CN103498843A - Stretchable sleeve device and measuring and control method thereof - Google Patents
Stretchable sleeve device and measuring and control method thereof Download PDFInfo
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- CN103498843A CN103498843A CN201310451892.2A CN201310451892A CN103498843A CN 103498843 A CN103498843 A CN 103498843A CN 201310451892 A CN201310451892 A CN 201310451892A CN 103498843 A CN103498843 A CN 103498843A
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Abstract
The invention discloses a stretchable sleeve device and a measuring and control method thereof. A tensioning guide device is added in a spreading bracing wire mechanism of the bracing wire part in an existing self-unlocking stretchable sleeve device, and a bracing wire can be automatically tensioned and stretched in a large range. The stretchable sleeve device further comprises a measuring and control system. The measuring and control system can control the sleeve device and can automatically record detecting data on an upper computer. A locking part comprises two mechanical locking structures, and the two mechanical locking structures can carry out replacement mutually. Therefore, conversion of mechanism locks of different forms is achieved under the condition that the structure of the sleeve device is not changed, and then multiple locking principles are tested through one set of control system. The stretchable sleeve device and the measuring and control method thereof have the advantages that the phenomenon that the stretched bracing wire is loosened in the unlocking process of the sleeve device is prevented; meanwhile, the sleeve device is controlled, detected related data are automatically recorded on the upper computer, operation is convenient and visual, and the data are convenient to process; further, optimization can be carried out on the structural form and the parameters by using obtained parameters, and thus the finished products are made to be better in quality and more reliable.
Description
Technical field
The invention belongs to field of mechanical technique and automation field, specifically, is a kind of sleeve and lock test method thereof received of opening up, and can receive the test that realizes the variable locking scheme on sleeve means same set of the exhibition.
Background technique
Can open up and receive sleeve means is a kind of straight line development agency, in fields such as space flight, car antenna and portable equipments, is widely used.As disclosed a kind of Self-unlocking in the publication number patent of invention that is CN102537618A can be opened up the receipts sleeve means, but be a kind of new device of the locking of the mechanical type by wire rope gearing, because this exhibition received sleeve and belonged to novel mechanism and lack reference information, its relevant parameter needs verification experimental verification, measurement and optimization, but its mechanism's limited space, be difficult to arrange conventional power sensor, also lack relevant measurement method of parameters in similar means in the past; And can derive different locking structure forms in above-mentioned patent, these forms respectively have characteristics, yet, if each locking structure provides respectively testing apparatus, cost is higher and will repeat a large amount of work.In addition, according to the above-mentioned the locking and unlocking principle of receiving sleeve means of opening up, the closed loop length of wire rope can change, make steel wire rope looseness, even make it to come off from steel wire rope yarn wheel, and the regulation range of the common pre-tensioner mode of wire rope is little, and need artificial adjustment more, can not realize the self-regulation tensioning.
Summary of the invention
Can open up for foregoing invention patent Self-unlocking the deficiency of receiving sleeve means, the present invention proposes modular exhibition of a kind of lock block structure and receives sleeve and investigating method thereof, can realize the switching of lock dog, and realize the automatic dynamic tensioning of wire rope, can realize opening up exhibition receipts, position adjustment and the information monitoring of receipts sleeve simultaneously.
A kind of receipts sleeve means of opening up, comprise outer sleeve, middle sleeve, inner sleeve, guide mechanism, drive part, bracing wire part and lock section.
Described outer sleeve, middle sleeve and inner sleeve are inserted in successively layer by layer; Be fixed by socket base on the outer sleeve bottom outer wall; The middle sleeve structure is identical with the inner sleeve structure, and the bottom fixed cover is connected to end cover; Outer sleeve and middle sleeve top all are installed with top cover; Described top cover has tubular structure, and top has outward extending flange; Top cover outer side wall on outer sleeve and middle sleeve with the madial wall of sleeve, be fixed respectively, make the flange of top cover on outer sleeve and middle sleeve lay respectively at outer sleeve and middle sleeve top.
Described targeting part comprises upper saw pulley, key A and key B; Have at least one breach on the flange peripheral of top cover on each sleeve, be used for arranging upper saw pulley; Upwards are provided with at least one A of the key along the sleeve axial direction in middle sleeve and inner sleeve outer side wall week, end cover on middle sleeve and inner sleeve upwards is provided with at least one B of the key along the sleeve axial direction outer side wall week, by key A and key B, forms the long key that is positioned at the integral body on middle sleeve and inner sleeve outer side wall; On middle sleeve and outer sleeve, top cover madial wall week upwards is provided with keyway; Between two adjacent sleeves, the long key be positioned on the sleeve of internal layer cooperatively interacts with the keyway be positioned on outer layer sleeve; And coordinate rotation by the upper saw pulley be positioned on outer field sleeve top cover flange with long key on the sleeve that is positioned at internal layer.
Described drive part comprises reel, motor, reel stand and motor rack, and reel is connected on reel stand by rolling bearing; The shell of motor be fixedly mounted on motor rack on; Motor output shaft and reel coaxially are connected, and starting electrical machinery can be with movable reel to rotate; Reel stand and motor rack are fixed on the base of outer sleeve by screw.
Described bracing wire partly comprises thread drawing mechanism and draws thread drawing mechanism in; Launch circumferential uniform two covers of thread drawing mechanism along whole sleeve means; Every suit launches thread drawing mechanism to comprise tension guide device, expansion bracing wire, evolute wheel A, evolute wheel B, launches interior lines wheel A and launch interior lines wheel B; Wherein, tension guide device comprises static line wheel, tensioned thread wheel, directional post A and tension spring; The static line wheel shaft is connected on the static line wheel support that the base upper surface of outer sleeve arranges; The tensioned thread wheel shaft is connected on the tensioned thread wheel support that base 9 lower surfaces of outer sleeve arrange; Tensioned thread wheel support both sides have lug, have pilot hole on lug; Directional post A mono-end is connected with the base lower surface of outer sleeve through after lug; The directional post A the other end has circumferential spacing outer rim; Be provided with tension spring between the base of tensioned thread wheel support and outer sleeve, it is upper that tension spring is socketed in directional post A, and the two ends of tension spring are connected with the base of tensioned thread wheel support and outer sleeve respectively; Evolute wheel A is coupling and offers on the line wheel seat A arranged in groove on the top cover of middle sleeve; Evolute wheel B is coupling and offers on the line wheel seat B arranged in groove on the top cover of outer sleeve; Evolute wheel A and evolute wheel B all take turns catch half wheel by static line and surround; Launch interior lines wheel A and be rotationally connected by interior lines wheel seat A and middle sleeve upper base cover, by the wheel seat A of interior lines fixedly interior lines wheel catch will launch interior lines wheel A half and take turns encirclement; Launching interior lines wheel B is rotationally connected by interior lines wheel seat B and inner sleeve upper base cover; Described expansion bracing wire one end is fixedly connected on the interior lines wheel seat B that launches interior lines wheel B; The other end is upper around launching interior lines wheel B, and walks around successively evolute wheel B, launches interior lines wheel A, after evolute wheel A, tensioned thread wheel, static line wheel, on reel, and is fixedly connected with reel.
Described gathering thread drawing mechanism comprises that gathering bracing wire, adjustment screw, base plate, tenminal block, extension spring, support beam, directional post B, stage clip, gathering line wheel A, annular disc, gathering line are taken turns B, the gathering line is taken turns C and draws line in and take turns D; Wherein, the suspention beam is fixed in inner sleeve on cover bottom surface, the end, adjusts screw-driving at suspention beam center position; One end of extension spring is fixed on to be adjusted on screw, and the other end is fixed by screws on tenminal block; Described support beam level is arranged on the base inside of outer sleeve; Logical wire-crossing wheel Building C, support beam center is connected with draws line wheel B in; Directional post B is two, by positioning hole and screw are vertical with support beam, is connected respectively.Annular disc is horizontally set in the end cover of middle sleeve; The annular disc middle part is equipped with connecting framework, offers two circular holes on connecting framework, with two directional post B, is slidably matched respectively; Be connected with gathering line wheel A by line wheel seat D below connecting framework, and draw line wheel A in and take turns between B mutually vertical with the gathering line; The upper cover of described two directional post B has stage clip, stage clip to be positioned between annular disc and support beam; Gathering line wheel C is coupling on the line wheel seat E of the base upper surface of outer sleeve; Draw line wheel D in and be coupling on the line wheel seat F of the base lower surface of outer sleeve, and draw line wheel C in and draw between line wheel D mutually vertically, and to take turns A parallel with the gathering line.One end of described gathering bracing wire is fixedly connected on tenminal block, and the other end walks around successively and draw line wheel A in, draw line wheel B in, draw line wheel D6033 in, be wrapped on reel after drawing line wheel C in, and is connected with reel.
Described lock section comprises mechanical lock A and mechanical lock B; Wherein, mechanical lock A comprises lock body A and locking closure A; Lock body A comprises lock dog, lock frame A, roller A and lock knob spring; Roller A is rotationally connected by wheel shaft and lock dog; Lock dog is rotationally connected with lock frame A by lock shaft; Lock frame A is connected by mounting blocks and middle sleeve sidewall; The rectangle passage port that lock dog is positioned at offer on the middle sleeve sidewall; The lock knob spring, between lock dog and lock frame A, makes lock dog have the trend of bullet to outer sleeve; Above-mentioned lock dog and pull bar one end are hinged, and in the pull bar the other end and gathering thread drawing mechanism, annular disc is hinged; Described locking closure A is platy structure, is fixedly installed in the opening of offering on the top cover side of outer sleeve; Thus between middle sleeve and outer sleeve in expansion process, roller will roll along the outer sleeve inwall, until middle sleeve launches fully, now lock dog is outwards ejected by the effect of lock knob spring by the rectangle passage port of offering on sleeve lateral wall, be positioned at the opening of offering on the top cover side of outer sleeve, and cooperatively interact between the top cover of outer sleeve, form self-locking; While drawing between middle sleeve and outer sleeve, annular disc moves downward along directional post B, thereby drive by pull bar the torsion motion that lock dog overcomes the lock knob spring, in the opening that makes to offer on the top cover side of lock dog by outer sleeve, deviate from, with the top cover of outer sleeve, separate, regain in the lock frame, realize the Self-unlocking between middle sleeve and outer sleeve.
Described mechanical lock B comprises lock body B, locking closure B; Wherein, lock body B is barrel-like structure, comprises tapered end, lock cylinder, spring and lock frame B; Tapered end and lock cylinder coaxially arrange; The traversing through end of tapered end vertically, through lock frame B, towards middle sleeve one side, is hinged with roller B on traversing through end; The tapered end the other end is positioned at lock cylinder; Lock cylinder inside is equipped with spring one end and the lock cylinder bottom surface is connected, and the other end and tapered end are fixed; Lock frame B is fixedly mounted on the inner sleeve madial wall by assembling set; And the rectangle passage port that tapered end is positioned at offer on the inner sleeve sidewall; Locking closure B is platy structure, is fixedly mounted on the top cover lateral opening place of middle sleeve; Locking closure B is designed with voussoir towards a side of inner sleeve, and voussoir is positioned at the top cover 11 lateral opening places of middle sleeve 2; Thus, while launching between inner sleeve and middle sleeve, roller B will be at sleeve lining along the middle sleeve axial rolling, until inner sleeve launches fully, now tapered end is subject to spring action, by the rectangle passage port of offering on the inner sleeve sidewall, is outwards ejected, contact with the inclined-plane of voussoir, form self-locking; While drawing between middle sleeve and outer sleeve, the roller B on tapered end rolls along voussoir, makes spring-compressed, is recovered in lock cylinder to tapered end, completes release;
Also comprise TT&C system; TT&C system comprises motor motion control device, photoelectric code disk, first put in place detection components, second put in place detection components, power sensor and upper-position unit.
Wherein, photoelectric code disk is connected with motor, is used for the rotary speed information of Real-time Obtaining motor; Above-mentioned motor all is connected with the motor motion control device with photoelectric code disk, and control electric machine rotation by the motor motion control device, and accept the motor speed information that photoelectric code disk reads, and the operating time of motor, operating current.
Described first detection components and second detection components that puts in place that puts in place forms by Hall switch, magnet A and magnet B; First puts in place in detection components: Hall switch A is arranged on the locking closure A of mechanical lock A; Magnet A is arranged on the lock body A of mechanical lock A; And magnet B is arranged on outer sleeve bottom inside wall; When outer sleeve and middle sleeve launch fully, Hall switch is corresponding with the magnet A position; When outer sleeve and middle sleeve draw in fully, Hall switch is corresponding with the magnet B position; When Hall switch and magnet A or magnet B position, at once, Hall switch transfers low level to by the output high level; Otherwise Hall switch output level state turns high by low; Equally, for second, put in place in assembly: Hall switch is arranged on the locking closure B of mechanical lock B; Magnet A is arranged on the tapered end of lock body B in mechanical lock B; And magnet B is arranged on middle sleeve bottom inside wall; When inner sleeve and middle sleeve launch fully, Hall switch is corresponding with the magnet A position; When outer sleeve and middle sleeve draw in fully, Hall switch is corresponding with the magnet B position; When Hall switch and magnet A or magnet B position, at once, Hall switch transfers low level to by the output high level; Otherwise Hall switch output level state turns high by low; First puts in place, and Hall switch that detection components and second puts in place in detection components all is connected with the digital signal interface of motor motion control device, be used for respectively to motor motion control device output signal, the motor motion control device is according to the output signal level that receives height, detects the expansion of sleeve means and the gathering state that puts in place.
The power sensor adopts thin-film pressure sensor, by launching evolute wheel A and evolute in thread drawing mechanism, takes turns the line wheel seat A of B and line wheel seat B and is fixed and clamped in the groove of in outer sleeve and middle sleeve top cover; The power sensor is connected with the analog signal interface of motor motion control device, and the force signal recorded is sent to the motor motion control device.
