CN101813129B - Three-dimensional air-floation follow-up device - Google Patents

Three-dimensional air-floation follow-up device Download PDF

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Publication number
CN101813129B
CN101813129B CN2010101656575A CN201010165657A CN101813129B CN 101813129 B CN101813129 B CN 101813129B CN 2010101656575 A CN2010101656575 A CN 2010101656575A CN 201010165657 A CN201010165657 A CN 201010165657A CN 101813129 B CN101813129 B CN 101813129B
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CN
China
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air
pulley
dimensional
bearing
static pulley
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CN2010101656575A
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Chinese (zh)
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CN101813129A (en
Inventor
孙建辉
单晓杭
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浙江工业大学
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Publication of CN101813129B publication Critical patent/CN101813129B/en

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Abstract

The invention relates to a three-dimensional air-floation follow-up device, which comprises an upright post, a rotating shaft capable of rotating with zero friction, a long-distance linear guide rail and a hanging rope, wherein two air bearings are sheathed on the rotating shaft and installed on the upright post in the vertical direction; the lower end of the rotating shaft is positioned on the air float; the air float is installed on an air float supporting seat; the air float supporting seat is installed on the upright post; the rotating shaft is connected with the long-distance linear guide rail; a slide block is sheathed on the long-distance linear guide rail in a slideable way; the slide block is connected with a driving mechanism in a transmission way; the slide block is connected with a short-distance air-floating guide rail; an air storage sleeve of the short-distance air-floating guide rail is fixedly connected with a fixed pulley seat; the fixed pulley seat is fixedly connected with an air-floating pulley block; the axis of the air-floating pulley of the air-floating pulley block is provided with an air inlet; the air inlet is communicated with a connecting air pipe; the hanging rope is sheathed on the air-floating pulley; and a movable component is hung on the hanging rope. The invention can effectively avoid the additional influence of the frictional force and adapt to high-precision conditions.

Description

Three-dimensional air-floation follow-up device

Technical field

The present invention relates to air-floating apparatus, especially a kind of can accompany movement part space motion path and the three-dimensional followup device of constant hanging force can be provided.

Background technique

Rope hanging formula weight reducing device promptly utilizes the rope hanging movement parts, and the motion of followup device accompany movement part must guarantee that hoist cable all will be in tension and can provide constant hanging force to movement parts all the time in the movement process in the movement parts movement process.And in suspension centre accompany movement part movement process, do not produce additional force as much as possible, thereby influence the spatial position or the motion state of movement parts.

Existing three-dimensional followup device adopts linear rail, rotating shaft and sheave block to realize the defective of existence: exist frictional force added influence, can not adapt to the highi degree of accuracy occasion.

Summary of the invention

For the added influence that has frictional force that overcomes existing three-dimensional followup device, the deficiency that can not adapt to the highi degree of accuracy occasion, the invention provides a kind of added influence of frictional force, three-dimensional air-floation follow-up device of adaptation highi degree of accuracy occasion effectively avoided.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of three-dimensional air-floation follow-up device, comprise column, can there be the rotating shaft of friction rotation, long apart from linear rail and suspension rope, two pneumatic bearing of suit in the described rotating shaft, described two pneumatic bearing are installed on the described column along the vertical direction, the lower end of described rotating shaft is positioned on the air supporting pad, described air supporting pad is installed on the air supporting pad fitting seat, described air supporting pad fitting seat is installed on the column, fixing suit one dimensional motion crossbeam fitting seat in the described rotating shaft, described one dimensional motion crossbeam fitting seat is connected apart from linear rail with long, described length is apart from suit slide block slidably on the linear rail, described slide block and driving mechanism are in transmission connection, described slide block is connected with the short distance air-float guide rail, the air storage cover of described short distance air-float guide rail is fixedlyed connected with the static pulley seat, described static pulley seat is fixedlyed connected with the air supporting pulley assembly, the axle center of the air supporting pulley of described air supporting pulley assembly has inlet hole, described inlet hole be connected tracheae and be communicated with, suit suspension rope on the described air supporting pulley, movement parts is hung on described suspension rope.

Further, described short distance air-float guide rail also comprises the gentle empty boasting of air-bearing shafts, described slide block is fixedlyed connected with air-bearing shafts, the air supporting cover is sleeved on the described air-bearing shafts, described air supporting cover has two at least, described air supporting cover all is tightly connected with the air storage cover, be gas storage chamber between described air storage cover and the air-bearing shafts, the axle center of described air-bearing shafts has gas-entered passageway, described gas-entered passageway connects the pressurized gas suction tude, described gas-entered passageway is communicated with described gas storage chamber, and described gas storage chamber is provided with the air outlet, and described air outlet is communicated with the suction port of each air supporting cover by connecting tracheae.

Further again, described air supporting pulley assembly comprises first static pulley, second static pulley, additional static pulley, movable pulley, suspension rope and loss of weight counterweight, described first static pulley and second static pulley are installed on the static pulley seat, described movable pulley is installed on the movable pulley seat, described movable pulley seat lifts described movement parts, one end of suspension rope is fixed on the suspension rope fixed plate, and pass first static pulley successively, movable pulley, second static pulley and additional static pulley, the other end of described suspension rope connects the loss of weight counterweight, described suspension rope fixed plate is fixedlyed connected apart from linear rail with long, described first static pulley and second static pulley are the air-bearing pulley, described first static pulley and the second static pulley axle center all have inlet hole, and described additional static pulley is installed in the rotating shaft.

Described additional static pulley is the air-bearing pulley, and described additional static pulley axle center all has inlet hole.

Described movable pulley is the air-bearing pulley, and described movable pulley axle center all has inlet hole.Movable pulley is in movement process, and tracheae can accompany movement, and tracheae is crooked can to produce the additional force influence.Can reduce the tracheae disturbing influence by the length that prolongs between tracheae immovable point and movable pulley.

The two ends of described air-bearing shafts are set with the air-bearing shafts fitting seat, and described air-bearing shafts fitting seat is fixedlyed connected with described slide block.

Described three-dimensional air-floation follow-up device also comprises the position transducer that is used to detect the close air-bearing shafts fitting seat of air supporting cover horizontal motion, and described position transducer is installed between air-bearing shafts fitting seat and the air supporting cover.

Described position transducer is Hall transducer and permanent magnet, and described Hall transducer is installed on the described air-bearing shafts fitting seat, and described permanent magnet is installed in the outside of air supporting cover near the air-bearing shafts fitting seat.Certainly, also can adopt other position transducers or other non-contact type approach switch such as photoelectric sensor, grating encoder.

By O type circle the air storage cover is sealed between described air supporting cover and the air storage cover.

Technical conceive of the present invention is: pneumatic bearing (being called air-bearing again) refers to the sliding bearing of gas (normally air, but also might be other gas) as oiling agent.Air ratio oil viscosity is little, high temperature resistant, pollution-free, thereby can be used in high speed machines, instrument and the radioactivity device.Pneumatic bearing can provide high radial and axial running accuracy.Owing to there is not Mechanical Contact, the degree of wear has dropped to minimum, thereby it is stable to guarantee that precision remains.

Adopt pneumatic bearing to replace plain bearing to make typical case's application that the air supporting pulley is the pneumatic bearing technology.The pneumatic bearing technology is rotated the field except can be applicable to air-bearing shafts, because its two surperficial non-contact frictionless characteristic, also can well be applied to air-bearing shafts and move axially the field, air-float guide rail belongs to a kind of of linear rail, be to adopt pressurized gas to produce air film, realize the frictionless motion of guide rail and slide block.The air supporting pad is that the another kind of pneumatic bearing is used, and its thin layer of air by the formation of the rebasing portion of air supporting (about 1mm even littler) makes the air supporting pad form with interplanar formation gap and is similar to the frictionless sliding condition.Be generally used for the part displacements in precision type instrument or the factory.Adopt air flotation technology to have characteristics such as surface friction drag is little, kinematic accuracy is high, cleanliness without any pollution, in surveying instrument, precision optical machinery, obtained in recent years using widely.

Beneficial effect of the present invention is: added influence, the adaptation highi degree of accuracy occasion of effectively avoiding frictional force.

Description of drawings

Fig. 1 is the External view of three-dimensional air-floation follow-up device.

Fig. 2 is the structural drawing of three-dimensional air-floation follow-up device.

Fig. 3 is a horizontal motion air supporting assembly assumption diagram.

Fig. 4 is a three-dimensional air-floation follow-up device pulley arrangements schematic representation.

Embodiment

Below in conjunction with accompanying drawing the present invention is described further.

With reference to Fig. 1~Fig. 4, a kind of three-dimensional air-floation follow-up device, comprise column 1, can there be the rotating shaft 2 of friction rotation, long apart from linear rail 11 and suspension rope 10, two pneumatic bearing 3 of suit in the described rotating shaft 2, described two pneumatic bearing 3 are installed on the described column 1 along the vertical direction, the lower end of described rotating shaft 2 is positioned on the air supporting pad 6, described air supporting pad 6 is installed on the air supporting pad fitting seat 7, described air supporting pad fitting seat 7 is installed on the column 1, fixing suit one dimensional motion crossbeam fitting seat 8 in the described rotating shaft 2, described one dimensional motion crossbeam fitting seat 8 is connected apart from linear rail 11 with long, described length is apart from suit slide block 12 slidably on the linear rail 11, described slide block 12 is in transmission connection with driving mechanism, described slide block 12 is connected with the short distance air-float guide rail, the air storage of described short distance air-float guide rail cover 13 is fixedlyed connected with static pulley seat 17, described static pulley seat 17 is fixedlyed connected with the air supporting pulley assembly, the axle center of the air supporting pulley of described air supporting pulley assembly has inlet hole, described inlet hole be connected tracheae and be communicated with, suit suspension rope 10 on the described air supporting pulley, movement parts are hung on described suspension rope 10.

Described short distance air-float guide rail also comprises air-bearing shafts 14 gentle empty boastings 24, described slide block 12 is fixedlyed connected with air-bearing shafts 14, air supporting cover 24 is sleeved on the described air-bearing shafts 14, described air supporting cover 24 has two at least, described air supporting cover 24 all is tightly connected with air storage cover 13, between described air storage cover 13 and the air-bearing shafts 14 is gas storage chamber, the axle center of described air-bearing shafts 14 has gas-entered passageway, described gas-entered passageway connects the pressurized gas suction tude, described gas-entered passageway is communicated with described gas storage chamber, described gas storage chamber is provided with the air outlet, and described air outlet is communicated with the suction port of each air supporting cover 24 by connecting tracheae.

Described air supporting pulley assembly comprises first static pulley 18, second static pulley 28, additional static pulley 29, movable pulley 19, suspension rope 10 and loss of weight counterweight 21, described first static pulley 18 and second static pulley 19 are installed on the described static pulley seat 17, described movable pulley 19 is installed on the movable pulley seat 20, the described movement parts of described movable pulley seat 20 liftings, one end of suspension rope 10 is fixed on the suspension rope fixed plate 16, and pass first static pulley successively, movable pulley, second static pulley and additional static pulley, the other end of described suspension rope 10 connects loss of weight counterweight 21, described suspension rope fixed plate 16 is fixedlyed connected apart from linear rail 11 with long, described first static pulley 18 and second static pulley 28 are the air-bearing pulley, described first static pulley 18 and second static pulley, 28 axle center all have inlet hole, and described additional static pulley 29 is installed in the rotating shaft 2.

Described additional static pulley 29 is the air-bearing pulley, and described additional static pulley axle center all has inlet hole.Described movable pulley 19 is the air-bearing pulley, and described movable pulley axle center all has inlet hole.Movable pulley is in movement process, and tracheae can accompany movement, and tracheae is crooked can to produce the additional force influence.Can reduce the tracheae disturbing influence by the length that prolongs between tracheae immovable point and movable pulley.

Described three-dimensional air-floation follow-up device also comprises the position transducer that is used to detect the close air-bearing shafts fitting seat of air supporting cover horizontal motion, and described position transducer is installed between air-bearing shafts fitting seat 27 and the air supporting cover;

Described position transducer is Hall transducer 26 and permanent magnet 25, and described Hall transducer 26 is installed on the described air-bearing shafts fitting seat 27, and described permanent magnet 25 is installed in the outside of air supporting cover near the air-bearing shafts fitting seat.Certainly, also can adopt other position transducers or other non-contact type approach switch such as photoelectric sensor, grating encoder.

The two ends of described air-bearing shafts 14 are set with air-bearing shafts fitting seat 27, and described air-bearing shafts fitting seat 27 is fixedlyed connected with described slide block 12.

By O type circle the air storage cover is sealed between described air supporting cover and the air storage cover.

The rotating shaft 2 that can not have the friction rotation of present embodiment is by two pneumatic bearing 3 and air supporting pad 6 supportings, described pneumatic bearing 3 is installed on the column 1 by air shaft bearing 5, bear the moment of flexure that the one dimensional motion crossbeam produces, described air supporting pad 6 gentle camel fitting seats 7 bear rotating shaft 2 together and are installed in the gravity of the one dimensional motion crossbeam in the rotating shaft, and described air supporting pad fitting seat 7 is fixedly installed on the column 1.One dimensional motion crossbeam fitting seat 8 is installed in the described rotating shaft 2, the one dimensional motion crossbeam is fixed in the rotating shaft 2 by one dimensional motion crossbeam fitting seat 8, when movement parts is carried out spatial motion, when the one dimensional motion crossbeam is subjected to transverse force, can drive described rotating shaft 2 and under the supporting of two pneumatic bearing 3 gentle camels 6, not have friction rotation, accompany movement part space motion path.

