CN108799427A - A kind of high-precision tape driving device and its drive method - Google Patents
A kind of high-precision tape driving device and its drive method Download PDFInfo
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- CN108799427A CN108799427A CN201810563275.4A CN201810563275A CN108799427A CN 108799427 A CN108799427 A CN 108799427A CN 201810563275 A CN201810563275 A CN 201810563275A CN 108799427 A CN108799427 A CN 108799427A
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- moebius
- steel band
- steel
- sliding block
- idler roller
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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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/18—Means for guiding or supporting belts, ropes, or chains
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0802—Actuators for final output members
- F16H2007/0823—Electric actuators
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0842—Mounting or support of tensioner
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0863—Finally actuated members, e.g. constructional details thereof
- F16H2007/0872—Sliding members
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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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0863—Finally actuated members, e.g. constructional details thereof
- F16H2007/0874—Two or more finally actuated members
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0876—Control or adjustment of actuators
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0889—Path of movement of the finally actuated member
- F16H2007/0891—Linear path
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
Abstract
The invention discloses a kind of high-precision tape driving device and its drive methods.In existing procucts, the problem of steel band skidding of steel band transmission system, steel belt deviation, transmission time lag etc. influence drive system precision, always exists Steel Belt Transmission.A kind of high-precision tape driving device of the present invention, including rack, active wheeled steel, driven wheeled steel, Moebius steel band, wheel shaft, driving motor, anti-deviation distance measuring sensor group, angular displacement sensor and tensioning running deviation preventing mechanism.It includes guide rail and accessory part to be tensioned running deviation preventing mechanism.Accessory part includes slide unit, stepper motor, leading screw, sliding block, idler roller, electric pushrod and tensioning distance measuring sensor.The Moebius steel band of the present invention has stronger anti-deviation ability relative to ordinary steel belts.The present invention can be adjusted the tensile force of steel band in real time, can either prevent from skidding according to the size variation of actual loading pressure, and the pressure control for being also subject to steel band wheel shaft is in the reasonable scope.
Description
Technical field
The invention belongs to Steel Belt Transmission technical fields, and in particular to a kind of high-precision tape driving device and its transmission side
Method.
Background technology
In existing procucts, the influence systems such as the steel band skidding of steel band transmission system, steel belt deviation, transmission time lag pass
The problem of dynamic precision, always exists, and especially in long range Steel Belt Transmission, these problems more highlight.For steel band skid and
The problem of transmission time lags can be solved by adjusting steel belt tensioning power；Ensureing that steel band is non-slip on belt wheel
On the basis of, take tensile force as small as possible.It the problem of for steel belt deviation, can be by formulating compulsory operation rail to steel band
Road, or by adjusting belt wheel axis to change the tension beam of steel band edge so that guide the methods of steel band direction of motion come into
Row solves
The problem of steel belt deviation can also by " climbing " effect (《The design of steel band precision friction transmission test bench》(Cao
Frequency etc., machine driving, 2009,33 (04)：It 42-44+79+135-136)) is solved, but in practical application, due to band
Band size of wheel in the size ratio experimental bench of wheel is big, and " climbing " effect can significantly reduce, and due to being used needed for realization " climbing "
The manufacture requirement of the waist drum wheel arrived is higher than ordinary steel belt wheel, and practical application is few.To realize high-precision Steel Belt Transmission, need
It further to be innovated or be improved in terms of mechanism and drive method.
Invention content
The purpose of the present invention is to provide a kind of high-precision tape driving device and its drive methods.
A kind of high-precision tape driving device of the present invention, including rack, active wheeled steel, driven wheeled steel, Moebius
Steel band, wheel shaft, driving motor, anti-deviation distance measuring sensor group, angular displacement sensor and tensioning running deviation preventing mechanism.Two wheel shafts point
It is not supported on the both ends of rack.The driving motor and two angular displacement sensors are each attached in rack.Two angular displacements
The input shaft of sensor and one end of two wheel shafts are fixed respectively.The other end of the output shaft of driving motor and wherein one wheel shaft
It is fixed.Active wheeled steel, driven wheeled steel and two wheel shafts are fixed respectively, and are connected by Moebius steel band.It is described not
Biousse steel band is band-like in Moebius.Moebius steel band is located at active wheeled steel, the part on the upside of driven wheeled steel is not
The working portion of biousse steel band.Moebius steel band is located at active wheeled steel, the part below driven wheeled steel is Mo Biwu
The wreath piece of this steel band.The part that Moebius steel band is contacted with active wheeled steel, driven wheeled steel is Moebius steel band
Bending part.
