CN103523719B - Long-distance 2 D follows constant force erecting by overhang - Google Patents
Long-distance 2 D follows constant force erecting by overhang Download PDFInfo
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- CN103523719B CN103523719B CN201310494002.6A CN201310494002A CN103523719B CN 103523719 B CN103523719 B CN 103523719B CN 201310494002 A CN201310494002 A CN 201310494002A CN 103523719 B CN103523719 B CN 103523719B
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Abstract
The invention provides a kind of long-distance 2 D and follow constant force erecting by overhang, comprise constant force and export cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor, suspension strop, detecting device etc.; Described guide track system comprises line slideway, slide block, motor; Described slide block set is contained on line slideway, described motor can drive slide block movement, described air-floating apparatus connection sliding block, described first fixed pulley is connected with air-floating apparatus with the second fixed pulley, described suspension strop one end is fixed, the other end connects serving motor through the first fixed pulley, movable pulley, the second fixed pulley successively, and described movable pulley connects constant force by movable pulley seat and exports cylinder, and described constant force exports the piston rod of cylinder through cylinder barrel lid hanging target workpiece.The present invention exports by constant force the constant force hanging that cylinder realizes vertical direction, and the overlength being realized vertical direction by detecting device, assembly pulley and serving motor is followed, and realizes level follow by assembly pulley and air-floating apparatus, and good stability, precision are high.
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 dimension of good stability follows constant force erecting by overhang.
The technical solution adopted for the present invention to solve the technical problems is:
Long-distance 2 D follows constant force erecting by overhang, comprises constant force and exports cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor, suspension strop, detecting device.
Described guide track system comprises line slideway, slide block, motor.Described line slideway is arranged on horizontal gird and two ends by stent support, and described slide block set is contained on line slideway, and described motor is rack-mount and can drive 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 air supporting seat supports is passed through at described air-bearing shafts two ends, described air supporting seat connection sliding block.
Described assembly pulley comprises the first fixed pulley, the second fixed pulley and movable pulley, described first fixed pulley and the second fixed pulley and air supporting are overlapped fixing, described suspension strop one end and support are fixed, the described suspension strop other end is successively through the first fixed pulley, movable pulley, the second fixed pulley connect serving motor, and described movable pulley connects constant force by movable pulley seat and exports cylinder.
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, described end cap and movable pulley seat affixed, described piston rod, through cylinder barrel lid hanging target workpiece, has minimum gap between described piston rod and cylinder barrel lid inwall.
Described detecting device comprises reflector and two groups of laser displacement sensors, described laser displacement sensor is arranged on air supporting seat respectively and cylinder barrel covers, on the piston rod, described laser displacement sensor can measure the displacement of air supporting cover and piston rod to described reflector suit 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 the fixed pulley group that suspension strop is put by air supporting hangs target workpiece, when target workpiece horizontal motion, fixed pulley on slide block and movable pulley motion, the hanging force of vertical direction is unaffected, fixed pulley and movable pulley are air-bearing pulley, almost without friction when so just can ensure that suspension strop moves on pulley, additional forces is not introduced to target workpiece.
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.
The constant force of vertical direction exports and exports cylinder realization by constant force, constant force exports cylinder and connects fixed pulley by fixed pulley seat, its output shaft hanging 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, the suspension strop other end connects serving motor, serving motor can realize the folding and unfolding of suspension strop, the displacement of connecting rod piston can be measured by laser displacement sensor, then move corresponding distance by serving motor folding and unfolding suspension strop band moveable cylinder, ensure that connecting rod piston is positioned at its effective travel all the time, thus realize the long distance hanging of vertical direction.
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 that long-distance 2 D follows constant force erecting by overhang schematic diagram
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
Long-distance 2 D follows constant force erecting by overhang, comprises constant force and exports cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor 24, suspension strop 32, detecting device.
Described guide track system comprises line slideway 27, slide block 28, motor 25.Described line slideway 27 is arranged on horizontal gird and two ends and is supported by support 26, and described slide block 28 is sleeved on line slideway 27, and described motor 25 to be arranged on support 26 and slide block 28 can be driven to move.