Present embodiment is followed by horizontal rectilinear motion and rotation mode realization plane motion, follows by folding and unfolding suspension rope realization vertical motion again.

The loss of weight balancing suspension system of present embodiment is fixed on static pulley that air storage puts, static pulley that is fixed on beam-end, is installed in a movable pulley, suspension rope, the counterweight counterweight on the movable pulley seat and the movement parts suspension rope that is fixed on the movable pulley seat is formed by two.Its function is to guarantee to realize the servo-actuated of Z axle on the basis of constant hanging force, and balance rope adds lateral force simultaneously.

Motion hangar system working principle is as follows: adjust counterweight counterweight weight according to required loss of weight amount.When movement parts is moved, as move right, driving the movable pulley seat moves right, thereby driving the air-bearing shafts fitting seat by suspension rope moves right, the sensor on the right receives signal, issues control system, and controlling and driving motor 9 turns clockwise, drive slide block by tow rope 23 and move right, thereby suspension point is all the time near the slide block central position.

Suspension rope 10 1 ends are fixed on the suspension rope fixed plate, and after walking around static pulley, movable pulley, static pulley successively, being fixed on the static pulley in the rotating shaft, the other end connects the loss of weight counterweight.In order to reduce friction, be connected with air-bearing between static pulley and pulley spindle.

Air-bearing shafts axle center processing gas inlet pipe is sent pressurized air into the air storage cover.The air supporting cover of end about with tracheae pressurized air being sent into respectively on the air storage cover outer wall.The air-bearing shafts fitting seat is installed on the slide block that initiatively moves.During for the motion of assurance movement parts, suspension centre can be realized servo-actuated in the mechanism kinematic direction, need suspension centre mechanism energy frictionless motion.The mode of suspension centre system axis and air supporting cover satisfies this requirement.

Enough little for guaranteeing the frictional force between suspension rope and the static pulley, static pulley is nested in the mounting plate, fixedlys connected with air-bearing shafts in the mounting plate bi-side, and static pulley also adopts the air-bearing supporting, and operation technique and above-mentioned air supporting are overlapped general.

Claims (8)

