CN103508385A - Long distance and two-dimensional constant force hoisting device - Google Patents
Long distance and two-dimensional constant force hoisting device Download PDFInfo
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- CN103508385A CN103508385A CN201310494724.1A CN201310494724A CN103508385A CN 103508385 A CN103508385 A CN 103508385A CN 201310494724 A CN201310494724 A CN 201310494724A CN 103508385 A CN103508385 A CN 103508385A
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Abstract
The invention provides a long distance and two-dimensional constant force hoisting device which is high in precision and good in stability. The long distance and two-dimensional constant force hoisting device comprises a constant-force output air cylinder, an air flotation device, a guide rail system, a pulley block, a hanging rope and a detection device. The guide rail system comprises a first linear guide rail, a second linear guide rail, a first sliding block, a second sliding block and the like. The first linear guide rail and the second linear guide rail are sequentially and horizontally installed. The air floatation device is connected with the first sliding block. The constant-force output air cylinder is connected with the second sliding block. A first fixed pulley and a second fixed pulley are installed on the first sliding block. One end of the hanging rope is fixed, and the other end of the hanging rope sequentially penetrates through the first fixed pulley, a movable pulley and the second fixed pulley and is connected with the constant-force output air cylinder. A target workpiece is hoisted by the fixed pulleys through fixed pulley seats. The air flotation device and the guide rail system achieve long-distance and horizontal following, and the guide rail system is used in cooperation with the constant-force output air cylinder to achieve long-distance and constant-force hoisting in the vertical direction.
Description
Technical field
The present invention relates to two-dimentional constant force erecting by overhang.
Background technology
Two dimension constant force erecting by overhang be constant force that target workpiece is realized to vertical direction hang with level on motion accompanying, target workpiece is not introduced to other external force, target workpiece state of kinematic motion is not exerted an influence.Prior art normally adopts suspension strop that the slide block of line slideway and target workpiece are coupled together, by angular transducer, measure the drift angle of suspension strop, by electric machine control slide block movement, realize the motion accompanying of horizontal direction, by force sensor measuring, go out again the size of power on suspension strop, by tightening up or loosening suspension strop and realize the servo-actuated and constant force of vertical direction and export.But because sensor measurement exists certain error, electric machine control precision is not high, be difficult to eliminate fluctuation and error, in specific implementation process, there are a lot of problems.Because air-float guide rail is compared and had frictionless feature compared with common rail, therefore the gentle empty boasting of target workpiece is coupled together, by air supporting, be enclosed within frictionless motion on air-bearing shafts and realize that horizontal motion is passive follows, by counterweight and target workpiece, hang again, realize constant force output and the motion accompanying of vertical direction, but when target workpiece is done acceleration or deceleration motion, counterweight can produce because of the impact of self inertia power one and act on the subsidiary load in target workpiece, 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, be subject to the restriction of processing conditions and working accuracy, the stroke of air-float guide rail is little, be difficult to realize the motion accompanying of ultralong-stroke.
Summary of the invention
Large for existing two-dimentional 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 and a kind ofly adopt that constant force output cylinder realizes that constant force is hung, air-float guide rail realize long apart from level follow, precision is high, the two-dimentional constant force erecting by overhang of good stability.
The technical solution adopted for the present invention to solve the technical problems is:
A constant force erecting by overhang, comprises constant force output cylinder, air-floating apparatus, guide track system, assembly pulley, suspension strop, detecting device etc.
Described guide track system comprises the first line slideway, the second line slideway, the first slide block, the second slide block, two groups of motors and support etc.; The first support that described support comprises parallel installation, the second support and the 3rd support, described the first line slideway and the second line slideway successively level are arranged between the first support and the second support, the second support and the 3rd support; Described the first slide block is slidably sleeved on the first line slideway, and described air-floating apparatus is connected with the first slide block; Described the second slide block is slidably sleeved on the second line slideway, and described constant force output cylinder is connected with the second slide block; Described two groups of motors can drive respectively the first slide block, the second slide block movement.
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 assembly pulley comprises the first fixed pulley, the second fixed pulley and movable pulley, described the first fixed pulley and the second fixed pulley and air supporting cover are fixing, described suspension strop one end and the first support are fixed, the described suspension strop other end connects constant force output cylinder through the first fixed pulley, movable pulley, the second fixed pulley successively, and described fixed pulley is hung target workpiece by fixed pulley seat.
Described constant force output cylinder comprises piston, piston rod, cylinder barrel, end cap, cylinder barrel lid, air inlet cover; Described piston rod connects piston, described piston bush be contained in cylinder barrel and and cylinder barrel wall between have minimum gap, 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, between described piston rod and cylinder barrel lid inwall, have minimum gap.
Described detecting device comprises two groups of laser displacement sensors and reflector, described laser displacement sensor is arranged on respectively air supporting seat and cylinder barrel covers, described reflector is sleeved on piston rod, and described laser displacement sensor can be measured respectively the displacement of air supporting cover and piston rod.
Further, the air inlet cover of described constant force output cylinder comprises the first air inlet cover and the second air inlet cover, and described the first air inlet cover is sleeved on cylinder barrel, and described the second air inlet cover is sleeved on cylinder barrel and covers.
Between described the first air inlet cover and cylinder barrel, leave gap and form the first air storing cavity, described the first air inlet puts and is provided with the first admission port, and described the first admission port communicates with the first air storing cavity.Between described the second air inlet cover and cylinder barrel lid, leave gap and form the second air storing cavity, described the second air inlet puts and is provided with the second admission port, and described the second admission port communicates with the second air storing cavity.
Described cylinder barrel first cutoff port radially that is uniformly distributed along the circumference, described first radially cutoff port communicate with the first air storing cavity, described first radially cutoff port in axial direction have two groups at least, described first radially installs orifice plug in cutoff port.
Described cylinder barrel covers second cutoff port radially that is uniformly distributed along the circumference, described second radially cutoff port communicate with the second air storing cavity, described second radially cutoff port in axial direction have two groups at least, described second radially installs orifice plug in cutoff port.
Described piston is provided with the first pressure relief groove, the first radial direction through hole in the axial blind hole that described the first pressure relief groove comprises piston center, the first groove on outside piston cylinder, the first groove; Described the first radial direction through hole communicates with axial blind hole, and described the first groove has two groups and be positioned at the two ends of piston at least.
Described piston rod center has axially extending bore and forms and to unload pore, described in unload pore and communicate with the axial blind hole at piston center.
Described cylinder barrel covers and is provided with the second pressure relief groove, and described the second pressure relief groove comprises the second groove on cylinder barrel lid inwall, the second radial direction through hole in the second groove; Described the 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, between cylinder barrel and the first air inlet cover, between cylinder barrel lid and cylinder barrel, all adopt O type circle to seal between cylinder barrel lid and the second air inlet cover.
Further, described the first fixed pulley, the second fixed pulley, movable pulley are air-bearing pulley, and described air supporting cover, the first fixed pulley, the second fixed pulley can pass through 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 connected with air supporting cover by assembly pulley, air supporting cover can be on air-bearing shafts frictionless motion, realizing the passive of horizontal direction follows, 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, make air supporting cover be positioned at all the time its effective travel; Fixed pulley and movable pulley are air-bearing pulley, and friction drag is little, and target workpiece is not introduced to additional forces.
The constant force output of vertical direction is exported cylinder by constant force and is realized.By the fixing suspension strop in one end, walk around the piston rod that the first fixed pulley, movable pulley and the second fixed pulley are connected constant force output cylinder, movable pulley linking objective workpiece, therefore, as long as the value of thrust on suspension strop remains unchanged, can realize the constant force of vertical direction and hang.Because the stroke of constant force output cylinder is limited, therefore, by another set of independently line slideway, initiatively follow; Laser displacement sensor can be measured the displacement of connecting rod piston, then by electric machine control slide block moving belt moveable cylinder, moves corresponding distance, guarantees that connecting rod piston is positioned at its effective travel all the time, thereby realizes the long apart from hanging of vertical direction.For fear of constant force output cylinder, the motion of air-floating apparatus is exerted an influence, therefore two line slideways are installed successively along rectilinear direction, guarantee that the motion of target workpiece is unaffected.
