CN2716943Y - Novel six-degree-of-freedom gravity balance mechanism - Google Patents
Novel six-degree-of-freedom gravity balance mechanism Download PDFInfo
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- CN2716943Y CN2716943Y CN 200420070493 CN200420070493U CN2716943Y CN 2716943 Y CN2716943 Y CN 2716943Y CN 200420070493 CN200420070493 CN 200420070493 CN 200420070493 U CN200420070493 U CN 200420070493U CN 2716943 Y CN2716943 Y CN 2716943Y
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- revolute pair
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- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 230000005484 gravity Effects 0.000 title abstract description 5
- 239000000725 suspension Substances 0.000 claims description 8
- 238000004088 simulation Methods 0.000 abstract description 4
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
The utility model relates to mechanical engineering specifically is a novel six degree of freedom gravity balance mechanism. By support, first ~ seven revolute pairs, balancer, first sliding pair, ball pair, pocket rings constitute, wherein: the first revolute pair is connected with the support, the second revolute pair is connected with the first revolute pair, the first revolute pair is connected with the third revolute pair, the rigid connecting rod between the fourth revolute pair and the seventh revolute pair is connected with the first revolute pair through the third revolute pair, and the pocket lifting ring is connected with the sixth revolute pair and the fifth revolute pair. The utility model provides a problem of the object free state in the ground simulation space weightlessness environment.
Description
Technical field
The utility model relates to mechanical engineering, specifically is a kind of novel six degree of freedom gravitational equilibrium mechanism.
Background technology
At present, when the ground simulation space environment, test unit or object need be in state of weightlessness, and this just need carry out gravitational equilibrium to device or object.In the prior art, device or object are carried out the mode that gravitational equilibrium generally adopts the extension weight, the degree of freedom that this mode provides is limited, can not satisfy the state status of weightless object in space.Yet according to the free state of object in the space, balancing under the situation of gravity, also need provide the object six-freedom degree, promptly three are moved and three rotations, and in each gyration process, center of rotation remains unchanged, and do not produce and derive from motion.But this mechanism in six degree of freedom yet there are no report.
The utility model content
The purpose of this utility model provides a kind of novel six degree of freedom gravitational equilibrium mechanism, can solve the object free state problem in the ground simulation weightlessness of space environment.
The purpose of this utility model is achieved in that by bearing, the first～two revolute pair, evener, first moving sets, the 3rd revolute pair, ball pair, the four～five revolute pair, pocket suspension ring, the six～seven revolute pair to be formed, wherein: first revolute pair is connected with bearing, second revolute pair is connected with first revolute pair, first moving sets is connected with the 3rd revolute pair, connect with the 3rd revolute pair between the rigid connecting rod between the 4th revolute pair and the 7th revolute pair and first moving sets, the pocket suspension ring are connected with the 5th revolute pair with the 6th revolute pair;
Wherein the 7th revolute pair, the 4th revolute pair and the 6th revolute pair, the 5th revolute pair vertical are provided with, and their place axles are vertical mutually; Wherein evener can be Spring balancer, torque motor or servomotor.
The utlity model has following advantage:
1. the utility model mechanism is simple, cost is low.
2. motion is not derived from the rotational motion that provides of the utility model.The free state of object in the design consideration space of the present utility model, balancing under the situation of gravity, the object six-freedom degree is provided, promptly three are moved and three rotations, adopt the utility model, can solve the object free state problem in the ground simulation weightlessness of space environment, simultaneously in each gyration process, center of rotation remains unchanged, and does not produce to derive from motion.
3. the utility model is when gravitational equilibrium, and the perturbed force and the moment of inertia of introducing are little, and the response frequency height.
4. the utility model is realized easily, and is applied widely.
Description of drawings
Fig. 1 is the utility model six degree of freedom gravitational equilibrium mechanism sketch.
Embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
As shown in Figure 1, the utility model is by bearing 1, first revolute pair 2, second revolute pair 3, evener 4, first moving sets 5, the 3rd revolute pair 6, ball pair 7, the 4th revolute pair 8, the 5th revolute pair 9, pocket suspension ring 10, the six revolute pairs 11 and the 7th revolute pair 12 are formed, and wherein: first revolute pair 2 is connected with bearing 1, second revolute pair 3 is connected with first revolute pair 2, first moving sets 5 is connected with the 3rd revolute pair 6, connects the 5th revolute pair 9 with the 3rd revolute pair 6 between the rigid connecting rod between the 4th revolute pair 8 and the 7th revolute pair 12 and first moving sets 5, the 6th revolute pair 11, motion state between the 7th revolute pair 12 and the 4th revolute pair 8 constitutes a parallelogram, this quadrilateral can be realized between the 4th revolute pair 8 and the 7th revolute pair 12, rigid rod between the 5th revolute pair 9 and the 6th revolute pair 11 rotates and the O point is mobile around ball secondary 7 and O point respectively, and pocket suspension ring 10 are connected with the 5th revolute pair 9 with the 6th revolute pair 11; Wherein: the 4th revolute pair 8, the 5th revolute pair 9, pocket suspension ring 10, the six revolute pairs 11 and the 7th revolute pair 12 are under action of gravity, the 7th revolute pair 12, the 4th revolute pair 8 and the 6th revolute pair 11, the 5th revolute pair 9 are verticals on the position of placing, and their place axle is vertical mutually.