Described air-floating apparatus comprises air supporting seat 29, air-bearing shafts 30, air supporting cover 31; Described air supporting cover 31 is sleeved on air-bearing shafts 30, and described air-bearing shafts 30 two ends are supported by air supporting seat 29, described air supporting seat 29 connection sliding block 28.
Described assembly pulley comprises the first fixed pulley 34, second fixed pulley 33 and movable pulley 35, described first fixed pulley 34 and the second fixed pulley 33 overlap 31 with air supporting to be fixed, described suspension strop 32 one end and support 26 are fixed, described suspension strop 32 other end is successively through the first fixed pulley 34, movable pulley 35, second fixed pulley 33 connect serving motor 24, and described movable pulley 35 connects constant force by movable pulley seat 36 and exports cylinder.
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, described end cap and movable pulley seat affixed, described piston rod 17 hangs target workpiece 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 detecting device comprises two groups of laser displacement sensors 38 and reflector 37, described laser displacement sensor 38 is arranged on air supporting seat 29 and cylinder barrel lid 12 respectively, described reflector 37 is sleeved on piston rod 17, and described laser displacement sensor 38 can measure the displacement of air supporting cover 31 and piston rod 17 respectively.
Further, the air inlet cover that described constant force exports cylinder comprises the first air inlet cover 7 and the second air inlet cover 14, and described first air inlet cover 7 is sleeved on cylinder barrel 4, and described 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, the first fixed pulley 34, second fixed pulley 33, movable pulley 35 are air-bearing pulley, and air supporting cover the 31, first fixed pulley 34, second fixed pulley 33 is by air-bearing shafts 30 air feed.
Claims (3)
1. long-distance 2 D follows constant force erecting by overhang, it is characterized in that: comprise constant force and export cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor, suspension strop, detecting device;
Described guide track system comprises line slideway, slide block, motor; Described line slideway is arranged on horizontal gird and two ends by stent support, and described slide block set is contained on line slideway, and described motor is rack-mount and can drive 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 air supporting seat supports is passed through at described air-bearing shafts two ends, described air supporting seat connection sliding block;
Described assembly pulley comprises the first fixed pulley, the second fixed pulley and movable pulley, described first fixed pulley and the second fixed pulley and air supporting are overlapped fixing, described suspension strop one end and support are fixed, the described suspension strop other end is successively through the first fixed pulley, movable pulley, the second fixed pulley connect serving motor, and described movable pulley connects constant force by movable pulley seat and exports cylinder;
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, described end cap and movable pulley seat affixed, described piston rod, through cylinder barrel lid hanging target workpiece, has minimum gap between described piston rod and cylinder barrel lid inwall;
Described detecting device comprises reflector and two groups of laser displacement sensors, described laser displacement sensor is arranged on air supporting seat respectively and cylinder barrel covers, on the piston rod, described laser displacement sensor can measure the displacement of air supporting cover and piston rod to described reflector suit respectively.
2. long-distance 2 D as claimed in claim 1 follows constant force erecting by overhang, 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. long-distance 2 D as claimed in claim 1 follows constant force erecting by overhang, it is characterized in that: described 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 are by air-bearing shafts air feed.
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| CN201310494002.6A CN103523719B (en) | 2013-10-18 | 2013-10-18 | Long-distance 2 D follows constant force erecting by overhang |
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| CN201310494002.6A CN103523719B (en) | 2013-10-18 | 2013-10-18 | Long-distance 2 D follows constant force erecting by overhang |
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| CN103523719B true CN103523719B (en) | 2015-08-05 |
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| CN107421373B (en) * | 2017-08-01 | 2019-04-12 | 上海法信机电设备制造有限公司 | A kind of fresh-water cooler supporting and positioning device |
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Effective date of registration: 20201023 Address after: 277400 Taierzhuang Province Economic Development Zone, Zaozhuang District, Central Road, north of the first North Patentee after: Zaozhuang xinjinshan Intelligent Equipment 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. |
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