Described upper-position unit is connected with the motor motion control device, is used for sending and launching or draw in control signal to the motor motion control device, controls motor movement; Be set with automatic control mode and manual two kinds of control modes of control mode in upper-position unit, by the switching of control mode of artificial choosing; Upper-position unit also is used for receiving the data that the motor motion control device receives and is shown.
The invention has the advantages that:
1, the present invention can open up and receive the steel wire wheel tensioning mechanism that sleeve adopts the spring sliding type, can be in a big way the auto-tensioning wire rope, adapted to the phenomenon of the steel wire rope looseness occurred in release principle process;
2, the present invention can open up and receive sleeve and have the modular type lock block structure, do not changing in the agent structure situation that can open up the receipts sleeve, can realize the switching between the lock dog of multi-form and parameter, thereby can test multiple locking principle by a set of control system, save time and cost;
3, the present invention can open up the receipts sleeve, under the condition of its agent structure limited space, has completed and has controlled the layout with related sensor, and the measurement of significant data can be carried out;
4, the present invention can open up the investigating method of receiving sleeve, can be controlled all test actions of sleeve means, and the related data that record detects automatically on upper-position unit, easy to operate directly perceived, data are convenient to process; And can utilize the parameter of acquisition to be optimized structural type and parameter, thereby make final product, more high-quality is reliable.
The accompanying drawing explanation
Fig. 1 is that the present invention can open up receipts sleeve overall structure schematic diagram;
Fig. 2 is that the present invention can open up top cover structural representation in the receipts sleeve;
Fig. 3 is that the present invention can open up bracing wire part-structure schematic diagram in the receipts sleeve;
Fig. 4 is that the present invention can open up tension guide device structure and mounting point schematic diagram in the receipts sleeve;
Fig. 5 is that the present invention can open up mechanical lock A structural representation in the receipts sleeve;
Fig. 6 is that the present invention can open up mechanical lock A mounting type schematic diagram in the receipts sleeve;
Fig. 7 is that the present invention can open up mechanical lock B structural representation in the receipts sleeve;
Fig. 8 is that the present invention can open up the lock body B structural representation of receiving mechanical lock B in sleeve;
Fig. 9 is that the present invention can open up power installation of sensors mode and mounting point schematic diagram in the receipts sleeve;
Figure 10 is that the present invention can open up TT&C system structured flowchart in the receipts sleeve;
Figure 11 is that the present invention can open up the investigating method flow chart of receiving sleeve.
In figure:
1-outer sleeve 2-middle sleeve 3-inner sleeve
4-guide mechanism 5-drive part 6-bracing wire part
7-mechanical lock A 8-mechanical lock B 9-base
Cover 11-top cover 12-flange at the bottom of 10-
13-motor motion control device 14-photoelectric code disk 15-first detection components that puts in place
The 16-second detection components 17-power sensor 18-upper-position unit that puts in place
401-upper saw pulley 402-key A 403-key B
404-keyway 501-reel 502-motor
503-reel stand 504-motor rack 601-launches thread drawing mechanism
602-draws thread drawing mechanism 6011-tension guide device 6012-in and launches bracing wire
6013-evolute wheel A 6014-evolute wheel B 6015-launches interior lines wheel A
6016-launches interior lines wheel B 6011a-static line wheel 6011b-tensioned thread wheel
6011c-directional post A 6011d-tension spring 6011e-static line wheel support
6011f-tensioned thread wheel support 6021-draws bracing wire 6022-in and adjusts screw
6023-suspention beam 6024-tenminal block 6025-extension spring
6026-support beam 6027-directional post B 6028-stage clip
6029-draws line wheel A 6030-annular disc 6031-in and draws line wheel B in
6032-draws line wheel C 6033-in and draws line wheel D 701-lock body A in
702-locking closure A 701a-lock dog 701b-lock frame A
701c-roller A 701d-lock knob spring 701e-pull bar
801-lock body B 802-locking closure B 803-voussoir B
801b-lock cylinder 801c-spring 801e-roller B
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
Self-unlocking of the present invention can be opened up the receipts sleeve means and comprise outer sleeve 1, middle sleeve 2, inner sleeve 3, guide mechanism 4, drive part 5, bracing wire part 6, mechanical lock A7, mechanical lock B8 and TT&C system.As shown in Figure 1.Described outer sleeve 1, middle sleeve 2 and inner sleeve 3 are inserted in successively layer by layer.Be fixed by socket base 9 on described outer sleeve 1 bottom outer wall, base 9 is used for outer sleeve 1 and other equipment are fixed, thereby realizes the fixing of whole sleeve means.Middle sleeve 2 structures are identical with inner sleeve 3 structures, and the bottom fixed cover is connected to end cover 10, and to overlap 10 external diameters identical with middle sleeve 2 internal diameters with outer sleeve 1 respectively middle sleeve 2 and the end in inner sleeve 3.Outer sleeve 1 all is installed with top cover 11 with middle sleeve 2 tops, and as shown in Figure 2, described top cover 11 has tubular structure, and top has outward extending flange 12, and described flange 12 has the thickness on axially along top cover 11; Top cover 11 outer side walls on outer sleeve 1 and middle sleeve 2 with the madial wall of sleeve, be fixed respectively, make the flange 12 of top cover 11 on outer sleeve 1 and middle sleeve 2 lay respectively at outer sleeve 1 and middle sleeve 2 tops.
Wherein, the top cover 11 of above-mentioned outer sleeve 1 and middle sleeve 2 all has conical inner surface, middle sleeve 2 has respectively the conical external surface identical with the top cover 11 conical inner surface taperings with middle sleeve 2 with overcoat with the end on inner sleeve 3 cover 10, thus, while launching fully between two adjacent sleeves, be positioned at the conical external surface on cover 10 at the bottom of outer field sleeve can with the sleeve top cover 11 that is positioned at internal layer on conical inner surface be Spielpassung.
Described targeting part 4 comprises upper saw pulley 401, key A402 and key B403.As shown in Figure 1, 2, on each sleeve, the flange of top cover 11 upwards has at least one breach in 12 weeks, is used for arranging upper saw pulley.Middle sleeve 2 with 3 outer side wall weeks of inner sleeve upwards be provided with at least one A402 of the key along the sleeve axial direction, middle sleeve 2 overlapped and upwards is provided with at least one B402 of the key along the sleeve axial direction 10 outer side wall weeks with the end on inner sleeve 3, form by key A401 and key B402 the long key that is positioned at the integral body on middle sleeve 2 and inner sleeve 3 outer side walls, long key length is identical with long key place length sleeve.11 madial wall weeks of top cover upwards be provided with keyway 404 on middle sleeve 2 and outer sleeve 1.Thus, between two adjacent sleeves, by the long key on the sleeve that is positioned at internal layer and the keyway 404 be positioned on outer layer sleeve, cooperatively interact, realize the circumferential location between each sleeve; And coordinate rotation by the upper saw pulley 401 be positioned on outer field sleeve top cover 11 flanges 12 with long key on the sleeve that is positioned at internal layer, long key can be slided freely in keyway 404.
Described drive part 5 comprises reel 501, motor 502, reel stand 503 and motor rack 504, and reel 501 is connected on reel stand 503 by rolling bearing; The shell of motor 502 be fixedly mounted on motor rack 504 on; Motor 502 output shafts and reel 501 coaxially are connected, and starting electrical machinery 502 can be with movable reel 501 to rotate; 502, reel stand 503 and motor are fixed on by screw on the base 9 of outer sleeve 1.
Described bracing wire part 6 comprises thread drawing mechanism 601 and gathering thread drawing mechanism 602, as shown in Figure 3.Launch circumferential uniform two covers of thread drawing mechanism 601 along whole sleeve means; Every suit launches thread drawing mechanism 601 to comprise tension guide device 6011, expansion bracing wire 6012, evolute wheel A6013, evolute wheel B6014, launches interior lines wheel A6015 and launch interior lines wheel B6016.Wherein, tension guide device 6011 comprises static line wheel 6011a, tensioned thread wheel 6011b, directional post A6011c and tension spring 6011d, as shown in Figure 4; Static line wheel 6011 is coupling on the static line wheel support 6011e of the base 9 upper surfaces settings of outer sleeve 1; Tensioned thread wheel 6011b is coupling on the tensioned thread wheel support 6011f of the base 9 lower surfaces settings of outer sleeve 1; Tensioned thread wheel support 6011f both sides have lug, have pilot hole on lug; Directional post A6011c mono-end is connected with base 9 lower surfaces of outer sleeve 1 through after lug, makes thus to form and be slidably connected between tensioned thread wheel support 6011f and directional post A6011c; The directional post A6011c the other end has circumferential spacing outer rim, realizes spacing to the slip of tension pulley support 6011f.9 of the bases of tensioned thread wheel support 6011f and outer sleeve 1 are provided with tension spring 6011d, and it is upper that tension spring 6011d is socketed in directional post A6011c, and the two ends of tension spring 6011d are connected with the base 9 of tensioned thread wheel support 6011f and outer sleeve 1 respectively.As shown in Figure 5, evolute wheel A6013 is coupling and offers on the line wheel seat A arranged in groove on the top cover 11 of middle sleeve 2; Evolute wheel B6014 is coupling and offers on the line wheel seat B arranged in groove on the top cover 11 of outer sleeve 1; Evolute wheel A6013 and evolute wheel B6014 all take turns catch half wheel by static line and surround; Launch interior lines wheel A6015 and be rotationally connected with middle sleeve 2 upper bases covers 10 by interior lines wheel seat A, by the wheel seat A of interior lines fixedly interior lines wheel catch will launch interior lines wheel A6015 half and take turns encirclement; Launching interior lines wheel B6016 is rotationally connected by interior lines wheel seat B and inner sleeve 3 upper base covers 10.Described expansion bracing wire 6,012 one ends are fixedly connected on the interior lines wheel seat B that launches interior lines wheel B6016; The other end is upper around launching interior lines wheel B6016, and walks around successively evolute wheel B6014, launches interior lines wheel A6015, after evolute wheel A6013, tensioned thread wheel 6011b, static line wheel 6011a, on reel 501, and is fixedly connected with reel 501.
Described gathering thread drawing mechanism 602 comprises that gathering bracing wire 6021, adjustment screw 6022, base plate 6023, tenminal block 6024, extension spring 6025, support beam 6026, directional post B6027, stage clip 6028, gathering line wheel A6029, annular disc 6030, gathering line are taken turns B6031, the gathering line is taken turns C6032 and taken turns D6033 with the gathering line.Wherein, suspention beam 6023 is fixed on the end in inner sleeve 3 and overlaps on 10 bottom surfaces, adjusts screw 6022 and is tightened in suspention beam 6023 center positions; One end of extension spring 6025 is fixed on to be adjusted on screw 6022, and the other end is fixed by screws on tenminal block 6024.Described support beam 6026 levels are arranged on base 9 inside of outer sleeve 1; Logical wire-crossing wheel Building C, support beam 6026 centers is connected with draws line wheel B6031 in; Directional post B6027 is two, by positioning hole, with screw, with support beam 6026 is vertical, is connected respectively.Annular disc 6030 is horizontally set in the end cover 10 of middle sleeve 2; Annular disc 6030 middle parts are equipped with connecting framework, offer two circular holes on connecting framework, with two directional post B6027, are slidably matched respectively; Be connected with gathering line wheel A6029 by line wheel seat D below connecting framework, and draw line wheel A6029 in and take turns between B6031 mutually vertical with the gathering line.The upper cover of described two directional post B6027 has stage clip 6028, stage clip 6028 to be positioned at 6026 of annular disc 6030 and support beams.Gathering line wheel C6032 is coupling on the line wheel seat E of base 9 upper surfaces of outer sleeve 1; Draw line wheel D6033 in and be coupling on the line wheel seat F of base 9 lower surfaces of outer sleeve 1, and draw line wheel C6032 in and draw between line wheel D6033 mutually vertically, and to take turns A6029 parallel with the gathering line.One end of described gathering bracing wire 6021 is fixedly connected on tenminal block 6024, and the other end walks around successively and draw line wheel A6029 in, draw line wheel B6031 in, draw line wheel D6033 in, be wrapped on reel 501 after drawing line wheel C6032 in, and is connected with reel 501.
By the expansion thread drawing mechanism 601 and gathering thread drawing mechanism 602 of said structure, realize expansion and gathering between each sleeve.The expansion process of sleeve means is: rotate by motor 502 band movable reels 501, make to launch bracing wire 6012 and be involved in along the external cylindrical surface of reel 501, draw bracing wire 6021 in and emit along the external cylindrical surface of reel 501.When launching bracing wire 6012 motion, static line wheel 6011a, tensioned thread wheel 6011b and evolute wheel A6013 are rotated, but the top cover 11A that evolute wheel A6013 is fixed in outer sleeve 1 is upper, can not move; And then drive middle sleeve 2 with respect to outer sleeve 1 expansion by launching interior lines wheel A6015, take turns B6014 by evolute simultaneously and launch interior lines wheel B6016 driving inner sleeve 3 with respect to middle sleeve 2 expansion; The expansion order of middle sleeve 2 and inner sleeve 3 is uncertain, the relation of frictional force while depending on their motions, but finally all will launch fully, now sleeve means is in complete deployed condition; Under the drive that launches bracing wire 6012, tensioned thread wheel support 6011f compresses tension spring 6011d fully, when reel 501 drive gathering bracing wires 6021 start to draw in, owing between each sleeve, there is no relative movement, launch guiding device 6011 tensionings that can only be tensioned of length that bracing wire 6012 emitted by reel 501, be that tension spring 6011d makes the base 9 of tensioned thread wheel support 6011f away from outer sleeve 1, this has just realized launching the real-time tensioning of bracing wire 6012.
