forming the sliding slot being slidably connected with balance wheel sliding part
Position part.
5. four axis stabilizer according to claim 1, it is characterised in that: the linear part is steel wire, in nylon wire, carbon fiber line
One kind.
6. four axis stabilizer as described in claim 1, it is characterised in that: the linear part is led along the outer periphery of involute wheel
Draw, further includes the guide wheel for making the linear part change guiding direction.
7. four axis stabilizer according to claim 1, it is characterised in that: further include guide part, the guide part is fixed on machine
On frame, move linearly load table along guide part.
8. four axis stabilizer according to claim 7, it is characterised in that: further include the straight line being fixedly connected with positive drive portion
Bearing, linear bearing are socketed over the guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109668014B (en) | 2023-07-04 |
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