The piston of constant force output cylinder can be in cylinder barrel frictionless motion, therefore as long as passing ratio valve and storage tank are controlled the atmospheric pressure value that passes into inner cavity of cylinder, keep constant, it is constant that the power value of exporting on cylinder barrel keeps.In large storage tank, store pressure-sustaining gas, be equivalent to increase the volume of cylinder barrel inlet chamber, the volume-variation that piston movement causes is less on the impact of air pressure sudden change, on the other hand, active by line slideway is followed, reduced to change because connecting rod piston motion causes cylinder barrel cavity volume the impact that air pressure is produced, further improved the precision that constant force is hung.
Cylinder barrel and cylinder barrel cover and are respectively equipped with radially cutoff port, radially cutoff port overcoat has air inlet cover, the admission port that high pressure gas put from air inlet enters, by cutoff port radially between piston and cylinder barrel, between piston rod and cylinder barrel lid, form air film, for piston provides support and lubricates; Piston is not subject to 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, and in the film formed gap of gas, form in atmospheric area ，Shi gap and have pressure gradient, the formation that air film is stablized in promotion, load-carrying capacity is good; Radially cutoff port on cylinder barrel is positioned at the medium position of cylinder barrel, and piston has certain length, in piston moving process, can guarantee that radially 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 long-distance 2 D constant force erecting by overhang schematic diagram
Fig. 2 is constant force output cylinder schematic diagram
Fig. 3 is constant force output cylinder schematic perspective view
The specific embodiment
A constant force erecting by overhang, comprises constant force output cylinder, air-floating apparatus, guide track system, assembly pulley, suspension strop, detecting device etc.
Guide track system comprises the first line slideway 25, the second line slideway 35, the first slide block 27, the second slide block 38, two groups of motors 32 and support etc.; The first support 24 that support comprises parallel installation, the second support 31 and the 3rd support 36, the first line slideways 25 and the second line slideway 35 successively level are arranged between the first support 24 and the second support 31, the second support 31 and the 3rd support 36; The first slide block 27 is slidably sleeved on the first line slideway 25, and air-floating apparatus is connected with the first slide block 27; The second slide block 38 is slidably sleeved on the second line slideway 35, and constant force output cylinder is connected with the second slide block 38; Two groups of motors 32 can drive respectively the first slide block 27, the second slide block 38 motions.
Air-floating apparatus comprises air supporting seat 26, air-bearing shafts 28, air supporting cover 29; Air supporting cover 29 is sleeved on air-bearing shafts 28, and air-bearing shafts 28 two ends are supported by air supporting seat 26, and air supporting seat 26 connects the first slide block 27.Assembly pulley comprises the first fixed pulley 33, the second fixed pulley 34 and movable pulley 37, the first fixed pulley 33 and the second fixed pulley 34 are fixing with air supporting cover 29, suspension strop one end and the first support 24 are fixing, the suspension strop other end connects constant force output cylinder through the first fixed pulley 33, movable pulley 37, the second fixed pulley 34 successively, and fixed pulley 27 is hung target workpiece by fixed pulley seat.
Constant force output cylinder 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 be sleeved in cylinder barrel 4 and and cylinder barrel wall between have minimum gap, cylinder barrel 4 two ends are set with end cap 1 and cylinder barrel lid 12, and described piston rod 17 connects suspension strops through cylinder barrel lid 12, and described piston rod 17 and cylinder barrel cover has minimum gap between 12 inwalls.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, in large storage tank, stores pressure-sustaining gas.
Detecting device comprises two groups of laser displacement sensors 30 and reflector 37, laser displacement sensor 30 is arranged on respectively on air supporting seat 26 and cylinder barrel lid 12, reflector 37 is sleeved on piston rod 17, and laser displacement sensor 30 can be measured respectively the displacement of air supporting cover 29 and piston rod 17.
Air inlet cover comprises first air inlet cover the 7 and second air inlet cover 14, the first air inlet cover 7 is sleeved on cylinder barrel 4, the second air inlet cover 14 is sleeved on cylinder barrel lid 12, the first air inlet cover 7 and 4 of cylinder barrels leave gap and form the first air storing cavity 22, between the second air inlet cover and cylinder barrel lid, leave gap and form the second air storing cavity 20, the first air inlet cover 7 is provided with the first admission port 8, the first admission port 8 communicates 22 with the first air storing cavity, the second air inlet cover 14 is provided with the second admission port 16, the second admission ports 16 and communicates with the second air storing cavity 20.
Cylinder barrel 4 be uniformly distributed along the circumference first radially cutoff port 9, the first radially cutoff port 9 in axial direction have two groups, first radially cutoff port 9 communicate with the first air storing cavity 22; Cylinder barrel lid 12 be uniformly distributed along the circumference second radially cutoff port 15, the second radially cutoff port 15 in axial direction have two groups, second radially cutoff port 15 communicate with the second air storing cavity 20; The first cutoff port 9 and second interior orifice plug that is all provided with of cutoff port 15 radially radially.
Piston is provided with the first pressure relief groove, the first groove 10 on the axial blind hole 23 that the first pressure relief groove comprises piston center, outside piston cylinder, the first radial direction through hole 6 in the first groove 10; The first radial direction through hole 6 communicates with axial blind hole 23, and the first groove 10 has two groups and be positioned at the two ends of piston; Piston rod 17 centers have axially extending bore formation and unload pore 18, unload pore 18 and communicate with the axial blind hole 23 at piston center; Cylinder barrel lid 12 is provided with the second pressure relief groove, and the second pressure relief groove comprises the second groove 21 on cylinder barrel lid inwall, the second radial direction through hole 13 in the second groove; The second radial direction through hole 13 communicates with ambient atmosphere.
Between end cap 1 and cylinder barrel 4, between cylinder barrel 4 and the first air inlet cover 7, between cylinder barrel lid 12 and cylinder barrel 4, the 12 and second air inlet of cylinder barrel lid all adopts O type circle 3 to seal between overlapping 14.
Further, the first fixed pulley 33, the second fixed pulley 34, movable pulley 37 are air-bearing pulley, and air supporting cover the 29, first fixed pulley 33, the second fixed pulley 34 can pass through air-bearing shafts 28 air feed.
Claims (3)
1. a long-distance 2 D constant force erecting by overhang, is characterized in that: comprise constant force output cylinder, air-floating apparatus, guide track system, assembly pulley, suspension strop, detecting device etc.;
Described guide track system comprises the first line slideway, the second line slideway, the first slide block, the second slide block, two groups of motors and support etc.; The first support that described support comprises parallel installation, the second support and the 3rd support, described the first line slideway and the second line slideway successively level are arranged between the first support and the second support, the second support and the 3rd support; Described the first slide block is slidably sleeved on the first line slideway, and described air-floating apparatus is connected with the first slide block; Described the second slide block is slidably sleeved on the second line slideway, and described constant force output cylinder is connected with the second slide block; Described two groups of motors can drive respectively the first slide block, the second slide block movement;
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 assembly pulley comprises the first fixed pulley, the second fixed pulley and movable pulley, described the first fixed pulley and the second fixed pulley and air supporting cover are fixing, described suspension strop one end and the first support are fixed, the described suspension strop other end connects constant force output cylinder through the first fixed pulley, movable pulley, the second fixed pulley successively, and described fixed pulley is hung target workpiece by fixed pulley seat;
Described constant force output cylinder comprises piston, piston rod, cylinder barrel, end cap, cylinder barrel lid, air inlet cover; Described piston rod connects piston, described piston bush be contained in cylinder barrel and and cylinder barrel wall between have minimum gap, 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, between described piston rod and cylinder barrel lid inwall, have minimum gap;
Described detecting device comprises two groups of laser displacement sensors and luminous plaque, described laser displacement sensor is arranged on respectively air supporting seat and cylinder barrel covers, described reflector is sleeved on piston rod, and described laser displacement sensor can be measured respectively the displacement of air supporting cover and piston rod.
2. a kind of long-distance 2 D constant force erecting by overhang as claimed in claim 1, it is characterized in that: the air inlet cover of described constant force output cylinder comprises the first air inlet cover and the second air inlet cover, described the first air inlet cover is sleeved on cylinder barrel, and described the second air inlet cover is sleeved on cylinder barrel and covers;
Between described the first air inlet cover and cylinder barrel, leave gap and form the first air storing cavity, described the first air inlet puts and is provided with the first admission port, and described the first admission port communicates with the first air storing cavity; Between described the second air inlet cover and cylinder barrel lid, leave gap and form the second air storing cavity, described the second air inlet puts and is provided with the second admission port, and described the second admission port communicates with the second air storing cavity;
Described cylinder barrel first cutoff port radially that is uniformly distributed along the circumference, described first radially cutoff port communicate with the first air storing cavity, described first radially cutoff port in axial direction have two groups at least, described first radially installs orifice plug in cutoff port;
Described cylinder barrel covers second cutoff port radially that is uniformly distributed along the circumference, described second radially cutoff port communicate with the second air storing cavity, described second radially cutoff port in axial direction have two groups at least, described second radially installs orifice plug in cutoff port;
Described piston is provided with the first pressure relief groove, the first radial direction through hole in the axial blind hole that described the first pressure relief groove comprises piston center, the first groove on outside piston cylinder, the first groove; Described the first radial direction through hole communicates with axial blind hole, and described the first groove has two groups and be positioned at the two ends of piston at least;
Described piston rod center has axially extending bore and forms and to unload pore, described in unload pore and communicate with the axial blind hole at piston center;
Described cylinder barrel covers and is provided with the second pressure relief groove, and described the second pressure relief groove comprises the second groove on cylinder barrel lid inwall, the second radial direction through hole in the second groove; Described the 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 long-distance 2 D constant force erecting by overhang as claimed in claim 1, it is characterized in that: described the first fixed pulley, the second fixed pulley, movable pulley are air-bearing pulley, described air supporting cover, the first fixed pulley, the second fixed pulley can pass through air-bearing shafts air feed.
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| CN201310494724.1A CN103508385B (en) | 2013-10-18 | 2013-10-18 | A kind of long-distance 2 D constant force erecting by overhang |
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| CN201310494724.1A CN103508385B (en) | 2013-10-18 | 2013-10-18 | A kind of long-distance 2 D constant force erecting by overhang |
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| CN103508385A true CN103508385A (en) | 2014-01-15 |
| CN103508385B CN103508385B (en) | 2015-08-05 |
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| JPH01162692A (en) * | 1987-09-19 | 1989-06-27 | Hitachi Kiden Kogyo Ltd | Air bearing type clean lift |
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| CN203558739U (en) * | 2013-10-18 | 2014-04-23 | 浙江工业大学 | Long-distance two-dimensional constant-force hoisting device |
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2013
- 2013-10-18 CN CN201310494724.1A patent/CN103508385B/en active Active
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| JPH01162692A (en) * | 1987-09-19 | 1989-06-27 | Hitachi Kiden Kogyo Ltd | Air bearing type clean lift |
| CN101825483A (en) * | 2010-05-07 | 2010-09-08 | 浙江工业大学 | Motion accompanying suspension device providing constant hanging force |
| CN101832336A (en) * | 2010-05-07 | 2010-09-15 | 浙江工业大学 | Long-distance air-flotation linear guide rail unaffected by air pipe disturbance |
| CN101852660A (en) * | 2010-05-07 | 2010-10-06 | 浙江工业大学 | Two-dimensional gas floating follow-up device for supplying constant suspension force |
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| Title |
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| 孙建辉，倪旭光，袁巧玲，单晓杭，周海清: "基于Fluent的无摩擦气缸活塞结构设计仿真", 《机电工程》, vol. 30, no. 8, 31 August 2013 (2013-08-31), pages 933 - 936 * |
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Effective date of registration: 20201013 Address after: Tai 17 Lu, Taierzhuang District, Zaozhuang City, Shandong Province Patentee after: Zaozhuang changhengtai decoration new material technology Co.,Ltd. Address before: 314300 room 237, building 1, new economic Industrial Park, Tongyuan Town, Haiyan County, Jiaxing City, Zhejiang Province Patentee before: Jiaxing Maojing Garden Co.,Ltd. |