CN107906121B - High-precision automatic mobile equipment - Google Patents
High-precision automatic mobile equipment Download PDFInfo
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- CN107906121B CN107906121B CN201711449067.3A CN201711449067A CN107906121B CN 107906121 B CN107906121 B CN 107906121B CN 201711449067 A CN201711449067 A CN 201711449067A CN 107906121 B CN107906121 B CN 107906121B
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- guide rail
- sliding block
- guide
- driving mechanism
- bevel gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
- F16C29/04—Ball or roller bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H47/00—Combinations of mechanical gearing with fluid clutches or fluid gearing
- F16H47/02—Combinations of mechanical gearing with fluid clutches or fluid gearing the fluid gearing being of the volumetric type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0006—Vibration-damping or noise reducing means specially adapted for gearings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses high-precision automatic moving equipment which comprises a rotary driving mechanism; a first guide rail is arranged in the driving cylinder, a first screw rod connected with a driving shaft of the rotary driving mechanism is arranged in the first guide rail along the length direction, and a first sliding block is sleeved on the first screw rod; a second guide rail is arranged in the piston cylinder, and a second sliding block is arranged in the second guide rail in a sliding manner; the first guide rail and the second guide rail are communicated with each other at end positions, hydraulic oil is filled between the end in the first guide rail and the second guide rail and the sliding block, an accommodating cavity is arranged in the first lead screw, a second lead screw is arranged in the accommodating cavity, a third sliding block is sleeved on the second lead screw, the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block, and the first lead screw and the second lead screw are selectively linked with the rotary driving mechanism respectively. The invention solves the technical problem that the moving step pitch of the moving equipment cannot meet the precision machining error grade.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to high-precision automatic moving equipment.
Background
The linear sliding table is a mechanical structure capable of providing linear motion, can be used horizontally or vertically, and can also be combined into a specific motion mechanism, namely a multi-axial motion mechanism in automation industry, generally called as XY-axis, XYZ-axis and the like. This mechanism is subdivided into different industries under different names, with more common names: the linear sliding table, the electric cylinder, the electric sliding table, the mechanical arm and the like. The linear sliding table is usually matched with a power motor for use, other workpieces required by the linear sliding table are mounted on a sliding block of the linear sliding table to form complete conveying movement equipment, and a set of proper motor forward and reverse rotation program is set, so that the work of the workpieces in automatic cycle reciprocating motion can be realized. Thereby achieving the purpose of mass production and dense production of equipment.
The linear sliding table has been widely applied to various devices. The method contributes indispensable labor for the equipment manufacturing development of China, reduces the dependence on external complete equipment import, and brings more opportunities for engineers interested in equipment research and manufacture. Linear slides are currently in widespread use in surveying, laser welding, laser cutting, glue applicators, punches, glue dispensers, cnc machines, router machines, sample plotters, cutting machines, transfer machines, sorters, testing machines, and in places where education is available.
The existing linear sliding table is generally directly driven by a motor, the motor has a minimum step angle and is rotated by inertia, so that the sliding table can have a minimum moving distance when advancing at every time, and particularly, the linear sliding table is aimed at working equipment such as a high-precision scanning platform, so that the position of the sliding table and the target position always generate certain deviation, the position often cannot be accurately located at the target position, and the effect of the working equipment arranged on the sliding table cannot be improved.
Therefore, a high-precision automatic moving device is urgently needed, the minimum step distance of the sliding table operation is reduced, the sliding table can be accurately positioned at a target position, and the performance of working equipment arranged on the sliding table is improved.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention aims to provide high-precision automatic moving equipment, which is characterized in that a third sliding block for fine adjustment and a first sliding block for main adjustment are arranged to match the moving process of a sliding table, the sliding table is driven to move by an oil pressure system, the sliding table is controlled to quickly reach a target position, the moving precision of the sliding table is improved, the adjusting time is accelerated, and the technical problem that the moving step distance of the moving equipment cannot meet the precision machining error level is solved.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a high-precision automated moving equipment comprising:
the control end of the rotary driving mechanism is connected with a controller of the mobile equipment, the output end of the rotary driving mechanism is provided with a connecting seat, a telescopic driving mechanism connected with a driving shaft of the rotary driving mechanism is arranged in the connecting seat, the telescopic end of the telescopic driving mechanism is longitudinally provided with a first bevel gear, the gear surface of the first bevel gear faces the driving shaft side, the back surface of the first bevel gear is provided with first teeth, the bottom of the head end of the connecting seat is transversely provided with a second bevel gear, and the first bevel gear is selectively connected and connected with the second bevel gear through the telescopic driving mechanism;
the driving cylinder is transversely arranged on the outer side of the connecting seat, a first guide rail is arranged in the driving cylinder, the first guide rail is of a closed structure, a first screw rod connected with the rotary driving mechanism is arranged in the first guide rail along the length direction, and a first sliding block is sleeved on the first screw rod; and
the piston cylinder is overlapped at the upper end of the driving cylinder, a second guide rail is arranged in the piston cylinder, a second sliding block is arranged in the second guide rail in a sliding mode, the upper end of the second guide rail is covered by a cover plate with a groove, a guide rod extends upwards from the groove at the upper end of the second sliding block, a sliding table is arranged at the upper end of the guide rod and is arranged on the cover plate in a sliding mode, a rolling device is arranged in the guide rod, and the movable end of the rolling device is connected to the end head of the groove;
the first guide rail and the second guide rail are communicated with each other at end positions, hydraulic oil is filled between the end of the first guide rail and the end of the second guide rail and a sliding block, a linear displacement ball grid ruler is arranged in the second guide rail along the length direction, the second sliding block is sleeved on the linear displacement ball grid ruler, a reading head is arranged in the second sliding block and is enveloped at the periphery of the linear displacement ball grid ruler, and the output end of the reading head is connected with the controller;
the head end of the first screw rod penetrates through the side wall of the head end of the first guide rail and extends into the connecting seat, a second tooth is arranged on the side wall of the head end of the first screw rod, and the first tooth is selectively jointed with the second tooth;
a guide post is arranged in the first guide rail below the first screw rod, the guide post is arranged in parallel with the first screw rod, the first sliding block is arranged on the guide post in a sliding manner, an accommodating cavity is formed in the guide post, at least one opening communicated with the accommodating cavity is formed in the periphery of the head end of the guide post in a penetrating manner, a second screw rod is arranged in the accommodating cavity in a rotating manner, the second screw rod protrudes out of the head end of the guide post for a certain distance, and the protruding end of the second screw rod is connected with the second bevel gear; the second screw rod is sleeved with a third sliding block, and the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block.
Preferably, the rotary driving mechanism is a stepping motor, the telescopic driving mechanism rotates synchronously with the rotary driving mechanism, and the control end of the telescopic driving mechanism is connected with the controller.
Preferably, the longitudinal section of the first slider is consistent with the longitudinal section of the inner space of the first guide rail, first guide grooves are formed in two inner side walls of the first guide rail, first guide blocks are correspondingly arranged on the side walls of the first slider, the first guide blocks are slidably arranged in the first guide grooves, a first sealing ring is arranged on the periphery of the end head of the first slider, a first threaded hole is formed in the center of the first slider in a penetrating manner along the length direction, the first slider is sleeved on the first lead screw through the first threaded hole, and a first threaded sealing sleeve is arranged between the first threaded hole and the first lead screw;
the longitudinal section of the second sliding block is consistent with the longitudinal section of the inner space of the second guide rail, second guide grooves are formed in the two inner side walls of the second guide rail, second guide blocks are correspondingly arranged on the side walls of the second sliding block, the second guide blocks are arranged in the second guide grooves in a sliding mode, and second sealing rings are arranged on the periphery of the end head of the second sliding block;
the longitudinal section of the third sliding block is consistent with that of the containing cavity, the containing cavity is a cylindrical cavity, the third sliding block is arranged in the containing cavity in a sliding mode, a third sealing ring is arranged on the periphery of the end of the second sliding block, a second threaded hole is formed in the center of the third sliding block in a penetrating mode along the length direction, the third sliding block is sleeved on the second screw rod through the second threaded hole, and a second threaded sealing sleeve is arranged between the second threaded hole and the second screw rod.
Preferably, a through hole is respectively formed in the center of the second sliding block in a penetrating mode along the length direction, a coil of the reading head is arranged on the periphery of the through hole, the second sliding block is sleeved on the linear displacement ball grid ruler through the through hole, and a fourth sealing ring is arranged on the periphery of the end head of the through hole.
Preferably, the piston cylinder is sealed at the upper end of the first guide rail, and the bottom of the end head of the second guide rail is provided with a through hole communicated with the inside of the first guide rail.
Preferably, be provided with the guide way on the apron, the slip table passes through the guide arm slides and sets up on the guide way, the fluting runs through along length direction and sets up the apron center, be provided with third direction recess on the two inside walls of fluting, it is provided with the third guide block to correspond on the guide arm both sides wall, just be provided with sealed cushion in the third direction recess, the third guide block slides and sets up in the sealed cushion.
Preferably, the rolling device is accommodated between the third guide blocks on the two sides, an elastic rolling mechanism is arranged in the rolling device, a plurality of coils of rolling plates are wound on the elastic rolling mechanism, an alignment opening is arranged on the rolling device, the alignment opening is positioned at the same height of the third guide blocks, the width of each rolling plate is between the distance between the third guide blocks on the two sides and the width of the guide rod, the free end of each rolling plate is connected with the end of the corresponding groove through the alignment opening, and the two sides of each rolling plate are slidably arranged in the sealing rubber gasket.
Preferably, first slider both ends are provided with first touch switch, second slider both ends are provided with second touch switch, the slip table both ends are provided with third touch switch, just second guide rail end protrusion is provided with an initial point switch, second guide rail tail end protrusion is provided with a terminal switch, each the switch with the controller is connected.
Preferably, two ends of the guide column are rotatably arranged at two ends of the first guide rail, a first bearing is arranged on the side wall of the head end of the guide column, a second bearing is arranged on the side wall of the tail end of the guide column, the second screw rod is rotatably arranged between the first bearing and the second bearing, the second screw rod and the first bearing are arranged in a sealing manner, and the first screw rod and the side wall of the head end of the first guide rail are rotatably arranged in a sealing manner;
the center of the first bevel gear is connected to the telescopic end of the telescopic driving mechanism, the second bevel gear is longitudinally arranged at the bottom of the head end of the connecting seat through a steering reduction gearbox, the first bevel gear is connected with an input shaft of the steering reduction gearbox, and an output shaft of the steering reduction gearbox is connected with the second screw rod;
the second bevel gear and the second tooth are positioned on the motion path of the first bevel gear, the head end surface of the first bevel gear is selectively jointed with the second bevel gear, and the first tooth on the back end surface of the first bevel gear is selectively jointed with the second tooth.
Preferably, when the telescopic driving mechanism drives the first bevel gear to move towards the tail end, the first tooth is engaged with the second tooth, the rotary driving mechanism is linked with the first screw rod, and the rotary driving mechanism is separated from the second screw rod; when the telescopic driving mechanism drives the first bevel gear to move towards the head end, the head end surface of the first bevel gear is connected with the second bevel gear, the rotary driving mechanism is linked with the second screw rod, and the rotary driving mechanism is separated from the first screw rod; when the telescopic driving mechanism drives the first bevel gear to be at the middle position, the rotary driving mechanism is simultaneously separated from the first screw rod and the second screw rod.
Compared with the prior art, the invention has the following beneficial effects:
1. on the premise of only using one rotary driving mechanism, the main adjusting slide block and the fine adjusting slide block are matched for use, so that the moving precision of the sliding table is improved, the operation is simple and convenient, and the stability is good;
2. the invention has the characteristics of high precision, simple and convenient operation, good stability, high safety and the like, and provides a necessary platform foundation for industrial production and research;
3. the moving process of the sliding table is more accurate and rapid, and the shaking of the sliding table is eliminated;
4. the screw rod transmission system and the hydraulic transmission system are combined for use, the advantages of the screw rod transmission system and the hydraulic transmission system are fully exerted, the moving precision of the sliding table is further improved, and meanwhile the sliding table moves more stably.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a side view of the present invention with the first bevel gear in a free state;
FIG. 2 is an enlarged schematic view of a portion A of FIG. 1;
FIG. 3 is a side view of the present invention with the first bevel gear engaged with the first lead screw;
FIG. 4 is an enlarged schematic view of a portion B of FIG. 3;
FIG. 5 is a side view of the present invention with the first bevel gear engaged with the second bevel gear;
FIG. 6 is an enlarged schematic view of a portion C of FIG. 5;
FIG. 7 is a schematic view of the internal structure of the driving cylinder;
FIG. 8 is a schematic view of the internal structure of the piston cylinder;
FIG. 9 is a schematic view of a piston cylinder top structure;
FIG. 10 is a schematic view of an assembled structure of the slider;
FIG. 11 is a top view of the present invention with the first bevel gear engaged with the first lead screw;
FIG. 12 is a schematic structural view of a guide post;
FIG. 13 is a schematic view of the construction of the drive cylinder of the present invention;
FIG. 14 is a schematic view of the guide bar;
FIG. 15 is a schematic view showing the structure of a scrolling device;
fig. 16 is a schematic structural view of the first slider.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.
As shown in fig. 1 to 16, the invention provides a high-precision automatic moving device, which comprises a rotary driving mechanism, a driving cylinder, a piston cylinder and a sliding table, wherein a first sliding block for main adjustment and a third sliding block for fine adjustment are arranged in the driving cylinder, and high-end precision working equipment is arranged on the sliding table and moves synchronously with the sliding table to complete corresponding execution actions.
This embodiment will be described by taking the present invention as an example for use in a scanning apparatus.
The whole moving equipment is arranged on a mounting base 100, wherein the rotary driving mechanism 310 drives the driving cylinder 320 to act, the driving cylinder 320 drives the piston cylinder 420 and the sliding table 700 synchronously arranged on the piston cylinder 420 to move, and finally the moving equipment completes displacement work and completes scanning work by matching with other working equipment such as scanning equipment arranged on the sliding table 700.
The rotary driving mechanism 310 employs a stepping motor to facilitate precise adjustment of the scanning step for each time. The control end of the rotation driving mechanism 310 is connected to a controller of the mobile equipment, and the controller controls the operation of the rotation driving mechanism 310.
The output end of the rotary driving mechanism 310 is provided with a connecting seat 311, and the driving shaft of the rotary driving mechanism 310 is located in the connecting seat 311. A telescopic driving mechanism is arranged on a driving shaft of the rotary driving mechanism 310, the telescopic driving mechanism synchronously rotates along with the rotary driving mechanism 310, the telescopic driving mechanism is located in the connecting seat 311, and a control end of the telescopic driving mechanism 110 is connected with the controller.
A driving cylinder 320 is transversely arranged on the mounting base 100 outside the connecting base and transversely located outside the second end of the connecting base 311, the head end of the connecting base 311 is arranged at the second end of the rotary driving mechanism 310, a first guide rail is arranged in the driving cylinder 320 and is of a closed structure, an accommodating space is arranged in the first guide rail, a first lead screw 340 selectively connected with a driving shaft of the rotary driving mechanism 310 is arranged in the first guide rail along the length direction, the rotary driving mechanism 310 selectively drives the first lead screw 340 to rotate, and the first lead screw 340 is located in the center of the inner space of the first guide rail.
The first sliding block 330 is sleeved on the first lead screw 340, the first sliding block 330 is slidably disposed in the first guide rail, and when the rotary driving mechanism 310 drives the first lead screw 340 to rotate, the first sliding block 330 can be controlled to move back and forth in the first guide rail.
The piston cylinder 420 overlaps the setting and is in the upper end of actuating cylinder 320, simultaneously, for seal first guide rail, be provided with second guide rail 412 in the piston cylinder 420, and the inside accommodation space that is provided with of second guide rail 412, it is provided with a second slider 430 to slide in the second guide rail 412, second guide rail 412 upper end is with the apron 500 closing cap that has a fluting 510, follow second slider 430 upper end upwards extend a guide arm 520 in the fluting 510, the guide arm 520 upper end is provided with a slip table 700, just the slip table 700 slides and sets up on the apron 500 to make slip table 700 along with second slider 430 synchronous motion, working facilities such as scanning set up on slip table 700, progressively change the position of slip table 700 can accomplish scanning facilities etc. to the scanning work of target object.
A first bevel gear 120 is longitudinally arranged at the telescopic end of the telescopic driving mechanism 110, the gear surface of the first bevel gear 120 faces the driving shaft side, a first tooth 121 is arranged at the back surface of the first bevel gear 120, and the first bevel gear 120 synchronously rotates with the rotary driving mechanism through the telescopic driving mechanism 110 and is controlled by the telescopic driving mechanism 110 to transversely extend and retract in the connecting seat.
A second bevel gear 140 is transversely arranged at the bottom of the head end of the connecting base, and the first bevel gear 120 is selectively connected and connected with the second bevel gear 140 through the telescopic driving mechanism 110.
The head end of the first lead screw 340 penetrates through the side wall of the head end of the first guide rail and extends into the connecting seat 311, the side wall of the head end of the first lead screw 340 is provided with an engaging end 150, the engaging end 150 is provided with a second tooth 151, and the first tooth 121 is selectively engaged with the second tooth 151.
A guide post 160 is arranged in the first guide rail below the first lead screw 340, the guide post 160 and the first lead screw 340 are arranged in parallel, the first slider is arranged on the guide post 160 in a sliding manner, the guide post 160 guides the movement of the first slider, so that the movement process of the first slider is more stable, and fluctuation is reduced, the guide post 160 is of a hollow structure, an accommodating cavity is formed in the guide post 160, and the accommodating cavity is of a cylindrical cavity structure and is formed in the length direction of the guide post.
The circumference of the head end of the guide post 160 is at least provided with an opening 343 communicated with the accommodating cavity in a penetrating manner, so that the inner space of the first guide rail is communicated with the accommodating cavity, a second lead screw 210 is rotatably arranged in the accommodating cavity, the second lead screw 210 is positioned in the center of the accommodating cavity, the second lead screw 210 is rotatably arranged at two ends of the accommodating cavity, the second lead screw protrudes out of the head end of the guide post 160 for a certain distance, and the protruding end of the second lead screw penetrates through the first guide rail and is positioned in the connecting seat.
The protruding end of the second screw rod is connected with the second bevel gear 140, and the second bevel gear drives the second screw rod to rotate; the second screw rod is sleeved with a third sliding block 341, and the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block.
Specifically, the center of the first bevel gear 120 is connected to the telescopic end of the telescopic driving mechanism 110, rotates synchronously with the telescopic driving mechanism, and is controlled by the telescopic driving mechanism to extend and retract transversely, the second bevel gear 140 is longitudinally arranged at the bottom of the head end of the connecting seat through a steering reduction box 130, the first bevel gear 120 is connected with the input shaft of the steering reduction box, and the head end of the second lead screw 210 protrudes out of the first guide rail for a certain distance and is connected with the output shaft of the steering reduction box, so that the second bevel gear and the second lead screw rotate synchronously.
The first lead screw protrudes into the connecting socket and the first and second teeth are aligned, the second bevel gear 140 and the second tooth 151 are located on the movement path of the first bevel gear 120, the head end face of the first bevel gear 120 is selectively engaged with the second bevel gear 140, and the first tooth 121 on the back end face of the first bevel gear 120 is selectively engaged with the second tooth 151.
When the telescopic driving mechanism 110 drives the first bevel gear 120 to move towards the tail end, the first tooth 121 is engaged with the second tooth 151, the rotary driving mechanism is linked with the first lead screw 340, the rotary driving mechanism drives the first lead screw to rotate, the first slide block is driven to move, and at the moment, the rotary driving mechanism is separated from the second lead screw; when the telescopic driving mechanism 110 drives the first bevel gear 120 to move towards the head end, the head end surface of the first bevel gear 120 is connected with the second bevel gear 140, the rotary driving mechanism is linked with the second lead screw, the rotary driving mechanism drives the second lead screw to rotate, the third slide block is driven to move, and at the moment, the rotary driving mechanism is separated from the first lead screw 340; when the telescopic driving mechanism 110 drives the first bevel gear 120 to be located at the middle position between the second bevel gear and the second tooth, the rotary driving mechanism is simultaneously separated from the first lead screw 340 and the second lead screw, and the first lead screw and the second lead screw are separated from the driving source and are not influenced by the inertial rotation of the rotary driving mechanism, so that the quick stop is realized, and the moving precision of each sliding block is improved.
In a normal state, the first bevel gear is spaced apart from the second bevel gear and the second tooth by a certain distance, the telescopic driving mechanism 110 drives the first bevel gear to retract, so that the first bevel gear is engaged with the second bevel gear, the telescopic driving mechanism 110 drives the first bevel gear to extend, so that the first bevel gear is engaged with the second tooth, and thus, the rotary driving mechanism 310 drives the first screw rod or the second screw rod to rotate.
The second screw rod is sleeved with a third sliding block 341, the second screw rod drives the third sliding block 341 to be attached to the accommodating cavity to move in the accommodating cavity, and the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block.
Specifically, first lead screw 340 both ends are rotated and are set up first guide rail both ends, and can the free rotation, drive first slider round trip movement in first guide rail, be provided with first bearing 344 on the lateral wall of guide post head end, be provided with second bearing 342 on the lateral wall of guide post tail end, the second lead screw rotates and sets up between first bearing and second bearing, sealed setting between second lead screw and the first bearing avoids holding cavity and external intercommunication.
The first screw rod and the driving shaft are in the same straight line, when the telescopic end of the telescopic driving mechanism extends forwards, the first tooth and the second tooth are selectively jointed, and the rotary driving mechanism is linked with the first screw rod. At the moment, the first screw rod rotates independently, and the position of the first sliding block in the first guide rail is changed. When the rotary driving mechanism is linked with the second screw rod, the rotary driving mechanism and the second screw rod synchronously rotate to change the position of the third sliding block in the accommodating cavity.
Specifically, the piston cylinder 420 is sealed at the upper end of the first guide rail, a through hole 413 communicated with the inside of the first guide rail is formed in the bottom of the end head of the second guide rail 412, so that the first guide rail and the second guide rail 412 are communicated with each other at the end head position, and meanwhile, hydraulic oil is filled between the end heads of the first guide rail and the second guide rail 412 and the sliding blocks, so that the volume of oil between the end heads of the first guide rail and the second guide rail 412 and the sliding blocks is fixed, meanwhile, the accommodating cavity is communicated with the first guide rail, therefore, the accommodating cavity in front of the third sliding block is filled with hydraulic oil, and the total oil amount in the whole mobile equipment is constant.
The hydraulic oil capacity in the second guide rail where the second slide block 430 is located can be changed by changing the position of the first slide block in the first guide rail through the rotary driving mechanism 310; the position of the third sliding block 341 in the corresponding accommodating cavity is changed by the rotary driving mechanism 310, that is, the hydraulic oil capacity in the second guide rail where the second sliding block 430 is located can be changed, so that the position of the second sliding block 430 in the second guide rail is changed, that is, the position of the sliding table is changed.
In the above technical solution, the longitudinal cross section of the first sliding block 330 is consistent with the longitudinal cross section of the inner space of the first guide rail, so that the first sliding block 330 is just movably fitted in the inner space of the first guide rail to move, the two inner side walls of the first guide rail are provided with the first guide grooves 321, the side walls of the first sliding block 330 are correspondingly provided with the first guide blocks 335, the first guide blocks 335 are slidably arranged in the first guide grooves 321 to provide guidance for the sliding of the first sliding block 330, and at the same time, the first sliding block 330 is ensured to move linearly along the direction of the first guide rail strictly, so as to reduce the longitudinal offset and finally reduce the longitudinal shaking of the first sliding block, meanwhile, the first sealing ring 331 is arranged on the outer periphery of the end of the first sliding block 330, the first sliding block 330 is in sliding contact with the peripheral side walls of the inner space of the first guide rail through the first sealing ring 331, so as to ensure the sealing performance at the contact position between the first sliding block 330 and the, the leakage of the hydraulic oil between the first slider 330 and the end of the first rail inner space to the space between the first slider 330 and the end of the first rail inner space is avoided.
Similarly, the longitudinal section of the second slider 430 is identical to the longitudinal section of the inner space of the second guide rail 412, the two inner side walls of the second guide rail 412 are provided with second guide grooves 421, the side walls of the second slider 430 are correspondingly provided with second guide blocks, the second guide blocks are slidably arranged in the second guide grooves 421, and the periphery of the end head of the second slider 330 is provided with a second sealing ring.
The longitudinal section of the third sliding block 341 is the same as the longitudinal section of the accommodating cavity, the accommodating cavity is a cylindrical cavity, the third sliding block 341 is slidably disposed in the accommodating cavity, and a third sealing ring is disposed on the periphery of the end head of the second sliding block 430.
According to the invention, the precise working equipment such as the antenna and the like arranged on the sliding table is indirectly arranged on the ball screw guide rail sliding table through the hydraulic system, the position of the working equipment is adjusted through the hydraulic system, the scanning step pitch is changed through changing the volume of hydraulic oil by the hydraulic system, the minimum step pitch is smaller, the adjustment accuracy is higher, and the deviation between the working equipment such as the antenna and the like and a target position is eliminated, wherein the third sliding block plays a role in fine adjustment of distance, the first sliding block plays a role in main adjustment of distance, so that the working equipment arranged on the sliding table can accurately reach the target position, and the adjustment time is faster. The hydraulic system absorbs the shake of the rotary driving mechanism during starting and stopping, so that the moving process of the working equipment such as the antenna is more accurate and controllable, the longitudinal shake of the sliding table is eliminated through the hydraulic system, and the scanning imaging quality of the precise working equipment such as the antenna is finally improved.
A first threaded hole 334 is formed in the center of the first sliding block 330 in a penetrating manner along the length direction, the first sliding block 330 is sleeved on the first screw rod 340 through the first threaded hole, and a first threaded sealing sleeve 333 is arranged between the first threaded hole and the first screw rod 340; a first thread sealing sleeve is arranged between the first threaded hole and the first screw rod, so that the sealing effect between the first threaded hole and the first screw rod is achieved, and hydraulic oil is prevented from stretching into the first threaded hole.
A second threaded hole is formed in the center of the third sliding block 341 in a penetrating manner along the length direction, the third sliding block 341 is sleeved on the second screw rod 220 through the second threaded hole, a second threaded sealing sleeve is arranged between the second threaded hole and the second screw rod 220, and the second threaded sealing sleeve plays a role in sealing between the second threaded hole and the second screw rod, so that hydraulic oil is prevented from extending into the second threaded hole.
In the above technical solution, a linear displacement ball grid ruler 440 is arranged in the second guide rail 412 along the length direction, the second slider 430 is sleeved on the linear displacement ball grid ruler 440, a reading head is arranged in the second slider 430, the reading head is enveloped at the periphery of the linear displacement ball grid ruler 440, the output end of the reading head is connected with a controller of the moving device, the linear displacement ball grid ruler 440 is of a hollow structure and is filled with a high-precision magnetic steel ball, the linear displacement ball grid ruler 440 provides a guiding effect for the movement of the second slider 430, and meanwhile, the linear displacement ball grid ruler 440 is used for measuring the moving distance and the position of the linear displacement ball grid ruler 440, and when the reading head moves along with the second slider 430, the moving distance and the position of the third slider on the linear displacement ball grid ruler 440 can be read, that is the moving distance and the position of the sliding table can be known. The invention adopts the linear displacement ball grid to measure the moving distance of the working equipment such as scanning equipment and the like, thereby improving the measurement precision, simplifying the structure of the moving equipment and improving the measurement reliability.
In the technical scheme, a through hole is formed in the center of the second sliding block 430 in a penetrating mode along the length direction, the coil of the reading head is arranged on the periphery of the through hole, the second sliding block is sleeved on the linear displacement ball grid ruler through the through hole, a fourth sealing ring is arranged on the periphery of the end head of the through hole, the sealing effect between the through hole and the linear displacement ball grid ruler 440 is achieved, and hydraulic oil is prevented from extending into the through hole. Meanwhile, the guide post and the first sliding block are arranged in a sealing mode.
The cover plate 500 is provided with a guide groove 540, the direction of the guide groove 540 is consistent with the length direction of the second guide rail, the sliding table 700 is arranged on the guide groove 540 through the guide rod 520 in a sliding manner, so that the sliding of the sliding table 700 is guided, meanwhile, the sliding table 700 is ensured to strictly move linearly along the length direction of the second guide rail, the longitudinal offset is reduced, and finally, the longitudinal shaking of the sliding table 700 is reduced, the groove 510 penetrates through the center of the cover plate 500 along the length direction, third guide grooves are formed in two inner side walls of the groove 510, third guide blocks 521 are correspondingly arranged on two side walls of the guide rod 520, a sealing rubber gasket is arranged in each third guide groove and transversely protrudes out of the third guide groove for a certain distance, the third guide blocks 521 are arranged in the sealing rubber gasket in a sliding manner, so that the contact position between the guide rod 520 and the groove 510 is ensured to be sealed, and hydraulic oil between the second sliding block and the end head of the inner space of the second guide rail is prevented from leaking out of the groove.
A rolling device 530 is arranged in the guide rod 520, and the movable end of the rolling device 530 is connected to the end of the slot 510. Specifically, the rolling device 530 is accommodated between the third guide blocks 521 at two sides, an elastic rolling mechanism 533 is arranged in the rolling device 530, a plurality of rolling plates 531 are wound on the elastic rolling mechanism 533, the rolling plates 531 are wound on the periphery of the elastic rolling device 533, the rolling plates 531 keep a contraction state under the elastic force of the elastic rolling device 533, an alignment opening 532 is arranged on the rolling device 530, the alignment opening 532 is located at the same height of the third guide blocks 521, meanwhile, the width of the rolling plates 531 is between the distance between the third guide blocks 521 at two sides and the width of the guide rod 520, as shown in the figure, the alignment opening 532 is arranged between the third guide blocks 521 at two sides, the third guide blocks 521 at two sides are arranged in the fourth guide groove, because the width of the open groove 510 is consistent with the width of the guide rod, the width of the rolling plates 531 is greater than the width of the open groove 510, so that both sides of the rolled plate 531 are also arranged in the fourth guide groove to seal the groove.
The free end of the rolling plate 531 is aligned through the alignment opening 532 and then connected to the end of the open groove 510, when the rolling device 530 moves along with the guide rod, the rolling plate 531 is pulled out, and two sides of the rolling plate 531 are slidably disposed in the sealing rubber gasket. Specifically, after the rolling plate 531 is pulled out, the two sides of the rolling plate are arranged in the sealing rubber mat in a sliding mode, the rolling plate is sealed with the groove through the sealing rubber mat, when the second sliding block slides under the action of force, the guide rod is driven to move in the groove, the guide rod is arranged in the groove in a sealing mode, the groove between the guide rod and the end head of the second guide rail is pulled out in a sealing mode, and therefore the situation that hydraulic oil between the second sliding block and the end head of the inner space of the second guide rail leaks out of the groove is avoided.
Specifically, the second guide rail end is provided with first baffle 650, origin switch 640 sets up on first baffle 650, the second guide rail tail end is provided with second baffle 370, terminal switch 360 sets up on second baffle 370, touch switch produces contact signal, send to in the controller, corresponding slider of controller control or slip table stop motion, namely touch switch is used for restricting the removal stroke of slider, avoid slider and guide rail end or tail end direct impact, origin switch 640 and terminal switch 360 are used for carrying out the calibration of origin and terminal to the removal route of slip table, improve scanning device's removal precision, eliminate the accumulative total error of removal stroke.
In the above technical solution, the longitudinal sectional area of the second slider 430 is larger than the longitudinal sectional area of the third slider 341 and smaller than the longitudinal sectional area of the first slider 330, when the rotary driving mechanism is coupled and linked with the first lead screw, the rotary driving mechanism drives the first slider to move independently, and the volume of the hydraulic oil changed per unit stroke is the largest; when the second sliding block moves, the volume of the hydraulic oil changed in unit stroke is less than that of the hydraulic oil; when the rotary driving mechanism is connected and linked with the second screw rod and drives the third sliding block to move independently, the volume of hydraulic oil changed in unit stroke is minimum; that is, when the first slider is driven to move by a unit stroke, the moving distance of the second slider is greater than the unit moving distance, and when the third slider is driven to move by a unit stroke alone, the moving distance of the second slider is less than the unit moving distance.
According to the invention, the third sliding block moves independently to be used for fine adjustment of the volume of hydraulic oil in the second guide rail, namely fine adjustment of the position of the second sliding block, so that the third sliding block acts as a fine adjustment switch independently, fine adjustment of the position is carried out through the volume of the hydraulic oil, the adjustment step pitch is smaller, and the adjustment distance is more accurate and controllable. First slider is used for carrying out the primary control to the inside hydraulic oil capacity of second guide rail, namely carries out the primary control to the position of second slider, therefore the whole effect that acts as a primary control switch of first slider, carries out the regulation of position through the volume of hydraulic oil, and the accommodation process is rapider.
The position and the moving distance of the sliding table are changed, specifically, the controller controls the driving shaft to be connected with the first screw rod, the moving stroke of the second slide block can be controlled by controlling the moving stroke of the first slide block through the rotary driving mechanism, the first slide block plays a role of main adjusting the position of the second slide block, when the second screw rod is controlled to be linked with the driving shaft, the moving stroke of the second slide block can be controlled by controlling the moving stroke of the third slide block through the rotary driving mechanism, the third slide block independently plays a role of fine adjusting the position of the sliding table, the first slide block plays a role of main adjusting the position, the second slide block is rapidly moved to the vicinity of a target position by controlling the moving stroke of the first slide block, then the second slide block is precisely moved to the target position by independently controlling the moving stroke of the third slide block, the position adjusting speed of the sliding table is accelerated, the moving precision of the sliding table is improved, and the scanning quality of other working, when the sliding block reaches the designated position, the driving shaft is controlled to be separated from the first screw rod and the second screw rod respectively, the first sliding block and the third sliding block are prevented from being influenced by inertia of the rotary driving mechanism, and the moving accuracy of the sliding table is further improved.
Meanwhile, the moving position and the moving distance of the second sliding block are fed back through the linear displacement ball grid, and the second sliding block and the third sliding block are used for controlling the movement of the first sliding block and the third sliding block in a feedback mode. The operation is accumulated, position deviation can be avoided, once the position of the second sliding block deviates from a target set position, for example, the position of the second sliding block does not reach the target position, at the moment, the controller calculates the deviation distance of the second sliding block, because the longitudinal sectional areas of the first guide rail, the second guide rail and the inner space of the containing cavity are fixed, the deviation volume of hydraulic oil in the inner space of the second guide rail can be calculated, the first sliding block or the third sliding block of the controller independently acts, the hydraulic oil quantity in the inner space of the second guide rail is adjusted, and after the hydraulic oil in the inner space of the second guide rail obtains the hydraulic oil with the deviation volume, the second sliding block can be driven to be linked with the sliding table to reach the specified target position, so that displacement deviation is eliminated in time, and the scanning precision.
In order to verify the effect of the platform, a 5mW laser is used as a testing tool, the 5mW laser is arranged on the sliding table, and the stability of the system during operation and the jitter condition of the sliding table during operation are tested. And recording the set running distance and the actual running distance of the sliding table during running, and testing the accuracy of the system. Finally, the test system outputs a waveform, and the pulse is sent to a subsequent radiometer measurement system to be used as a prompt signal of the radiometer measurement system to analyze the accuracy of the radiometer measurement system.