The gathering process of sleeve means is: control motor 502 band movable reels 501 and rotate backward, make to draw in bracing wire 6021 and be involved in along the external cylindrical surface of reel 501, launch bracing wire 6012 and emit along the external cylindrical surface of reel 501.While drawing bracing wire 6021 motion in, making to draw in line takes turns C6032, draws line wheel D6033 in, draws line wheel B6031 rotation in, due to sleeve means in complete deployed condition, therefore drawing line wheel B6031 in will can not move, extension spring 6025 is for adjusting the tension force that draws bracing wire 6021 in, and rigidity is more many greatly than the rigidity of stage clip 6028, therefore under the effect of drawing bracing wire 6021 in, drawing line wheel A6029 in will be driven, thereby annular disc 6030 will move downward along directional post B6027; Draw subsequently bracing wire 6021 in and will drive the gathering of simultaneously moving of inner sleeve 3 and middle sleeve 2, under the drive of drawing bracing wire 6021 in, final all sleeves all will draw in fully, and now sleeve means is in complete rounding state.
In the present invention, 2 of outer sleeve 1 and middle sleeves are realized mutual locking and release by mechanical lock A7; 3 of middle sleeve 2 and inner sleeves are realized mutual locking and release by mechanical lock B8; Wherein, mechanical lock A7 comprises lock body A701 and locking closure A702, as shown in Figure 5.Lock body A701 comprises lock dog 701a, lock frame A701b, roller A701c and lock knob spring 701d, as shown in Figure 6; Roller A701c is rotationally connected by wheel shaft and lock dog 701a; Lock dog 701a is rotationally connected with lock frame A701b by lock shaft; Lock frame A701b is connected by mounting blocks and middle sleeve 2 sidewalls; Make lock dog 701a be positioned at the rectangle passage port of offering on middle sleeve 2 sidewalls.Lock knob spring 701d, between lock dog 701a and lock frame A701b, makes lock dog 701a have the trend of bullet to outer sleeve 1; Above-mentioned lock dog 701a and pull bar 701e mono-end are hinged, and in the pull bar 701e the other end and gathering thread drawing mechanism 602, annular disc 6030 is hinged.Described locking closure A702 is platy structure, is fixedly installed in the opening of offering on top cover 11 sides of outer sleeve 1.Thus in middle sleeve 2 and 1 expansion process of outer sleeve, roller will roll along outer sleeve 1 inwall, until middle sleeve 2 launches fully, now lock dog 701a is outwards ejected by lock knob spring 701d effect by the rectangle passage port of offering on sleeve 2 sidewalls, be positioned at the opening of offering on top cover 11 sides of outer sleeve 1, and 11 of the top covers of outer sleeve 1 cooperatively interact, form self-locking, limit middle sleeve 2 and moved downward, realized the locking of 1 of middle sleeve 2 and outer sleeve; When middle sleeve 2 and 1 gathering of outer sleeve, annular disc 6030 moves downward along directional post B6027, thereby drive by pull bar 701e the torsion motion that lock dog 701a overcomes lock knob spring 701d, in the opening that makes to offer on top cover 11 sides of lock dog 701a by outer sleeve 1, deviate from, with the top cover 11 of outer sleeve 1, separate, regain in lock frame 701b, realize the Self-unlocking of 1 of middle sleeve 2 and outer sleeve.
Described mechanical lock B8 comprises lock body B801, locking closure B802, as shown in Figure 7.Wherein, lock body B801 is barrel-like structure, comprises tapered end 801a, lock cylinder 801b, spring 801c and lock frame B801d, as shown in Figure 8; Tapered end 801a and lock cylinder 801b coaxially arrange; The traversing through end of tapered end 801a vertically, through lock frame B801d, towards middle sleeve 2 one sides, is hinged with roller B801e on traversing through end; Tapered end 801 the other ends are positioned at lock cylinder 802b; Lock cylinder 801b inside is equipped with spring 801c mono-end and the lock cylinder bottom surface is connected, and the other end and tapered end 801 are fixing.Lock frame B801d is fixedly mounted on inner sleeve 3 madial walls by assembling set; And make tapered end 801a be positioned at the rectangle passage port of offering on inner sleeve 3 sidewalls.Locking closure B is platy structure, is fixedly mounted on the top cover 11 lateral opening places of middle sleeve 2; Locking closure B802 is designed with voussoir 803 towards a side of inner sleeve 3, and voussoir 803 is positioned at the top cover 11 lateral opening places of middle sleeve 2; Be hinged with connecting rod 804 on axial along middle sleeve 2 on locking closure B802, be rotatablely equipped with pulley 805 on connecting rod 804.Thus, when inner sleeve 3 and 2 expansion of middle sleeve, roller B801e will be at middle sleeve 2 inwalls along middle sleeve 2 axial rollings, until inner sleeve 3 launches fully, now tapered end 801a is subject to spring action, by the rectangle passage port of offering on inner sleeve 3 sidewalls, is outwards ejected, with the inclined-plane of voussoir 803, contact, form self-locking, limited inner sleeve 3 and moved downward, realized the locking of 3 of middle sleeve 2 and inner sleeves; When 1 of middle sleeve 2 and outer sleeve draw in, the roller B801e on tapered end 801a rolls along voussoir 803, makes spring 801c compression, is recovered in lock cylinder 801b to tapered end 801a, completes release.And in above-mentioned sleeve means expansion process, pulley 805 at outer sleeve 1 inwall along outer sleeve 1 axial rolling; In sleeve means gathering process, pulley 805 is subject to outer sleeve 1 extruding, is recovered to outer sleeve 1 inside, at outer sleeve 1 inwall along outer sleeve 1 axial rolling; Can reduce in sleeve means expansion or gathering process the frictional force that outer sleeve 1 and middle sleeve are 2 by pulley 805.
Described TT&C system, as shown in Figure 9, comprise motor motion control device 13, photoelectric code disk 14, first put in place detection components 15, second put in place detection components 16, power sensor 17 and upper-position unit 18.
Wherein, photoelectric code disk 14 is connected with motor 502, is used for the rotary speed information of Real-time Obtaining motor 502; Above-mentioned motor 502 all is connected with motor motion control device 13 with photoelectric code disk 14, and control motors 502 by motor motion control device 13 and rotate, and accept motor 502 rotary speed informations that photoelectric code disk 14 reads, and the operating time of motor 502, operating current.
Described first detection components 15 and second detection components 16 that puts in place that puts in place forms by Hall switch 151, magnet A 152 and magnet B 153; First puts in place in detection components: Hall switch A151 is arranged on the locking closure A702 of mechanical lock A7; Magnet A 152 is arranged on the lock body A701 of mechanical lock A7, as shown in Figure 5, Figure 6.And magnet B 153 is arranged on outer sleeve 1 bottom inside wall; When outer sleeve 1 and middle sleeve 2 launch fully, Hall switch 151 is corresponding with magnet A 152 positions; When outer sleeve 1 and middle sleeve 2 draw in fully, Hall switch 151 is corresponding with magnet B 153 positions; When Hall switch 151 and magnet A 152 or magnet B 153 positions, at once, Hall switch 151 transfers low level to by the output high level; Otherwise Hall switch 151 output level states turn high by low.Equally, for second, put in place in assembly: Hall switch 151 is arranged on the locking closure B802 of mechanical lock B8; Magnet A 152 is arranged on the tapered end 801a of lock body B801 in mechanical lock B8, as shown in Figure 7.And magnet B 153 is arranged on middle sleeve 2 bottom inside walls; When inner sleeve 3 and middle sleeve 2 launch fully, Hall switch 151 is corresponding with magnet A 152 positions; When outer sleeve 1 and middle sleeve 2 draw in fully, Hall switch 151 is corresponding with magnet B 153 positions; When Hall switch 151 and magnet A 152 or magnet B 153 positions, at once, Hall switch 151 transfers low level to by the output high level; Otherwise Hall switch 151 output level states turn high by low.First puts in place, and Hall switch 151 that detection components 15 and second puts in place in detection components 16 all is connected with the digital signal interface of motor motion control device 13, be used for respectively to motor motion control device 13 output signals, motor motion control device 13 is according to the output signal level height received, and detects the expansion of sleeve means and the gathering state that puts in place.
Drive and the space compactness because sleeve means of the present invention adopts rope, be difficult to arrange pulling force sensor 17; Therefore in the present invention, power sensor 17 adopts thin-film pressure sensor 17, line wheel seat A by launching evolute wheel A6013 and evolute wheel B6014 in thread drawing mechanism 601 and line wheel seat B are fixed and clamped in the groove of in outer sleeve 1 and middle sleeve 2 top cover 11, as shown in Figure 9; Because evolute is taken turns the effect that A6013 directly is subject to launching bracing wire 6012, in the sleeve means expansion process, evolute wheel A6013 is pressed towards the top cover 11 of outer sleeve 1; Can directly measure by power sensor 17 the stressed size of launching bracing wire 6012 thus.Power sensor 17 is connected with the analog signal interface of motor motion control device 13, the force signal recorded can be sent to motor motion control device 13.
Described upper-position unit 18 is connected with motor motion control device 13 by the USB line; Upper-position unit 18 is used for sending and launching or draw in control signal to motor motion control device 13, controls motor 502 motions; Be set with automatic control mode and manual two kinds of control modes of control mode in upper-position unit 18, by the switching of control mode of artificial choosing; Upper-position unit 18 also is used for receiving the data that motor motion control device 13 receives and is shown.
Investigating method based on above-mentioned TT&C system, as shown in figure 11, by following step, realize:
Step 1: upper-position unit 18 and 13 initialization of motor motion control device, and rotating speed and the running current upper limit of motor 502 are set, make motor 502 in enabled state;
Step 2: carry out the control mode selection in upper-position unit 18; Send automatic mode control signal or manual mode control signal to motor motion control device 13, if motor motion control device 13 receives the automatic mode control signal, enter step 3; If motor motion control device 13 receives the manual mode control signal, enter step 6;
Step 3: motor motion control device 13 detects and whether receives Automatic-expanding or automatically draw signal in, in implementation process, by clicking the Automatic-expanding order in software or automatically drawing order in, sends Automatic-expanding or automatically draws signal in; If so, proceed step 4; If not, EO;
Step 4: motor motion control device 13 is according to the Automatic-expanding received or automatically draw signal in, controls motor 502 and carries out forward or reverse;
Step 5: motor motion control device 13 detects first put in place the output signal of the Hall switch 151 in detection components 16 of detection components 15 and second that puts in place, judgement sleeve means status (launching fully or complete rounding state); When Hall switch 151 output signals that receive when motor motion control device 13 transfer low level to by high level, control motor 502 stalls, end operation; Otherwise continue execution step 4;
In above-mentioned steps 4 and step 5, motor motion control device 13 is gone back the output signal of working time, motion speed, motor working current, power sensor 17 reading out datas and two Hall switch 151 of Real-time Obtaining motor 502, feed back to upper-position unit 18, by upper-position unit 18, output in text and stored.Motor motion control device 13 is in whole automatic control process, and whether the running current that also in real time detects motor 502 surpasses the running current upper limit arranged in step 1, if so, and end operation, otherwise proceed step 3.
Step 6: motor motion control device 13 detects and whether receives manual expansion or manually draw signal in, in implementation process, by manual expansion button and the manual button that draws in, sends manual expansion and manually draws signal in; If so, proceed step 7; If not, EO;
Step 7: motor motion control device 13 is according to the Automatic-expanding received or automatically draw signal in, controls motor 502 and carries out forward or reverse;
Step 8: motor motion control device 13 detects first put in place the output signal of the Hall switch 151 in detection components 16 of detection components 15 and second that puts in place, judgement sleeve means status (launching fully or complete rounding state); If, when Hall switch 151 output signals that motor motion control device 13 receives transfer low level to by high level, control motor 502 stalls, end operation;
Equally, in above-mentioned steps 7 and step 8, motor motion control device 13 is gone back the output signal of working time, motion speed, operating current, power sensor 17 reading out datas and two Hall switch 151 of Real-time Obtaining motor 502, feed back to upper-position unit 18, by upper-position unit 18, output in text and stored; Motor motion control device 13 is in whole manual control procedure, and whether the running current that also in real time detects motor surpasses the running current upper limit arranged in step 1, if so, and end operation, otherwise proceed step 6;
In said method, before recording the data of power sensor 17, need to detect the extruding pretightening force data that evolute wheel A6013 produces power sensor 17, and then the stress data that can obtain launching bracing wire 6012 of the difference by power sensor 17 data that measure and power sensor 17 pretightening force data.
In the present invention in the situation that the locking closure A702 of mechanical lock A7 and mechanical lock B8 and locking closure B802 are constant, lock body A701 in mechanical lock A7 can be replaced to the lock body B801 in mechanical lock B8, by TT&C system, can obtain the survey data of middle sleeve 2 and 3 variable locking modes of inner sleeve thus; Equally also can be replaced the lock body B801 in mechanical lock B8 by the lock body of other structure, be obtained the survey data of more lock modes.