The utility model entire mechanism provides 6 degree of freedom, that is: pocket suspension ring 10 pockets hang the object that needs balance, the center of rotation of object is positioned at the O point, first revolute pair 2 and second revolute pair 3 constitute the plane rotating mechanism, provide object two plane motions, evener 4 is a thrust balancing device, can be Spring balancer, torque motor or servomotor etc., the power of this device output, the weight of lucky balance object, first moving sets 5 provides a degree of freedom that moves up and down along vertical, the 3rd revolute pair 6 provides one on object around vertical axis rotational freedom, and by centre of gyration O point, ball pair 7, the 4th revolute pair 8,12 3 kinematic pairs of the 7th revolute pair provide one on object around the rotational freedom of O point in the vertical plane, the 5th revolute pair 9, the 6th revolute pair 11 provides object another rotational freedom, and three rotational freedom quadratures, axis of rotation are all by the O point.After the weight of object was balanced, according to the six-freedom degree that this mechanism provides, object can not be subjected to the restriction of degree of freedom according to the orbiting motion of planning.
The utility model entire mechanism can be tried out on the space articulation mechanism buffer test platform.
Claims (3)
1. novel six degree of freedom gravitational equilibrium mechanism, it is characterized in that: by bearing (1), the first～two revolute pair (2～3), evener (4), first moving sets (5), the 3rd revolute pair (6), ball pair (7), the four～five revolute pair (8～9), pocket suspension ring (10), the six～seven revolute pair (11～12) is formed, wherein: first revolute pair (2) is connected with bearing (1), second revolute pair (3) is connected with first revolute pair (2), first moving sets (5) is connected with the 3rd revolute pair (6), connect with the 3rd revolute pair (6) between rigid connecting rod between the 4th revolute pair (8) and the 7th revolute pair (12) and first moving sets (5), pocket suspension ring (10) are connected with the 5th revolute pair (9) with the 6th revolute pair (11).
2. by the described novel six degree of freedom gravitational equilibrium mechanism of claim, it is characterized in that: wherein the 7th revolute pair (12), the 4th revolute pair (8) and the 6th revolute pair (11), the 5th revolute pair (9) vertical setting, their place axles are vertical mutually.
3. by the described novel six degree of freedom gravitational equilibrium mechanism of claim, it is characterized in that: wherein evener (4) can be Spring balancer, torque motor or servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420070493 CN2716943Y (en) | 2004-09-01 | 2004-09-01 | Novel six-degree-of-freedom gravity balance mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420070493 CN2716943Y (en) | 2004-09-01 | 2004-09-01 | Novel six-degree-of-freedom gravity balance mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2716943Y true CN2716943Y (en) | 2005-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420070493 Expired - Lifetime CN2716943Y (en) | 2004-09-01 | 2004-09-01 | Novel six-degree-of-freedom gravity balance mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN2716943Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100361869C (en) * | 2004-09-01 | 2008-01-16 | 中国科学院沈阳自动化研究所 | Six-freedom-degree gravity balance mechanism |
| CN103440796A (en) * | 2013-08-02 | 2013-12-11 | 湖南大学 | Deep space exploration simulation training device based on series-parallel five freedom degree and working method thereof |
| CN103489355A (en) * | 2013-08-02 | 2014-01-01 | 湖南大学 | Deep space exploration simulation training device and working method thereof |
| CN104390656A (en) * | 2014-11-25 | 2015-03-04 | 上海宇航***工程研究所 | Passive following gravity balancing device with four degrees of freedom |
| CN104925276A (en) * | 2015-05-11 | 2015-09-23 | 上海宇航***工程研究所 | 12-degree-of-freedom docking and separation testing device simulating weightlessness motion |
| CN105931522A (en) * | 2016-06-29 | 2016-09-07 | 中国科学院沈阳自动化研究所 | Micro-gravity servo-balancing hanging and transferring device with two degrees of freedom |
| CN108217477A (en) * | 2016-12-22 | 2018-06-29 | 中国科学院沈阳自动化研究所 | Docking mechanism six degree of freedom gravitational equilibrium follower |
-
2004
- 2004-09-01 CN CN 200420070493 patent/CN2716943Y/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100361869C (en) * | 2004-09-01 | 2008-01-16 | 中国科学院沈阳自动化研究所 | Six-freedom-degree gravity balance mechanism |
| CN103440796A (en) * | 2013-08-02 | 2013-12-11 | 湖南大学 | Deep space exploration simulation training device based on series-parallel five freedom degree and working method thereof |
| CN103489355A (en) * | 2013-08-02 | 2014-01-01 | 湖南大学 | Deep space exploration simulation training device and working method thereof |
| CN103489355B (en) * | 2013-08-02 | 2015-06-24 | 湖南大学 | Deep space exploration simulation training device and working method thereof |
| CN104390656A (en) * | 2014-11-25 | 2015-03-04 | 上海宇航***工程研究所 | Passive following gravity balancing device with four degrees of freedom |
| CN104390656B (en) * | 2014-11-25 | 2017-02-22 | 上海宇航***工程研究所 | Passive following gravity balancing device with four degrees of freedom |
| CN104925276A (en) * | 2015-05-11 | 2015-09-23 | 上海宇航***工程研究所 | 12-degree-of-freedom docking and separation testing device simulating weightlessness motion |
| CN105931522A (en) * | 2016-06-29 | 2016-09-07 | 中国科学院沈阳自动化研究所 | Micro-gravity servo-balancing hanging and transferring device with two degrees of freedom |
| CN105931522B (en) * | 2016-06-29 | 2018-07-31 | 中国科学院沈阳自动化研究所 | A kind of microgravity two-freedom is servo-actuated to balance hanging, transfer device |
| CN108217477A (en) * | 2016-12-22 | 2018-06-29 | 中国科学院沈阳自动化研究所 | Docking mechanism six degree of freedom gravitational equilibrium follower |
| CN108217477B (en) * | 2016-12-22 | 2019-07-05 | 中国科学院沈阳自动化研究所 | Docking mechanism six degree of freedom gravitational equilibrium follower |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080116 |
|
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080116 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |