CN103508304B - Constant-force suspension device capable of realizing long-distance two-dimensional follow - Google Patents
Constant-force suspension device capable of realizing long-distance two-dimensional follow Download PDFInfo
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- CN103508304B CN103508304B CN201310494757.6A CN201310494757A CN103508304B CN 103508304 B CN103508304 B CN 103508304B CN 201310494757 A CN201310494757 A CN 201310494757A CN 103508304 B CN103508304 B CN 103508304B
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Abstract
The invention discloses a constant-force suspension device capable of realizing long-distance two-dimensional follow. The constant-force suspension device comprises constant-force output air cylinders, an air flotation device, a guide rail system, pulley blocks, suspension ropes, a suspension seat, a detecting device and the like, wherein a linear guide rail is equipped with two stop blocks; a first sliding block is arranged on the linear guide rail in a sleeving manner and located between the two stop blocks; a second sliding block and a third sliding block are arranged on the linear guide rail in a sleeving manner and respectively located on two sides of the stop blocks; two constant-force output air cylinders are respectively connected with the second sliding block and the third sliding block; the air flotation device is connected with the first sliding block; the fixed pulley and the second pulley are connected with the air flotation device; the suspension seat is connected with a target workpiece; the two suspension ropes are connected with the suspension seat; the two suspension ropes are connected with the constant-force output air cylinders on the same sides after bypassing the first fixed pulley and the second fixed pulley. The constant-force suspension device realizes long-distance horizontal follow through the air flotation guide rail, and realizes the packing up and release of the suspension ropes, motion follow in the vertical direction, and constant-force suspension in the vertical direction through the constant-force output air cylinders during the horizontal motion of the target workpiece. The constant-force suspension device has the advantages of high precision and stability.
Description
Technical field
The present invention relates to two-dimensional constant force erecting by overhang.
Background technology
Two-dimensional constant force erecting by overhang be to target workpiece realize vertical direction constant force hanging and level on motion accompanying, other external force are not introduced to target workpiece, target workpiece state of kinematic motion are not had an impact.Prior art normally adopts suspension strop the slide block of line slideway and target workpiece to be coupled together, the drift angle of suspension strop is measured by angular transducer, the motion accompanying of horizontal direction is realized by electric machine control slide block movement, gone out the size of power on suspension strop again by force sensor measuring, realize the servo-actuated of vertical direction and constant force output by tightening up or loosening suspension strop.But because sensor measurement exists certain error, electric machine control precision is not high, is difficult to eliminate fluctuation and error, in specific implementation process, there is a lot of problem.Due to air-float guide rail comparatively common rail compare there is frictionless feature, therefore gentle for target workpiece empty boasting is coupled together, the frictionless motion be enclosed within air-bearing shafts by air supporting realizes that horizontal motion is passive follows, hung by counterweight and target workpiece again, the constant force realizing vertical direction exports and motion accompanying, but when target workpiece does acceleration or deceleration motion, counterweight can produce a subsidiary load acted in target workpiece because of the impact of self inertia power, and the larger impact of counterbalance mass is larger, therefore this method is only applicable to the occasion of target workpiece low speed or uniform movement, on the other hand, by the restriction of processing conditions and working accuracy, the stroke of air-float guide rail is little, be difficult to the motion accompanying realizing ultralong-stroke.
Summary of the invention
Large for existing two-dimensional constant force erecting by overhang measured error, follow the problems such as precision is not high, loss of weight counterweight inertia force influence is large, the invention provides a kind of adopt constant force to export cylinder realizes constant force hanging, air-float guide rail realizes long distance level is followed, precision is high, the two-dimensional constant force erecting by overhang of good stability.
The technical solution adopted for the present invention to solve the technical problems is:
Realize the constant force erecting by overhang that long-distance 2 D is followed, comprise constant force and export cylinder, air-floating apparatus, guide track system, assembly pulley, suspension strop, Holder for hanging household utensiles, detecting device etc.
Described guide track system comprises line slideway, the first slide block, the second slide block, the 3rd slide block and motor.Described line slideway is arranged on horizontal gird and stent support is passed through at two ends, described line slideway installs two blocks, described first slide block set to be contained on line slideway and between two blocks, described second slide block, the 3rd slide block set to be contained on line slideway and to lay respectively at block both sides, described motor has three, be arranged on two supports and block respectively, described motor can individual drive first slide block, the second slide block, the 3rd slide block.
Described constant force exports cylinder to be had two and connects the second slide block, the 3rd slide block respectively, and described air-floating apparatus connects the first slide block.
Described air-floating apparatus comprises air supporting seat, air-bearing shafts, air supporting cover; Described air supporting cover is sleeved on air-bearing shafts, and described air-bearing shafts two ends are by air supporting seat supports, and described air supporting seat connects the first slide block.
Described constant force exports cylinder and comprises piston, piston rod, cylinder barrel, end cap, cylinder barrel lid, air inlet cover; Described piston rod connects piston, described piston bush to be contained in cylinder barrel and and have minimum gap between cylinder barrel wall, described cylinder barrel two ends are set with end cap and cylinder barrel lid, and described piston rod connects suspension strop through cylinder barrel lid, has minimum gap between described piston rod and cylinder barrel lid inwall.
Described assembly pulley comprises the first fixed pulley, the second fixed pulley, and described first fixed pulley and the second fixed pulley and air supporting are overlapped affixed.
Described Holder for hanging household utensiles linking objective workpiece, described Holder for hanging household utensiles connects two suspension strops, and the first fixed pulley walked around respectively by described two suspension strops, the second fixed pulley connects the piston rod that homonymy constant force exports cylinder.
Described detecting device comprises laser displacement sensor and reflector, described laser displacement sensor has three and is arranged on the cylinder barrel that air supporting seat and two constant force export cylinders respectively and covers, described reflector has two and is set with on the piston rod, and described laser displacement sensor can measure the displacement of air supporting cover and piston rod respectively.
Further, the air inlet cover that described constant force exports cylinder comprises the first air inlet cover and the second air inlet cover, and described first air inlet cover is sleeved on cylinder barrel, and described second air inlet cover is sleeved on cylinder barrel and covers.
Leave gap between described first air inlet cover and cylinder barrel and form the first air storing cavity, described first air inlet puts and is provided with the first admission port, and described first admission port communicates with the first air storing cavity.Leave gap between described second air inlet cover and cylinder barrel lid and form the second air storing cavity, described second air inlet puts and is provided with the second admission port, and described second admission port communicates with the second air storing cavity.
Described cylinder barrel is uniformly distributed along the circumference the first radial cutoff port, and described first radial cutoff port communicates with the first air storing cavity, and described first radial cutoff port in axial direction has two groups at least, installs orifice plug in described first radial cutoff port.
Described cylinder barrel covers the second radial cutoff port that is uniformly distributed along the circumference, and described second radial cutoff port communicates with the second air storing cavity, and described second radial cutoff port in axial direction has two groups at least, installs orifice plug in described second radial cutoff port.
Described piston is provided with the first pressure relief groove, and described first pressure relief groove comprises the first groove on the axial blind hole of piston centre, outside piston cylinder, the first radial direction through hole in the first groove; Described first radial direction through hole communicates with axial blind hole, and described first groove has two groups at least and is positioned at the two ends of piston.
Described piston rod center has axially extending bore and is formed and unload pore, described in unload pore and communicate with the axial blind hole of piston centre.
Described cylinder barrel covers and is provided with the second pressure relief groove, and described second pressure relief groove comprises the second groove on cylinder barrel lid inwall, the second radial direction through hole in the second groove; Described second radial direction through hole communicates with ambient atmosphere.
Described end cap is provided with air gate, and described cylinder barrel covers and is provided with induction opening; Described induction opening connects baroceptor and large storage tank by tracheae, stores pressure-sustaining gas in described large storage tank.
Between described end cap and cylinder barrel, cylinder barrel and the first air inlet overlap between, between cylinder barrel lid and cylinder barrel, cylinder barrel lid and the second air inlet all adopt O type circle to seal between overlapping.
Further, described first fixed pulley, the second fixed pulley are air-bearing pulley, and described air supporting cover, the first fixed pulley, the second fixed pulley are by air-bearing shafts air feed.
Mentality of designing of the present invention shows:
Because air-float guide rail does not exist friction force, therefore target workpiece is overlapped with air supporting and be connected, air supporting cover can on air-bearing shafts frictionless motion, realize the passive of horizontal direction to follow, because target workpiece also will realize the constant force hanging of vertical direction, therefore target workpiece is walked around by two suspension strops two fixed pulleys that air supporting puts respectively and is connected constant force and export cylinders, utilize constant force export suspension strop in cylinder realize target workpiece level motion process folding and unfolding, ensure the constant of hanging force on suspension strop.
Because the stroke of air-float guide rail is limited, therefore by air-floating apparatus and guide track system are coupled together, utilize laser displacement sensor to measure the displacement of air supporting cover, metrical information is fed back to guide track system control air-bearing shafts and move corresponding distance, air supporting is overlapped and is positioned at its effective travel all the time; Fixed pulley and movable pulley are air-bearing pulley, and friction drag is little, do not introduce additional forces to target workpiece.
Constant force export cylinder piston can in cylinder barrel frictionless motion, as long as the atmospheric pressure value that therefore passing ratio valve and storage tank control to pass into inner cavity of cylinder keeps constant, then force value cylinder barrel exported keeps constant.The stroke exporting cylinder due to constant force is limited, therefore, is initiatively followed by line slideway; Constant force exports on cylinder and is all provided with laser displacement sensor, laser displacement sensor can measure the displacement of connecting rod piston, then by information feed back to motor, move corresponding distance by electric machine control slide block moving belt moveable cylinder, ensure connecting rod piston be positioned at its effective travel all the time.
Line slideway is provided with block, air-floating apparatus is between two blocks, constant force exports cylinder and is positioned at block both sides, and but the active of air-floating apparatus is followed and exported initiatively following a shared guide rail not influencing each other each other of cylinder with constant force, is all positioned at its effective travel.
Constant force exports cylinder barrel inner chamber and communicates with large storage tank, pressure-sustaining gas is stored in large storage tank, be equivalent to the volume increasing cylinder barrel inlet chamber, the impact of the volume-variation that piston movement causes on pressure fluctuations is less, on the other hand, followed by the active of line slideway, reduce because connecting rod piston motion causes cylinder barrel cavity volume to change the impact produced air pressure, further increase the precision of constant force hanging.
The cylinder barrel of constant force output cylinder and cylinder barrel cover and are respectively equipped with radial cutoff port, radial cutoff port overcoat has air inlet cover, high pressure gas enter from the admission port air inlet cover, between piston and cylinder barrel, between piston rod and cylinder barrel lid, form air film by radial cutoff port, provide support for piston and lubricate; Piston is not by the impact of admission line, and intake method is simple, good stability.
Piston and cylinder barrel cover and are equipped with pressure relief groove, and pressure relief groove communicates with ambient atmosphere, in the gap of gas film behavior, form atmospheric area, make to there is pressure gradient in gap, and promote the formation of stablizing air film, load-carrying capacity is good; Radial cutoff port on cylinder barrel is positioned at the medium position of cylinder barrel, and piston has certain length, in piston moving process, can ensure that radial cutoff port on cylinder barrel is all the time in its range of movement.
Advantage of the present invention is: good stability, precision are high.
Figure of description
Fig. 1 is a kind of constant force erecting by overhang schematic diagram realizing long-distance 2 D and follow
Fig. 2 is that constant force exports cylinder schematic diagram
Fig. 3 is that constant force exports cylinder schematic perspective view
Detailed description of the invention
Realize the constant force erecting by overhang that long-distance 2 D is followed, comprise constant force and export cylinder, air-floating apparatus, guide track system, assembly pulley, suspension strop, Holder for hanging household utensiles 39, detecting device etc.
Described guide track system comprises line slideway 26, first slide block 31, second slide block 28, the 3rd slide block 34 and motor 24.Described line slideway 26 is arranged on horizontal gird 27 and two ends and is supported by support 25, described line slideway 26 installs two blocks 29, described first slide block 31 to be sleeved on line slideway 26 and between two blocks 29, described second slide block 28, the 3rd slide block 34 to be sleeved on line slideway 29 and to lay respectively at block 29 both sides, described motor 24 has three, be arranged on two supports 25 and block 29 respectively, described motor 24 can individual drive first slide block 31, second slide block 28, the 3rd slide block 34.
Described constant force exports cylinder to be had two and connects the second slide block 28, the 3rd slide block 34 respectively, and described air-floating apparatus connects the first slide block 31.
Described air-floating apparatus comprises air supporting seat 30, air-bearing shafts 32, air supporting cover 33; Described air supporting cover 33 is sleeved on air-bearing shafts 32, and described air-bearing shafts 32 two ends are supported by air supporting seat 30, and described air supporting seat 30 connects the first slide block 31.
Constant force exports cylinder and comprises piston 5, piston rod 17, cylinder barrel 4, end cap 1, cylinder barrel lid 12, air inlet cover; Piston rod 17 connects piston 5, piston 5 to be sleeved in cylinder barrel 4 and and have minimum gap between cylinder barrel wall, cylinder barrel 4 two ends are set with end cap 1 and cylinder barrel lid 12, and described piston rod 17 connects suspension strop through cylinder barrel lid 12, has minimum gap between described piston rod 17 and cylinder barrel lid 12 inwall.End cap 1 is provided with induction opening 2, and cylinder barrel lid 12 is provided with air gate 11; Induction opening 2 connects baroceptor and large storage tank by tracheae, stores pressure-sustaining gas in large storage tank.
Described assembly pulley comprises the first fixed pulley 37, second fixed pulley 38, and described first fixed pulley 37 and the second fixed pulley 38 and air supporting are overlapped 33 affixed.
Described Holder for hanging household utensiles 39 linking objective workpiece, described Holder for hanging household utensiles 39 connects two suspension strops, and described two suspension strops are walked around the first fixed pulley 37, second fixed pulley 38 respectively and connected the piston rod that homonymy constant force exports cylinder.
Described detecting device comprises laser displacement sensor 35 and reflector 36, described laser displacement sensor 35 has three and is arranged on the cylinder barrel lid 12 of air supporting seat 30 and two constant force output cylinders respectively, described reflector 36 has two and is sleeved on piston rod 17, and described laser displacement sensor 35 can measure the displacement of air supporting cover 33 and piston rod 17 respectively.
Further, the air inlet cover of described constant force output cylinder comprises the first air inlet cover 7 and the second air inlet cover 14, first air inlet cover 7 is sleeved on cylinder barrel 4, and the second air inlet cover 14 is sleeved on cylinder barrel lid 12; Leave gap between the first air inlet cover 7 and cylinder barrel 4 and form the first air storing cavity 22, leave gap between the second air inlet cover and cylinder barrel lid and form the second air storing cavity 20, first air inlet cover 7 is provided with the first admission port 8, first admission port 8 communicates 22 with the first air storing cavity, second air inlet cover 14 is provided with the second admission port 16, second admission port 16 and communicates with the second air storing cavity 20.
The cylinder barrel 4 radial cutoff port 9 of the first radial cutoff port 9, first that is uniformly distributed along the circumference in axial direction has two groups, and the first radial cutoff port 9 communicates with the first air storing cavity 22; The cylinder barrel lid 12 radial cutoff port 15 of the second radial cutoff port 15, second that is uniformly distributed along the circumference in axial direction has two groups, and the second radial cutoff port 15 communicates with the second air storing cavity 20; All orifice plug is installed in first radial cutoff port 9 and the second radial cutoff port 15.
Piston is provided with the first pressure relief groove, and the first pressure relief groove comprises the first radial direction through hole 6 in the first groove 10, first groove 10 on the axial blind hole 23 of piston centre, outside piston cylinder; First radial direction through hole 6 communicates with axial blind hole 23, and the first groove 10 has two groups and is positioned at the two ends of piston; Piston rod 17 center has axially extending bore formation and unloads pore 18, unloads pore 18 and communicates with the axial blind hole 23 of piston centre; Cylinder barrel lid 12 is provided with the second pressure relief groove, and the second pressure relief groove comprises the second radial direction through hole 13 in the second groove 21, second groove on cylinder barrel lid inwall; Second radial direction through hole 13 communicates with ambient atmosphere.
Between end cap 1 and cylinder barrel 4, cylinder barrel 4 and the first air inlet overlap 7 between, between cylinder barrel lid 12 and cylinder barrel 4, cylinder barrel lid 12 and the second air inlet all adopt O type circle 3 to seal between overlapping 14.
Further, described first fixed pulley 37, second fixed pulley 38 is air-bearing pulley, and described air supporting cover the 33, first fixed pulley 37, second fixed pulley 38 is by air-bearing shafts 32 air feed.
Claims (3)
1. can realize the constant force erecting by overhang that long-distance 2 D is followed, it is characterized in that: comprise constant force and export cylinder, air-floating apparatus, guide track system, assembly pulley, suspension strop, Holder for hanging household utensiles, detecting device;
Described guide track system comprises line slideway, the first slide block, the second slide block, the 3rd slide block and motor; Described line slideway is arranged on horizontal gird and stent support is passed through at two ends, described line slideway installs two blocks, described first slide block set to be contained on line slideway and between two blocks, described second slide block, the 3rd slide block set to be contained on line slideway and to lay respectively at block both sides, described motor has three, be arranged on two supports and block respectively, described motor can individual drive first slide block, the second slide block, the 3rd slide block;
Described constant force exports cylinder to be had two and connects the second slide block, the 3rd slide block respectively, and described air-floating apparatus connects the first slide block;
Described air-floating apparatus comprises air supporting seat, air-bearing shafts, air supporting cover; Described air supporting cover is sleeved on air-bearing shafts, and described air-bearing shafts two ends are by air supporting seat supports, and described air supporting seat connects the first slide block;
Described constant force exports cylinder and comprises piston, piston rod, cylinder barrel, end cap, cylinder barrel lid, air inlet cover; Described piston rod connects piston, described piston bush to be contained in cylinder barrel and and have minimum gap between cylinder barrel wall, described cylinder barrel two ends are set with end cap and cylinder barrel lid, and described piston rod connects suspension strop through cylinder barrel lid, has minimum gap between described piston rod and cylinder barrel lid inwall;
Described assembly pulley comprises the first fixed pulley, the second fixed pulley, and described first fixed pulley and the second fixed pulley and air supporting are overlapped affixed;
Described Holder for hanging household utensiles linking objective workpiece, described Holder for hanging household utensiles connects two suspension strops, and the first fixed pulley walked around respectively by described two suspension strops, the second fixed pulley connects the piston rod that homonymy constant force exports cylinder;
Described detecting device comprises laser displacement sensor and reflector, described laser displacement sensor has three and is arranged on the cylinder barrel that air supporting seat and two constant force export cylinders respectively and covers, described reflector has two and is set with on the piston rod, and described laser displacement sensor can measure the displacement of air supporting cover and piston rod respectively.
2.
a kind of constant force erecting by overhang realizing long-distance 2 D and follow as claimed in claim 1, it is characterized in that: the air inlet cover that described constant force exports cylinder comprises the first air inlet cover and the second air inlet cover, described first air inlet cover is sleeved on cylinder barrel, and described second air inlet cover is sleeved on cylinder barrel and covers;
Leave gap between described first air inlet cover and cylinder barrel and form the first air storing cavity, described first air inlet puts and is provided with the first admission port, and described first admission port communicates with the first air storing cavity; Leave gap between described second air inlet cover and cylinder barrel lid and form the second air storing cavity, described second air inlet puts and is provided with the second admission port, and described second admission port communicates with the second air storing cavity;
Described cylinder barrel is uniformly distributed along the circumference the first radial cutoff port, and described first radial cutoff port communicates with the first air storing cavity, and described first radial cutoff port in axial direction has two groups at least, installs orifice plug in described first radial cutoff port;
Described cylinder barrel covers the second radial cutoff port that is uniformly distributed along the circumference, and described second radial cutoff port communicates with the second air storing cavity, and described second radial cutoff port in axial direction has two groups at least, installs orifice plug in described second radial cutoff port;
Described piston is provided with the first pressure relief groove, and described first pressure relief groove comprises the first groove on the axial blind hole of piston centre, outside piston cylinder, the first radial direction through hole in the first groove; Described first radial direction through hole communicates with axial blind hole, and described first groove has two groups at least and is positioned at the two ends of piston;
Described piston rod center has axially extending bore and is formed and unload pore, described in unload pore and communicate with the axial blind hole of piston centre;
Described cylinder barrel covers and is provided with the second pressure relief groove, and described second pressure relief groove comprises the second groove on cylinder barrel lid inwall, the second radial direction through hole in the second groove; Described second radial direction through hole communicates with ambient atmosphere;
Described end cap is provided with air gate, and described cylinder barrel covers and is provided with induction opening; Described induction opening connects baroceptor and large storage tank by tracheae, stores pressure-sustaining gas in described large storage tank.
3. a kind of constant force erecting by overhang realizing long-distance 2 D and follow as claimed in claim 1, it is characterized in that: described first fixed pulley, the second fixed pulley are air-bearing pulley, described air supporting cover, the first fixed pulley, the second fixed pulley are by air-bearing shafts air feed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310494757.6A CN103508304B (en) | 2013-10-18 | 2013-10-18 | Constant-force suspension device capable of realizing long-distance two-dimensional follow |
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| CN201310494757.6A CN103508304B (en) | 2013-10-18 | 2013-10-18 | Constant-force suspension device capable of realizing long-distance two-dimensional follow |
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| CN103508304B true CN103508304B (en) | 2015-07-22 |
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| CN101813130A (en) * | 2010-05-07 | 2010-08-25 | 浙江工业大学 | Air flotation device following motion trail of lifting point at overlength distance without being influenced by disturbing force of air tube |
| CN101813129A (en) * | 2010-05-07 | 2010-08-25 | 浙江工业大学 | Three-dimensional air-floation follow-up device |
| CN101839280A (en) * | 2010-05-07 | 2010-09-22 | 浙江工业大学 | Combined air flotation device unaffected by disturbance of air pipes |
| CN201679861U (en) * | 2010-05-07 | 2010-12-22 | 浙江工业大学 | Frictionless air flotation device used for following motion trail of lifting point over ultra-long distance |
| CN203558697U (en) * | 2013-10-18 | 2014-04-23 | 浙江工业大学 | Constant-force suspending device capable of realizing long-distance two-dimensional following |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4328165B2 (en) * | 2003-09-29 | 2009-09-09 | 株式会社ダイヘン | Slide device |
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2013
- 2013-10-18 CN CN201310494757.6A patent/CN103508304B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813130A (en) * | 2010-05-07 | 2010-08-25 | 浙江工业大学 | Air flotation device following motion trail of lifting point at overlength distance without being influenced by disturbing force of air tube |
| CN101813129A (en) * | 2010-05-07 | 2010-08-25 | 浙江工业大学 | Three-dimensional air-floation follow-up device |
| CN101839280A (en) * | 2010-05-07 | 2010-09-22 | 浙江工业大学 | Combined air flotation device unaffected by disturbance of air pipes |
| CN201679861U (en) * | 2010-05-07 | 2010-12-22 | 浙江工业大学 | Frictionless air flotation device used for following motion trail of lifting point over ultra-long distance |
| CN203558697U (en) * | 2013-10-18 | 2014-04-23 | 浙江工业大学 | Constant-force suspending device capable of realizing long-distance two-dimensional following |
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Effective date of registration: 20200728 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310014 City Zhaohui District Six Patentee before: ZHEJIANG University OF TECHNOLOGY Effective date of registration: 20200728 Address after: 234000 economic and Technological Development Zone, No.155 Yulan Road, Sixian County, Suzhou City, Anhui Province Patentee after: Suzhou Teng Teng Intellectual Property Advisory Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. |
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