1. three-dimensional air-floation follow-up device, it is characterized in that: described three-dimensional air-floation follow-up device comprises column, can there be the rotating shaft of friction rotation, long apart from linear rail and suspension rope, two pneumatic bearing of suit in the described rotating shaft, described two pneumatic bearing are installed on the described column along the vertical direction, the lower end of described rotating shaft is positioned on the air supporting pad, described air supporting pad is installed on the air supporting pad fitting seat, described air supporting pad fitting seat is installed on the column, fixing suit one dimensional motion crossbeam fitting seat in the described rotating shaft, described one dimensional motion crossbeam fitting seat is connected apart from linear rail with long, described length is apart from suit slide block slidably on the linear rail, described slide block and driving mechanism are in transmission connection, described slide block is connected with the short distance air-float guide rail, the air storage cover of described short distance air-float guide rail is fixedlyed connected with the static pulley seat, described static pulley seat is fixedlyed connected with the air supporting pulley assembly, the axle center of the air supporting pulley of described air supporting pulley assembly has inlet hole, described inlet hole be connected tracheae and be communicated with, suit suspension rope on the described air supporting pulley, movement parts are hung on described suspension rope; Described air supporting pulley assembly comprises first static pulley, second static pulley, additional static pulley, movable pulley, suspension rope and loss of weight counterweight, described first static pulley and second static pulley are installed on the described static pulley seat, described movable pulley is installed on the movable pulley seat, described movable pulley seat lifts described movement parts, one end of suspension rope is fixed on the suspension rope fixed plate, and pass first static pulley successively, movable pulley, second static pulley and additional static pulley, the other end of described suspension rope connects the loss of weight counterweight, described suspension rope fixed plate is fixedlyed connected apart from linear rail with long, described first static pulley and second static pulley are the air-bearing pulley, described first static pulley and the second static pulley axle center all have inlet hole, and described additional static pulley is installed in the rotating shaft.
2. three-dimensional air-floation follow-up device as claimed in claim 1, it is characterized in that: described short distance air-float guide rail also comprises the gentle empty boasting of air-bearing shafts, described slide block is fixedlyed connected with air-bearing shafts, the air supporting cover is sleeved on the described air-bearing shafts, described air supporting cover has two at least, described air supporting cover all is tightly connected with the air storage cover, be gas storage chamber between described air storage cover and the air-bearing shafts, the axle center of described air-bearing shafts has gas-entered passageway, described gas-entered passageway connects the pressurized gas suction tude, described gas-entered passageway is communicated with described gas storage chamber, and described gas storage chamber is provided with the air outlet, and described air outlet is communicated with the suction port of each air supporting cover by connecting tracheae.
3. three-dimensional air-floation follow-up device as claimed in claim 1 is characterized in that: described additional static pulley is the air-bearing pulley, and described additional static pulley axle center all has inlet hole.
4. three-dimensional air-floation follow-up device as claimed in claim 1 is characterized in that: described movable pulley is the air-bearing pulley, and described movable pulley axle center all has inlet hole.
5. three-dimensional air-floation follow-up device as claimed in claim 2 is characterized in that: the two ends of described air-bearing shafts are set with the air-bearing shafts fitting seat, and described air-bearing shafts fitting seat is fixedlyed connected with described slide block.
6. three-dimensional air-floation follow-up device as claimed in claim 5, it is characterized in that: described three-dimensional air-floation follow-up device also comprises the position transducer that is used to detect the close air-bearing shafts fitting seat of air supporting cover horizontal motion, and described position transducer is installed between air-bearing shafts fitting seat and the air supporting cover.
7. three-dimensional air-floation follow-up device as claimed in claim 6, it is characterized in that: described position transducer is Hall transducer and permanent magnet, described Hall transducer is installed on the described air-bearing shafts fitting seat, and described permanent magnet is installed in the outside of air supporting cover near the air-bearing shafts fitting seat.
8. three-dimensional air-floation follow-up device as claimed in claim 2 is characterized in that: by O type circle the air storage cover is sealed between described air supporting cover and the air storage cover.
CN2010101656575A 2010-05-07 2010-05-07 Three-dimensional air-floation follow-up device CN101813129B (en)

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CN102935901B (en) * 2012-10-22 2015-12-30 浙江工业大学 Two dimension initiatively follows loss of weight erecting by overhang
CN102935900B (en) * 2012-10-22 2015-12-30 浙江工业大学 Identical tension loss of weight erecting by overhang
CN102944172A (en) * 2012-10-30 2013-02-27 苏州高瑞实业有限公司 Air float type image measurement instrument
CN103010493B (en) * 2012-12-06 2015-04-29 上海裕达实业公司 Suspended gravity compensation solar wing ground three-dimensional unfolding test device
CN103063391B (en) * 2012-12-31 2015-03-25 浙江工业大学 Device of ultralow frequency test in horizontal direction
CN103407589B (en) * 2013-07-25 2016-01-13 北京空间飞行器总体设计部 A kind of two-dimensional development solar wing gravity unloading device
CN103523719B (en) * 2013-10-18 2015-08-05 浙江工业大学 Long-distance 2 D follows constant force erecting by overhang
CN103511459B (en) * 2013-10-18 2015-12-23 浙江工业大学 A kind of three-dimensional follow-up constant force erecting by overhang
CN103508304B (en) * 2013-10-18 2015-07-22 浙江工业大学 Constant-force suspension device capable of realizing long-distance two-dimensional follow
CN103527569B (en) * 2013-10-18 2016-05-18 浙江工业大学 A kind of permanent torque output air-floating apparatus
CN103523717B (en) * 2013-10-18 2015-12-09 浙江工业大学 Two-dimensional constant force follows erecting by overhang
CN103527627B (en) * 2013-10-18 2016-02-03 浙江工商大学 A kind of High-precision constant force suspension device
CN103557820B (en) * 2013-11-16 2016-09-28 青岛弗尔迪测控有限公司 The long cantilever type three coordinate measuring machine of high stable
CN104875907B (en) * 2015-06-12 2017-01-04 哈尔滨工业大学 Narrow space jumbo transports installs six degree of freedom air-floated vehicle
CN108045604B (en) * 2017-12-07 2020-11-24 上海宇航系统工程研究所 Pneumatic follow-up device of connector
CN109990097B (en) * 2019-04-13 2020-09-25 江西理工大学南昌校区 Three-degree-of-freedom high-low temperature box vertical low-speed box penetrating shaft gas sealing device

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