Tests prove that the shaking of the sliding table during the operation of the system is very small, and the shaking in the vertical direction is much smaller than that in the horizontal direction, which shows that the shaking caused by the operation of the motor is very small and the system is very stable after being absorbed by a hydraulic system. Meanwhile, the error between the set position and the actual position of the system operation is almost zero, so that the system operation accuracy is high.
According to the invention, on the premise of only using one rotary driving mechanism, the main adjusting slide block and the fine adjusting slide block are matched for use, so that the moving precision of the sliding table is improved, the operation is simple and convenient, and the stability is good; meanwhile, the method has the characteristics of high precision, simplicity and convenience in operation, good stability, high safety and the like, and provides a necessary platform foundation for industrial production and research; through main harmonic fine adjustment control, the moving process of the sliding table is more accurate and rapid, shaking of the sliding table is eliminated, the screw rod transmission system and the hydraulic transmission system are combined for use, respective advantages of the screw rod transmission system and the hydraulic transmission system are fully exerted, moving precision of the sliding table is further improved, and meanwhile the sliding table moves more stably.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable to various fields of endeavor for which the invention may be embodied with additional modifications as would be readily apparent to those skilled in the art, and the invention is therefore not limited to the details shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (10)
1. A high accuracy automated mobile device, comprising:
the control end of the rotary driving mechanism is connected with a controller of the mobile equipment, the output end of the rotary driving mechanism is provided with a connecting seat, a telescopic driving mechanism connected with a driving shaft of the rotary driving mechanism is arranged in the connecting seat, the telescopic end of the telescopic driving mechanism is longitudinally provided with a first bevel gear, the gear surface of the first bevel gear faces the driving shaft side, the back surface of the first bevel gear is provided with first teeth, the bottom of the head end of the connecting seat is transversely provided with a second bevel gear, and the first bevel gear is selectively connected and connected with the second bevel gear through the telescopic driving mechanism;
the driving cylinder is transversely arranged on the outer side of the connecting seat, a first guide rail is arranged in the driving cylinder, the first guide rail is of a closed structure, a first screw rod connected with the rotary driving mechanism is arranged in the first guide rail along the length direction, and a first sliding block is sleeved on the first screw rod; and
the piston cylinder is overlapped at the upper end of the driving cylinder, a second guide rail is arranged in the piston cylinder, a second sliding block is arranged in the second guide rail in a sliding mode, the upper end of the second guide rail is covered by a cover plate with a groove, a guide rod extends upwards from the groove at the upper end of the second sliding block, a sliding table is arranged at the upper end of the guide rod and is arranged on the cover plate in a sliding mode, a rolling device is arranged in the guide rod, and the movable end of the rolling device is connected to the end head of the groove;
the first guide rail and the second guide rail are communicated with each other at end positions, hydraulic oil is filled between the end of the first guide rail and the end of the second guide rail and a sliding block, a linear displacement ball grid ruler is arranged in the second guide rail along the length direction, the second sliding block is sleeved on the linear displacement ball grid ruler, a reading head is arranged in the second sliding block and is enveloped at the periphery of the linear displacement ball grid ruler, and the output end of the reading head is connected with the controller; a through hole is respectively formed in the center of the second sliding block in a penetrating manner along the length direction, a coil of the reading head is arranged on the periphery of the through hole, and the second sliding block is sleeved on the linear displacement ball grid ruler through the through hole;
the head end of the first screw rod penetrates through the side wall of the head end of the first guide rail and extends into the connecting seat, a second tooth is arranged on the side wall of the head end of the first screw rod, and the first tooth is selectively jointed with the second tooth;
a guide post is arranged in the first guide rail below the first screw rod, the guide post is arranged in parallel with the first screw rod, the first sliding block is arranged on the guide post in a sliding manner, an accommodating cavity is formed in the guide post, at least one opening communicated with the accommodating cavity is formed in the periphery of the head end of the guide post in a penetrating manner, a second screw rod is arranged in the accommodating cavity in a rotating manner, the second screw rod protrudes out of the head end of the guide post for a certain distance, and the protruding end of the second screw rod is connected with the second bevel gear; the second screw rod is sleeved with a third sliding block, and the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block.
2. The high-precision automated mobile equipment according to claim 1, wherein the rotary driving mechanism is a stepping motor, the telescopic driving mechanism rotates synchronously with the rotary driving mechanism, and a control end of the telescopic driving mechanism is connected with the controller.
3. The high-precision automatic moving equipment as claimed in claim 2, wherein the longitudinal section of the first slide block is consistent with the longitudinal section of the inner space of the first guide rail, first guide grooves are formed on two inner side walls of the first guide rail, first guide blocks are correspondingly arranged on the side walls of the first slide block, the first guide blocks are slidably arranged in the first guide grooves, a first seal ring is arranged on the periphery of the end head of the first slide block, a first threaded hole is formed in the center of the first slide block along the length direction in a penetrating manner, the first slide block is sleeved on the first screw rod through the first threaded hole, and a first threaded seal sleeve is arranged between the first threaded hole and the first screw rod;
the longitudinal section of the second sliding block is consistent with the longitudinal section of the inner space of the second guide rail, second guide grooves are formed in the two inner side walls of the second guide rail, second guide blocks are correspondingly arranged on the side walls of the second sliding block, the second guide blocks are arranged in the second guide grooves in a sliding mode, and second sealing rings are arranged on the periphery of the end head of the second sliding block;
the longitudinal section of the third sliding block is consistent with that of the containing cavity, the containing cavity is a cylindrical cavity, the third sliding block is arranged in the containing cavity in a sliding mode, a third sealing ring is arranged on the periphery of the end of the second sliding block, a second threaded hole is formed in the center of the third sliding block in a penetrating mode along the length direction, the third sliding block is sleeved on the second screw rod through the second threaded hole, and a second threaded sealing sleeve is arranged between the second threaded hole and the second screw rod.
4. The high-precision automated moving equipment according to claim 3, wherein the periphery of the end of the through hole is provided with a fourth sealing ring.
5. The high-precision automatic moving equipment as claimed in claim 4, wherein the piston cylinder is closed at the upper end of the first guide rail, and the bottom of the end head of the second guide rail is provided with a through hole communicated with the inside of the first guide rail.
6. The high-precision automatic moving equipment as claimed in claim 5, wherein a guide groove is arranged on the cover plate, the sliding table is slidably arranged on the guide groove through the guide rod, the slot is arranged in the center of the cover plate along the length direction, third guide grooves are arranged on two inner side walls of the slot, third guide blocks are correspondingly arranged on two side walls of the guide rod, a sealing rubber pad is arranged in each third guide groove, and each third guide block is slidably arranged in the corresponding sealing rubber pad.
7. The high-precision automatic moving equipment according to claim 6, wherein the rolling device is accommodated between the third guide blocks on two sides, an elastic rolling mechanism is arranged in the rolling device, a plurality of circles of rolling plates are wound on the elastic rolling mechanism, an alignment opening is arranged on the rolling device, the alignment opening is located at the same height of the third guide blocks, the width of the rolling plate is between the distance between the third guide blocks on two sides and the width of the guide rod, the free end of the rolling plate is connected with the end of the slot through the alignment opening, and two sides of the rolling plate are slidably arranged in the sealing rubber pad.
8. The high-precision automatic mobile equipment as claimed in claim 7, wherein the first slider is provided with a first touch switch at two ends, the second slider is provided with a second touch switch at two ends, the sliding table is provided with a third touch switch at two ends, the end of the second guide rail is provided with an origin switch in a protruding manner, the tail end of the second guide rail is provided with an end switch in a protruding manner, and each switch is connected with the controller.
9. The high-precision automated mobile equipment according to claim 8, wherein the two ends of the guide post are rotatably disposed at the two ends of the first guide rail, the first bearing is disposed on the side wall of the head end of the guide post, the second bearing is disposed on the side wall of the tail end of the guide post, the second lead screw is rotatably disposed between the first bearing and the second bearing, the second lead screw is hermetically disposed with the first bearing, and the first lead screw is rotatably disposed with the side wall of the head end of the first guide rail;
the center of the first bevel gear is connected to the telescopic end of the telescopic driving mechanism, the second bevel gear is longitudinally arranged at the bottom of the head end of the connecting seat through a steering reduction gearbox, the first bevel gear is connected with an input shaft of the steering reduction gearbox, and an output shaft of the steering reduction gearbox is connected with the second screw rod;
the second bevel gear and the second tooth are positioned on the motion path of the first bevel gear, the head end surface of the first bevel gear is selectively jointed with the second bevel gear, and the first tooth on the back end surface of the first bevel gear is selectively jointed with the second tooth.
10. The high precision automated moving equipment according to claim 9, wherein when the telescopic driving mechanism drives the first bevel gear to move to the tail end, the first tooth is engaged with the second tooth to link the rotary driving mechanism with the first lead screw, and the rotary driving mechanism is separated from the second lead screw; when the telescopic driving mechanism drives the first bevel gear to move towards the head end, the head end surface of the first bevel gear is connected with the second bevel gear, the rotary driving mechanism is linked with the second screw rod, and the rotary driving mechanism is separated from the first screw rod; when the telescopic driving mechanism drives the first bevel gear to be at the middle position, the rotary driving mechanism is simultaneously separated from the first screw rod and the second screw rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711449067.3A CN107906121B (en) | 2017-12-27 | 2017-12-27 | High-precision automatic mobile equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711449067.3A CN107906121B (en) | 2017-12-27 | 2017-12-27 | High-precision automatic mobile equipment |
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| CN107906121A CN107906121A (en) | 2018-04-13 |
| CN107906121B true CN107906121B (en) | 2020-03-20 |
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| CN1248813A (en) * | 1998-09-18 | 2000-03-29 | Smc株式会社 | Electric actuator |
| CN101920781A (en) * | 2009-06-11 | 2010-12-22 | 梅西耶-布加蒂公司 | Power operation actuator with hydraulic damping |
| CN102926965A (en) * | 2012-11-08 | 2013-02-13 | 西南石油大学 | Triple double-acting ball screw reciprocation pump |
| CN103291683A (en) * | 2012-02-24 | 2013-09-11 | 刘素华 | Method for utilizing rolling friction to centralize piston rod to do reciprocating motion and actuating device for utilizing rolling friction to centralize piston rod to do reciprocating motion through implementing method |
| CN205064770U (en) * | 2015-10-26 | 2016-03-02 | 王民霞 | Grand little two actuation transmission platform |
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2017
- 2017-12-27 CN CN201711449067.3A patent/CN107906121B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA977246A (en) * | 1972-03-09 | 1975-11-04 | Loyal D. Warren | Variable speed bi-directional control mechanism |
| CN1248813A (en) * | 1998-09-18 | 2000-03-29 | Smc株式会社 | Electric actuator |
| CN101920781A (en) * | 2009-06-11 | 2010-12-22 | 梅西耶-布加蒂公司 | Power operation actuator with hydraulic damping |
| CN103291683A (en) * | 2012-02-24 | 2013-09-11 | 刘素华 | Method for utilizing rolling friction to centralize piston rod to do reciprocating motion and actuating device for utilizing rolling friction to centralize piston rod to do reciprocating motion through implementing method |
| CN102926965A (en) * | 2012-11-08 | 2013-02-13 | 西南石油大学 | Triple double-acting ball screw reciprocation pump |
| CN205064770U (en) * | 2015-10-26 | 2016-03-02 | 王民霞 | Grand little two actuation transmission platform |
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| CN107906121A (en) | 2018-04-13 |
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Effective date of registration: 20210209 Address after: 225000 No.8 Shugang West Road, Jiangyang Industrial Park, Hanjiang District, Yangzhou City, Jiangsu Province Patentee after: Yangzhou Mingmen Machinery Manufacturing Co.,Ltd. Address before: No. 209, Zhuyuan Road, Suzhou hi tech Zone, Suzhou, Jiangsu, 215011 Patentee before: SUZHOU KEAIJIA AUTOMATION TECHNOLOGY Co.,Ltd. |