CN111207899A - Multi-degree-of-freedom decoupling ball head automatic balancing device - Google Patents
Multi-degree-of-freedom decoupling ball head automatic balancing device Download PDFInfo
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- CN111207899A CN111207899A CN202010164357.9A CN202010164357A CN111207899A CN 111207899 A CN111207899 A CN 111207899A CN 202010164357 A CN202010164357 A CN 202010164357A CN 111207899 A CN111207899 A CN 111207899A
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- 239000002184 metal Substances 0.000 claims description 21
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- 238000011900 installation process Methods 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
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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
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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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
- F16F15/04—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 using elastic means
- F16F15/08—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 using elastic means with rubber springs ; with springs made of rubber and metal
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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
- F16F2230/00—Purpose; Design features
- F16F2230/0011—Balancing, e.g. counterbalancing to produce static balance
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Abstract
The invention discloses a multi-degree-of-freedom decoupling ball head automatic balancing device which comprises a top mounting plate, an internal mounting plate, an elastic balancing device, petals, a ball head and a bottom mounting plate. The ball head is installed on the bottom installation plate through bolts, the top installation plate is connected with the ball head through bolts, the inner installation plate is connected with the top installation plate through bolts, the bottoms of the four petals are connected with the bottom installation plate through bolts, and the upper portion of the four petals is connected with the inner installation plate through a specially-made elastic balancing device. The ball head is crooked among the test process, and crooked power of producing will act on the petal through elasticity balancing unit, and elasticity balancing unit's rubber spring position will compress and tensile, because the petal lower part is fixed on the bottom mounting panel, this power will be used on the inside mounting panel to act on the ball head and balance the ball head. The whole process does not need extra action, and the automatic balance of the ball head is realized as a result of the interaction of the elastic force.
Description
Technical Field
The invention belongs to the field of mechanical vibration engineering, and relates to a multi-degree-of-freedom decoupling ball head applied to a multi-axis vibration test, in particular to an automatic balancing device of the multi-degree-of-freedom decoupling ball head.
Background
During multi-axis vibration test, because of the adoption of a plurality of vibration tables, asynchronous vibration can be generated among the plurality of vibration tables, and therefore a decoupling device is needed to decouple different motions among different vibration tables. At present, the multi-freedom decoupling ball head is commonly used for decoupling different motions of different vibration tables.
In the multi-degree-of-freedom decoupling ball head in the multi-axis vibration test process, each vibration table is provided with the multi-degree-of-freedom decoupling ball head, due to asynchronous vibration among different vibration tables, different twisting conditions can occur to each ball head generally, twisting can occur to different ball heads in each direction, extra torsion can be generated to a test piece under the severe condition that the ball heads twist, the test piece is damaged, and the normal operation of the test is influenced. In order to ensure the smooth operation of the test, the position balance of the multi-freedom decoupling ball head is required to be ensured as much as possible without the condition of skew and torsion in the vibration test process.
Therefore, there is a need in the art to design an automatic balancing device with a multi-degree-of-freedom decoupling ball head, so as to achieve the purposes of saving cost, improving efficiency and ensuring normal test.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic balancing device of a multi-degree-of-freedom decoupling ball head, and the method can effectively realize the automatic balancing of the multi-degree-of-freedom decoupling ball head and ensure that a multi-axis vibration test is smoothly carried out.
In order to achieve the above object, the present invention provides an automatic balancing device of a multi-freedom decoupling ball head, comprising: the device comprises a top mounting plate (1), an internal mounting plate (2), an elastic balancing device (3), petals (4), a ball head (5) and a bottom mounting plate (6); the ball head (5) is installed on the bottom installation plate (6), the top installation plate (1) is connected with the ball head (5), the inner installation plate (2) is connected with the top installation plate (1), the bottom of the petal (4) is connected with the bottom installation plate (6), and the upper portion of the petal is connected with the inner installation plate (2) through the elastic balance device (3).
The multi-freedom-degree decoupling ball head automatic balancing device is characterized in that the ball head (5) is mounted on the bottom mounting plate (6) through a bolt, the top mounting plate (1) is connected with the ball head (5) through a bolt, and the inner mounting plate (2) is connected with the top mounting plate (1) through a bolt.
The multi-degree-of-freedom decoupling ball head automatic balancing device is characterized in that the number of the petals (4) is four, and the bottoms of the four petals (4) are connected with the bottom mounting plate (6) through bolts.
The multi-freedom-degree decoupling ball head automatic balancing device is characterized in that 8 uniformly distributed counter bores A2 are formed in the upper end surface of the top mounting plate (1) and used for connecting the top mounting plate (1) and a ball head (5) through bolts; the upper end face of the top mounting plate (1) is uniformly provided with 8 uniformly distributed countersunk holes A1 which are used for connecting the top mounting plate (1) with the internal mounting plate (2) through bolts, and the heads of the bolts sink in the holes during the mounting of the countersunk holes, so that interference generated when the test piece tool is mounted on the top mounting plate in the later period is avoided; 8 threaded holes A3 that have the equipartition on top mounting panel (1) the up end be used for the installation of later stage experimental frock and bulb balancing unit.
The multi-degree-of-freedom decoupling ball head automatic balancing device is characterized in that the inner mounting plate (2) is connected with the top mounting plate (1) through 8 uniformly distributed threaded holes B2, and the inner mounting plate (2) is connected with the elastic balancing device (3) through 4 uniformly distributed threaded holes B1.
The multi-degree-of-freedom decoupling ball head automatic balancing device comprises four elastic balancing devices (3) and a plurality of inner mounting plates (2), wherein the four elastic balancing devices (3) are composed of elastic double-end studs (7) and nuts (8), and the four elastic balancing devices (3) are used for connecting 4 petals (4) with the inner mounting plates (2) and are connected through head metal threads C1; the other end of the elastic balancing device (3) is also provided with a metal thread which passes through a hole D3 of the petal (4), and a nut (8) is screwed on to complete connection.
According to the multi-degree-of-freedom decoupling ball head automatic balancing device, the elastic double-end stud (7) is internally communicated with a metal spring C2, and the spring can be either pressed or pulled according to the stress condition; in order to increase the elastic force of the spring and protect the ball head from buffering vibration impact, the metal spring C2 is externally wrapped with elastic plastic C3; the two ends are provided with metal threads C1 which are respectively used for connecting the internal mounting plate (2) and the petals (4); the bottom of the metal thread C1 is provided with a metal sheet C4 which plays a role in installation and limiting.
The multi-degree-of-freedom decoupling ball head automatic balancing device is characterized in that the petals (4) are in threaded connection with the bottom mounting plate (6) through 2 through holes D1 which are symmetrical about the middle plane and have an angle of 60 degrees, and the petals (4) are connected with the elastic balancing device (3) through 1 through hole D3; the 4 petals (4) are symmetrically arranged, and the petals are in clearance fit, so that the petals are prevented from being clamped in the installation process; the middle position of the petal (4) is provided with a square hole D2 for observing the connection condition of the ball head (5), the internal mounting plate (2), the petal (4) and the elastic balancing device (3).
The multi-freedom-degree decoupling ball head automatic balancing device is characterized in that the ball head (5) is connected with the top mounting plate (1) through 8 through holes E1 in the upper end face, and the ball head (5) is connected with the bottom mounting plate (6) through 8 through holes E2 in the lower end face; the bottom mounting plate (6) is connected with the ball head (5) through 8 uniformly distributed threaded holes F2; the bottom mounting plate (6) is connected with 4 petals (4) through 8 threaded holes F1, the 8 threaded holes are not uniformly distributed and are determined according to the positions of D1 through holes of the four groups of petals (4); bottom mounting panel (6) are connected with the shaking table through 8 counter sink F3, and the bolt head is heavy in downthehole during the counter sink installation, produces the interference when avoiding the later stage to install the bulb in low portion mounting panel (6).
The use method of the multi-freedom-degree decoupling ball head automatic balancing device comprises the following steps:
step one, mounting a ball head automatic balancing device on a vibration table;
step two, mounting the test tool and the test piece on the ball head automatic balancing device;
step three, starting a vibration table and starting a test;
step four, in the test process, when the bulb (5) slightly skews, the force generated by skewing can be applied to the petals (4) through the elastic balancing devices (3), the rubber spring parts of the elastic balancing devices (3) in four directions can be compressed and stretched, and because the lower parts of the petals (4) in four directions are fixed on the bottom mounting plate (6), the force can be applied to the inner mounting plate (2), the inner mounting plate (2) drives the top mounting plate (1), and finally the force is applied to the bulb (5) from the top mounting plate (1), so that the bulb (5) can be automatically balanced under the condition that other actions are not needed.
The invention is realized by the following technical scheme: the whole system schematic diagram is shown in figure 1, the ball head is installed on the bottom installation plate through a bolt, the top installation plate is connected with the ball head through a bolt, the inner installation plate is connected with the top installation plate through a bolt, the bottoms of the four petals are connected with the bottom installation plate through bolts, and the upper portion of the four petals is connected with the inner installation plate through a specially-made elastic balancing device. When the ball head slightly deflects in the test process, the force generated by deflection can be applied to the petals through the elastic balancing devices, the rubber spring parts of the elastic balancing devices in four directions can be compressed and stretched, and the lower parts of the petals are fixed on the bottom mounting plate, so that the force can be applied to the inner mounting plate, and the ball head is balanced by the force applied to the ball head. The whole process does not need extra action, and the automatic balance of the ball head is realized as a result of the interaction of the elastic force.
The purpose of the invention is realized by the following technical scheme: when the ball head is inclined, the generated force enables the elastic balancing devices in four directions to be stressed, compressed and stretched respectively, the force generated by compression and stretching acts on the ball head through the internal mounting plate, and the ball head is automatically balanced without extra action in the whole process. The ball head needs to be protected in the balancing process, and cannot be damaged due to too large stress, so that the elastic element adopts a structure that the elastic rubber wraps the spring.
8 uniformly distributed counter bores A2 are formed in the upper end face of the top mounting plate and are used for connecting the top mounting plate and a ball head through bolts; 8 uniformly distributed counter bores A1 are formed in the upper end face of the top mounting plate and are used for connecting the top mounting plate and the inner mounting plate through bolts, the heads of the bolts sink in the counter bores during mounting, and interference generated when the test tool is mounted on the top mounting plate in the later period is avoided; 8 threaded holes A3 that have the equipartition on top mounting panel (1) the up end be used for the installation of later stage experimental frock and bulb balancing unit.
The inside mounting panel is connected with the top mounting panel through 8 screw holes B2 of equipartition, and the inside mounting panel is connected with elastic balance device through 4 screw holes B1 of equipartition.
The 4 elastic balance devices are composed of elastic double-end studs and nuts, and the 4 elastic balance devices connect the 4 petals with the internal mounting plate and are connected through head metal threads C1; the other end of the elastic balancing device is also provided with a metal thread which passes through the hole D3 of the petal, and the nut 8 is screwed on to complete the connection.
The interior of the elastic double-end stud is communicated with a metal spring C2, and according to the stress condition, the spring can be either pressed or pulled; in order to increase the elastic force of the spring and protect the ball head from buffering vibration impact, the metal spring C2 is externally wrapped with elastic plastic C3; the two ends are provided with metal threads C1 which are respectively used for connecting the internal mounting plate (2) and the petals; the bottom of the metal thread C1 is provided with a metal sheet C4 which mainly plays a role in installation and limiting.
The petals are in threaded connection with the bottom mounting plate through 2 through holes D1 which are symmetrical about the middle plane and have an angle of 60 degrees, and the petals are connected with the elastic balancing device through 1 through hole D3; 4 petals are symmetrically arranged, and the petals are in clearance fit with the petals, so that the petals are prevented from being clamped in the installation process; the square hole D2 is opened to petal intermediate position, firstly can lighten weight, secondly can observe, bulb, inside mounting panel, petal and elastic balance device's the connection condition.
The bulb is connected with the top mounting plate through 8 through-holes E1 on the upper end face, and the bulb is connected with the bottom mounting plate through 8 through-holes E2 on the lower end face.
The bottom mounting plate is connected with the ball head through 8 uniformly distributed threaded holes F1; the bottom mounting plate is connected with 4 petals through 8 threaded holes, the 8 threaded holes are not uniformly distributed and are determined according to the positions of D1 through holes of the four groups of petals; bottom mounting panel (6) are connected with the shaking table through 8 counter sink F3, and the bolt head is heavy in downthehole during the counter sink installation, produces the interference when avoiding the later stage to install the bulb in low portion mounting panel (6).
Preferably, in order to facilitate the elastic balancing device to transmit force to the ball head, the internal mounting plate is sleeved on the upper end of the ball head and connected with the top mounting plate, namely the top mounting plate is connected with the ball head and the internal mounting plate.
Preferably, 4 groups of petals are fixed on the bottom mounting plate, the positions of the petals are limited, and the elastic balance device is beneficial to transferring force to the ball head only.
Compared with the prior art, the multi-freedom-degree decoupling ball head has the advantages that the multi-freedom-degree decoupling ball head can be quickly and effectively balanced, and the requirement of a multi-axis vibration test on the state of the decoupling ball head is met.
Drawings
The invention discloses a multi-freedom-degree decoupling ball head automatic balancing device which is provided by the following embodiment and attached drawings.
Fig. 1 is a schematic diagram of an automatic balancing device of a multi-freedom-degree decoupling ball head according to an embodiment of the invention.
FIG. 2 is a schematic structural diagram of a top mounting plate according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an internal mounting plate according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an elastic balancing device according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of petals in the embodiment of the invention.
Fig. 6 is a schematic structural diagram of a ball head in an embodiment of the invention.
FIG. 7 is a schematic structural diagram of a bottom mounting plate according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in figure 1, the scheme is characterized by comprising a top mounting plate 1, an internal mounting plate 2, an elastic balance device 3, petals 4, a ball head 5 and a bottom mounting plate 6. The ball head 5 is installed on the bottom installation plate 6 through bolts, the top installation plate 1 is connected with the ball head 5 through bolts, the internal installation plate 2 is connected with the top installation plate 1 through bolts, the bottoms of the four petals 4 are connected with the bottom installation plate 6 through bolts, and the upper portion of the four petals is connected with the internal installation plate 2 through the specially-made elastic balancing device 3.
The specific implementation process of the invention is as follows:
step one, assembling a ball head automatic balancing device, wherein the assembling steps are as follows:
a) connecting and mounting the bottom mounting plate 6 on the vibration table through a counter bore F3;
b) mounting the ball head 5 on the bottom mounting plate 6 through the threaded hole F2;
c) sleeving the inner mounting plate 2 on the ball head 5 and placing the inner mounting plate on the bottom mounting plate 6;
d) mounting the top mounting plate 1 on the ball head 5 through a counter bore A2;
e) slowly supporting the inner mounting plate 2 on the bottom mounting plate 6 to be in threaded connection with the top mounting plate 1;
f) placing a petal 4 at an installation position, enabling an elastic stud 7 of the elastic balance device 3 to penetrate through an upper installation hole D3 of the petal 4, adjusting the position of the petal 4 to enable the elastic stud 7 to be installed in a hole B1 on the internal installation plate 2, and screwing a nut 8 on the elastic stud 7 through one end of the petal 4 for fixing; this process ensures that the elastic balancing device 3 is only slightly stressed in a static state, and simultaneously the two through holes D1 of the petals 4 are mounted with the threaded holes F1 of the bottom mounting plate, and the other three groups of petals 4 are mounted in the same way, taking care of the gaps between the petals 4.
Step two, firstly, the whole ball head automatic balancing device is arranged on a vibration table through a counter sink F3 on a bottom mounting plate 6; then, mounting the test tool on the ball head balancing device through a threaded through hole A3 of the top mounting plate 1; finally, the test piece is mounted on the test fixture.
And step three, starting a test, wherein in the test process, when the ball head slightly tilts, the force generated by the tilting acts on the petals through the elastic balancing device, the rubber spring parts of the elastic balancing device in four directions compress and stretch, and the lower parts of the petals are fixed on the bottom mounting plate, so that the force acts on the inner mounting plate and acts on the ball head, and the ball head is automatically balanced without other actions.
In conclusion, the ball head automatic balancing test device achieves the aim of automatic balancing of the ball head through structural optimization and material selection on the basis of meeting the installation requirements, normal operation of a multi-axis vibration test is guaranteed in the test process, the test difficulty is reduced, the test efficiency is improved, optimization of the ball head automatic balancing test device is achieved, and smooth operation of the test is promoted.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. The utility model provides a multi freedom decoupling zero bulb automatic balancing device which characterized in that includes: the device comprises a top mounting plate (1), an internal mounting plate (2), an elastic balancing device (3), petals (4), a ball head (5) and a bottom mounting plate (6); the ball head (5) is installed on the bottom installation plate (6), the top installation plate (1) is connected with the ball head (5), the inner installation plate (2) is connected with the top installation plate (1), the bottom of the petal (4) is connected with the bottom installation plate (6), and the upper portion of the petal is connected with the inner installation plate (2) through the elastic balance device (3).
2. The multi-freedom-degree decoupling ball head automatic balancing device as claimed in claim 1, wherein the ball head (5) is mounted on the bottom mounting plate (6) through a bolt, the top mounting plate (1) is connected with the ball head (5) through a bolt, and the inner mounting plate (2) is connected with the top mounting plate (1) through a bolt.
3. The multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 2, wherein the number of the petals (4) is four, and the bottoms of the four petals (4) are connected with the bottom mounting plate (6) through bolts.
4. The multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 3, wherein 8 evenly distributed counter bores A2 are formed in the upper end face of the top mounting plate (1) and used for connecting the top mounting plate (1) and the ball head (5) through bolts; the upper end face of the top mounting plate (1) is uniformly provided with 8 uniformly distributed countersunk holes A1 which are used for connecting the top mounting plate (1) with the internal mounting plate (2) through bolts, and the heads of the bolts sink in the holes during the mounting of the countersunk holes, so that interference generated when the test piece tool is mounted on the top mounting plate in the later period is avoided; 8 threaded holes A3 that have the equipartition on top mounting panel (1) the up end be used for the installation of later stage experimental frock and bulb balancing unit.
5. The multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 4, wherein the inner mounting plate (2) is connected with the top mounting plate (1) through 8 uniformly distributed threaded holes B2, and the inner mounting plate (2) is connected with the elastic balancing device (3) through 4 uniformly distributed threaded holes B1.
6. The multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 5, wherein the number of the elastic balancing devices (3) is four, and the four elastic balancing devices are composed of elastic studs (7) and nuts (8), and the four elastic balancing devices (3) are used for connecting 4 petals (4) with the internal mounting plate (2) and are connected through head metal threads C1; the other end of the elastic balancing device (3) is also provided with a metal thread which passes through a hole D3 of the petal (4), and a nut (8) is screwed on to complete connection.
7. The multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 6, characterized in that the elastic stud (7) is internally penetrated by a metal spring C2, and the spring is selected from a spring which can be either compressed or pulled according to the stress condition; in order to increase the elastic force of the spring and protect the ball head from buffering vibration impact, the metal spring C2 is externally wrapped with elastic plastic C3; the two ends are provided with metal threads C1 which are respectively used for connecting the internal mounting plate (2) and the petals (4); the bottom of the metal thread C1 is provided with a metal sheet C4 which plays a role in installation and limiting.
8. The multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 7, wherein the petals (4) are in threaded connection with the bottom mounting plate (6) through 2 through holes D1 which are symmetrical about a middle plane and have a difference of 60 degrees, and the petals (4) are connected with the elastic balancing device (3) through 1 through hole D3; the 4 petals (4) are symmetrically arranged, and the petals are in clearance fit, so that the petals are prevented from being clamped in the installation process; the middle position of the petal (4) is provided with a square hole D2 for observing the connection condition of the ball head (5), the internal mounting plate (2), the petal (4) and the elastic balancing device (3).
9. The multi-freedom-degree decoupling ball head automatic balancing device as claimed in claim 8, wherein the ball head (5) is connected with the top mounting plate (1) through 8 through holes E1 on the upper end face, and the ball head (5) is connected with the bottom mounting plate (6) through 8 through holes E2 on the lower end face; the bottom mounting plate (6) is connected with the ball head (5) through 8 uniformly distributed threaded holes F2; the bottom mounting plate (6) is connected with 4 petals (4) through 8 threaded holes F1, the 8 threaded holes are not uniformly distributed and are determined according to the positions of D1 through holes of the four groups of petals (4); bottom mounting panel (6) are connected with the shaking table through 8 counter sink F3, and the bolt head is heavy in downthehole during the counter sink installation, produces the interference when avoiding the later stage to install the bulb in low portion mounting panel (6).
10. The use method of the multi-degree-of-freedom decoupling ball head automatic balancing device as claimed in claim 9, characterized by comprising the following steps:
step one, mounting a ball head automatic balancing device on a vibration table;
step two, mounting the test tool and the test piece on the ball head automatic balancing device;
step three, starting a vibration table and starting a test;
step four, in the test process, when the bulb (5) slightly skews, the force generated by skewing can be applied to the petals (4) through the elastic balancing devices (3), the rubber spring parts of the elastic balancing devices (3) in four directions can be compressed and stretched, and because the lower parts of the petals (4) in four directions are fixed on the bottom mounting plate (6), the force can be applied to the inner mounting plate (2), the inner mounting plate (2) drives the top mounting plate (1), and finally the force is applied to the bulb (5) from the top mounting plate (1), so that the bulb (5) can be automatically balanced under the condition that other actions are not needed.
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| CN202010164357.9A CN111207899A (en) | 2020-03-11 | 2020-03-11 | Multi-degree-of-freedom decoupling ball head automatic balancing device |
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| CN202010164357.9A CN111207899A (en) | 2020-03-11 | 2020-03-11 | Multi-degree-of-freedom decoupling ball head automatic balancing device |
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