Claims (7)
1. can open up the receipts sleeve means for one kind, it is characterized in that: comprise outer sleeve, middle sleeve, inner sleeve, guide mechanism, drive part, bracing wire part and lock section;
Described outer sleeve, middle sleeve and inner sleeve are inserted in successively layer by layer; Be fixed by socket base on the outer sleeve bottom outer wall; The middle sleeve structure is identical with the inner sleeve structure, and the bottom fixed cover is connected to end cover; Outer sleeve and middle sleeve top all are installed with top cover; Described top cover has tubular structure, and top has outward extending flange; Top cover outer side wall on outer sleeve and middle sleeve with the madial wall of sleeve, be fixed respectively, make the flange of top cover on outer sleeve and middle sleeve lay respectively at outer sleeve and middle sleeve top;
Described targeting part comprises upper saw pulley, key A and key B; Have at least one breach on the flange peripheral of top cover on each sleeve, be used for arranging upper saw pulley; Upwards are provided with at least one A of the key along the sleeve axial direction in middle sleeve and inner sleeve outer side wall week, end cover on middle sleeve and inner sleeve upwards is provided with at least one B of the key along the sleeve axial direction outer side wall week, by key A and key B, forms the long key that is positioned at the integral body on middle sleeve and inner sleeve outer side wall; On middle sleeve and outer sleeve, top cover madial wall week upwards is provided with keyway; Between two adjacent sleeves, the long key be positioned on the sleeve of internal layer cooperatively interacts with the keyway be positioned on outer layer sleeve; And coordinate rotation by the upper saw pulley be positioned on outer field sleeve top cover flange with long key on the sleeve that is positioned at internal layer;
Described drive part comprises reel, motor, reel stand and motor rack, and reel is connected on reel stand by rolling bearing; The shell of motor be fixedly mounted on motor rack on; Motor output shaft and reel coaxially are connected, and starting electrical machinery can be with movable reel to rotate; Reel stand and motor rack are fixed on the base of outer sleeve by screw;
It is characterized in that:
Described bracing wire partly comprises thread drawing mechanism and draws thread drawing mechanism in; Launch circumferential uniform two covers of thread drawing mechanism along whole sleeve means; Every suit launches thread drawing mechanism to comprise tension guide device, expansion bracing wire, evolute wheel A, evolute wheel B, launches interior lines wheel A and launch interior lines wheel B; Wherein, tension guide device comprises static line wheel, tensioned thread wheel, directional post A and tension spring; The static line wheel shaft is connected on the static line wheel support that the base upper surface of outer sleeve arranges; The tensioned thread wheel shaft is connected on the tensioned thread wheel support that base 9 lower surfaces of outer sleeve arrange; Tensioned thread wheel support both sides have lug, have pilot hole on lug; Directional post A mono-end is connected with the base lower surface of outer sleeve through after lug; The directional post A the other end has circumferential spacing outer rim; Be provided with tension spring between the base of tensioned thread wheel support and outer sleeve, it is upper that tension spring is socketed in directional post A, and the two ends of tension spring are connected with the base of tensioned thread wheel support and outer sleeve respectively; Evolute wheel A is coupling and offers on the line wheel seat A arranged in groove on the top cover of middle sleeve; Evolute wheel B is coupling and offers on the line wheel seat B arranged in groove on the top cover of outer sleeve; Evolute wheel A and evolute wheel B all take turns catch half wheel by static line and surround; Launch interior lines wheel A and be rotationally connected by interior lines wheel seat A and middle sleeve upper base cover, by the wheel seat A of interior lines fixedly interior lines wheel catch will launch interior lines wheel A half and take turns encirclement; Launching interior lines wheel B is rotationally connected by interior lines wheel seat B and inner sleeve upper base cover; Described expansion bracing wire one end is fixedly connected on the interior lines wheel seat B that launches interior lines wheel B; The other end is upper around launching interior lines wheel B, and walks around successively evolute wheel B, launches interior lines wheel A, after evolute wheel A, tensioned thread wheel, static line wheel, on reel, and is fixedly connected with reel;
Described gathering thread drawing mechanism comprises that gathering bracing wire, adjustment screw, base plate, tenminal block, extension spring, support beam, directional post B, stage clip, gathering line wheel A, annular disc, gathering line are taken turns B, the gathering line is taken turns C and draws line in and take turns D; Wherein, the suspention beam is fixed in inner sleeve on cover bottom surface, the end, adjusts screw-driving at suspention beam center position; One end of extension spring is fixed on to be adjusted on screw, and the other end is fixed by screws on tenminal block; Described support beam level is arranged on the base inside of outer sleeve; Logical wire-crossing wheel Building C, support beam center is connected with draws line wheel B in; Directional post B is two, by positioning hole and screw are vertical with support beam, is connected respectively.Annular disc is horizontally set in the end cover of middle sleeve; The annular disc middle part is equipped with connecting framework, offers two circular holes on connecting framework, with two directional post B, is slidably matched respectively; Be connected with gathering line wheel A by line wheel seat D below connecting framework, and draw line wheel A in and take turns between B mutually vertical with the gathering line; The upper cover of described two directional post B has stage clip, stage clip to be positioned between annular disc and support beam; Gathering line wheel C is coupling on the line wheel seat E of the base upper surface of outer sleeve; Draw line wheel D in and be coupling on the line wheel seat F of the base lower surface of outer sleeve, and draw line wheel C in and draw between line wheel D mutually vertically, and to take turns A parallel with the gathering line.One end of described gathering bracing wire is fixedly connected on tenminal block, and the other end walks around successively and draw line wheel A in, draw line wheel B in, draw line wheel D6033 in, be wrapped on reel after drawing line wheel C in, and is connected with reel;
Described lock section comprises mechanical lock A and mechanical lock B; Wherein, mechanical lock A comprises lock body A and locking closure A; Lock body A comprises lock dog, lock frame A, roller A and lock knob spring; Roller A is rotationally connected by wheel shaft and lock dog; Lock dog is rotationally connected with lock frame A by lock shaft; Lock frame A is connected by mounting blocks and middle sleeve sidewall; The rectangle passage port that lock dog is positioned at offer on the middle sleeve sidewall; The lock knob spring, between lock dog and lock frame A, makes lock dog have the trend of bullet to outer sleeve; Above-mentioned lock dog and pull bar one end are hinged, and in the pull bar the other end and gathering thread drawing mechanism, annular disc is hinged; Described locking closure A is platy structure, is fixedly installed in the opening of offering on the top cover side of outer sleeve; Thus between middle sleeve and outer sleeve in expansion process, roller will roll along the outer sleeve inwall, until middle sleeve launches fully, now lock dog is outwards ejected by the effect of lock knob spring by the rectangle passage port of offering on sleeve lateral wall, be positioned at the opening of offering on the top cover side of outer sleeve, and cooperatively interact between the top cover of outer sleeve, form self-locking; While drawing between middle sleeve and outer sleeve, annular disc moves downward along directional post B, thereby drive by pull bar the torsion motion that lock dog overcomes the lock knob spring, in the opening that makes to offer on the top cover side of lock dog by outer sleeve, deviate from, with the top cover of outer sleeve, separate, regain in the lock frame, realize the Self-unlocking between middle sleeve and outer sleeve;
Described mechanical lock B comprises lock body B, locking closure B; Wherein, lock body B is barrel-like structure, comprises tapered end, lock cylinder, spring and lock frame B; Tapered end and lock cylinder coaxially arrange; The traversing through end of tapered end vertically, through lock frame B, towards middle sleeve one side, is hinged with roller B on traversing through end; The tapered end the other end is positioned at lock cylinder; Lock cylinder inside is equipped with spring one end and the lock cylinder bottom surface is connected, and the other end and tapered end are fixed; Lock frame B is fixedly mounted on the inner sleeve madial wall by assembling set; And the rectangle passage port that tapered end is positioned at offer on the inner sleeve sidewall; Locking closure B is platy structure, is fixedly mounted on the top cover lateral opening place of middle sleeve; Locking closure B is designed with voussoir towards a side of inner sleeve, and voussoir is positioned at the top cover 11 lateral opening places of middle sleeve 2; Thus, while launching between inner sleeve and middle sleeve, roller B will be at sleeve lining along the middle sleeve axial rolling, until inner sleeve launches fully, now tapered end is subject to spring action, by the rectangle passage port of offering on the inner sleeve sidewall, is outwards ejected, contact with the inclined-plane of voussoir, form self-locking; While drawing between middle sleeve and outer sleeve, the roller B on tapered end rolls along voussoir, makes spring-compressed, is recovered in lock cylinder to tapered end, completes release;
Also comprise TT&C system; TT&C system comprises motor motion control device, photoelectric code disk, first put in place detection components, second put in place detection components, power sensor and upper-position unit;
Wherein, photoelectric code disk is connected with motor, is used for the rotary speed information of Real-time Obtaining motor; Above-mentioned motor all is connected with the motor motion control device with photoelectric code disk, and control electric machine rotation by the motor motion control device, and accept the motor speed information that photoelectric code disk reads, and the operating time of motor, operating current;
Described first detection components and second detection components that puts in place that puts in place forms by Hall switch, magnet A and magnet B; First puts in place in detection components: Hall switch A is arranged on the locking closure A of mechanical lock A; Magnet A is arranged on the lock body A of mechanical lock A; And magnet B is arranged on outer sleeve bottom inside wall; When outer sleeve and middle sleeve launch fully, Hall switch is corresponding with the magnet A position; When outer sleeve and middle sleeve draw in fully, Hall switch is corresponding with the magnet B position; When Hall switch and magnet A or magnet B position, at once, Hall switch transfers low level to by the output high level; Otherwise Hall switch output level state turns high by low; Equally, for second, put in place in assembly: Hall switch is arranged on the locking closure B of mechanical lock B; Magnet A is arranged on the tapered end of lock body B in mechanical lock B; And magnet B is arranged on middle sleeve bottom inside wall; When inner sleeve and middle sleeve launch fully, Hall switch is corresponding with the magnet A position; When outer sleeve and middle sleeve draw in fully, Hall switch is corresponding with the magnet B position; When Hall switch and magnet A or magnet B position, at once, Hall switch transfers low level to by the output high level; Otherwise Hall switch output level state turns high by low; First puts in place, and Hall switch that detection components and second puts in place in detection components all is connected with the digital signal interface of motor motion control device, be used for respectively to motor motion control device output signal, the motor motion control device is according to the output signal level that receives height, detects the expansion of sleeve means and the gathering state that puts in place;
The power sensor adopts thin-film pressure sensor, by launching evolute wheel A and evolute in thread drawing mechanism, takes turns the line wheel seat A of B and line wheel seat B and is fixed and clamped in the groove of in outer sleeve and middle sleeve top cover; The power sensor is connected with the analog signal interface of motor motion control device, and the force signal recorded is sent to the motor motion control device;
Described upper-position unit is connected with the motor motion control device, is used for sending and launching or draw in control signal to the motor motion control device, controls motor movement; Be set with automatic control mode and manual two kinds of control modes of control mode in upper-position unit, by the switching of control mode of artificial choosing; Upper-position unit also is used for receiving the data that the motor motion control device receives and is shown.
2. can open up the receipts sleeve means as claimed in claim 1, it is characterized in that: be hinged with connecting rod on axial along middle sleeve on described locking closure B, be rotatablely equipped with pulley on connecting rod; In the sleeve means expansion process, pulley outside sleeve lining along the outer sleeve axial rolling; In sleeve means gathering process, pulley is pushed by outer sleeve, is recovered to outer sleeve inside, and sleeve lining is along the outer sleeve axial rolling outside.
3. can open up the receipts sleeve means as claimed in claim 1, it is characterized in that: in the situation that the locking closure A of mechanical lock A and mechanical lock B and locking closure B are constant, by the lock body A in mechanical lock A, replace the lock body B in mechanical lock B.
4. can open up based on the described Self-unlocking of claim 1 investigating method of receiving sleeve means, it is characterized in that, complete by following step:
Step 1: upper-position unit and the initialization of motor motion control device, and rotating speed and the running current upper limit of motor are set, make motor in enabled state;
Step 2: carry out the control mode selection in upper-position unit; Send automatic mode control signal or manual mode control signal to the motor motion control device, if the motor motion control device receives the automatic mode control signal, enter step 3; If the motor motion control device receives the manual mode control signal, enter step 6;
Step 3: the motor motion control device detects and whether receives Automatic-expanding or automatically draw signal in, in implementation process, by clicking the Automatic-expanding order in software or automatically drawing order in, sends Automatic-expanding or automatically draws signal in; If so, proceed step 4; If not, EO;
Step 4: the motor motion control device is according to the Automatic-expanding received or automatically draw signal in, controls motor and carries out forward or reverse;
Step 5: the motor motion control device detects first put in place the output signal of the Hall switch in detection components of detection components and second that puts in place, judgement sleeve means status (launching fully or complete rounding state); When the Hall switch output signal received when the motor motion control device transfers low level to by high level, control motor stalling, end operation; Otherwise continue execution step 4;
Step 6: the motor motion control device detects and whether receives manual expansion or manually draw signal in, in implementation process, by manual expansion button and the manual button that draws in, sends manual expansion and manually draws signal in; If so, proceed step 7; If not, EO;
Step 7: the motor motion control device is according to the Automatic-expanding received or automatically draw signal in, controls motor and carries out forward or reverse;
Step 8: the motor motion control device detects first put in place the output signal of the Hall switch in detection components of detection components and second that puts in place, judgement sleeve means status (launching fully or complete rounding state); If, when the Hall switch output signal that the motor motion control device receives transfers low level to by high level, control motor stalling, end operation.
5. can open up as claimed in claim 4 the investigating method of receiving sleeve means, it is characterized in that: the motor motion control device is in automatic control process, and whether the running current that detects in real time motor surpasses the running current upper limit arranged in step 1, if, end operation, otherwise proceed step 3.
6. can open up as claimed in claim 4 the investigating method of receiving sleeve means, it is characterized in that: the motor motion control device is in manual control procedure, and whether the running current that detects in real time motor surpasses the running current upper limit arranged in step 1, if, end operation, otherwise proceed step 6.
7. can open up as claimed in claim 4 the investigating method of receiving sleeve means, it is characterized in that: also need to detect the extruding pretightening force data that evolute wheel A produces the power sensor before carry out step 1.
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| CN201310451892.2A CN103498843B (en) | 2013-09-25 | 2013-09-25 | One can stretchable sleeve device and measuring and control method thereof |
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| CN201310451892.2A CN103498843B (en) | 2013-09-25 | 2013-09-25 | One can stretchable sleeve device and measuring and control method thereof |
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| CN103498843B CN103498843B (en) | 2016-08-31 |
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| CN106527499A (en) * | 2016-12-06 | 2017-03-22 | 北京航空航天大学 | Variable stiffness deployable mechanism and measurement and control method thereof |
| CN109659662A (en) * | 2019-01-28 | 2019-04-19 | 中国电子科技集团公司第三十八研究所 | A kind of antenna deployment mechanism of telescopic boom |
| CN113374762A (en) * | 2021-07-20 | 2021-09-10 | 北京航空航天大学 | Multi-stage heavy-load socket joint type extending arm based on rope driving |
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|---|---|
| CN103498843B (en) | 2016-08-31 |
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