The anti-deviation distance measuring sensor group includes two anti-deviation distance measuring sensors.Moebius steel band is located at two
Between anti-deviation distance measuring sensor.The detector of two anti-deviation distance measuring sensors is towards the work department of Moebius steel band
Point.There are two anti-deviation distance measuring sensor group is total.One of them anti-deviation distance measuring sensor group is arranged in Moebius steel band pair
Answer the junction of the bending part and Moebius steel band working portion of active wheeled steel.Another anti-deviation distance measuring sensor group
The junction that the bending part and Moebius steel band working portion of driven wheeled steel are corresponded in Moebius steel band is set.
The tensioning running deviation preventing mechanism includes guide rail and accessory part.The guide rail is fixed with rack, and positioned at not
The lower section of biousse steel band.The accessory part includes slide unit, the first stepper motor, the second stepper motor, third stepping electricity
Machine, the first leading screw, the second leading screw, third leading screw, the first sliding block, the second sliding block, third sliding block, the first idler roller, the second tensioning
Roller, third idler roller, the first electric pushrod, the second electric pushrod, third electric pushrod and tensioning distance measuring sensor.The cunning
Sliding slot there are three being opened up on platform.First leading screw, the second leading screw, third leading screw are supported on respectively in three sliding slots, and by
First stepper motor, the second stepper motor, third stepper motor respectively drive.Second leading screw is located at the first leading screw and third leading screw
Between.First sliding block, the second sliding block, third sliding block and three sliding slots respectively constitute sliding pair, and with the first leading screw, second
Thick stick, third leading screw respectively constitute screw pair.First electric pushrod, the second electric pushrod, the shell of third electric pushrod and first
Sliding block, the second sliding block, third sliding block are fixed respectively.First idler roller, the second idler roller, third idler roller are cylindrical, and
Revolute pair is respectively constituted with the shell of the first electric pushrod, the second electric pushrod, third electric pushrod.Three tensioning ranging sensings
The push-off pin outer end of device and the first electric pushrod, the second electric pushrod and third electric pushrod is fixed respectively.
Accessory part altogether there are three, in one of accessory part the axis of the second idler roller be located at active wheeled steel, from
In the plane of symmetry of dynamic steel band wheel axis, the accessory part is as tensioning ranging accessory part.Other two accessory part is as limit
Position ranging accessory part.Ranging accessory part is tensioned to be located between two limit ranging accessory parts.It is tensioned ranging accessory part
Interior slide unit is fixed with guide rail.Slide unit in two limit ranging accessory parts constitutes sliding pair with guide rail, and is fed by two
Drive component is driven respectively.
Length L, width h, the thickness δ of Moebius steel band steel band meet following three inequality：
Wherein, 0.8Nm≤T≤10Nm；G is the modulus of shearing of Moebius steel band；r1It is the half of active wheeled steel
Diameter；r2For the radius of driven wheeled steel, r2=r1；k1For cornerite coefficient, 0.8≤k1≤1；S is bandwidth safety coefficient, s > 1.1；
dgFor the first idler roller in an accessory part, third idler roller axis vertical 3 axis of active wheeled steel a plane
The distance of interior projection；The ideal cornerite for being Moebius steel band on active wheeled steel；It is Moebius steel band driven
Ideal cornerite on wheeled steel；
Further, under original state, the first idler roller, the second idler roller, third idler roller are equal in all accessory parts
It is contacted with Moebius steel band, and there is no pressure to Moebius steel band.
Further, the Feed servo system component includes feeding motor and feed wheel.The feeding motor with it is corresponding
Slide unit in Feed servo system component is fixed.Feed wheel is contacted with the output shaft of feeding motor, and is in rolling contact with rack.
Further, the angular displacement sensor uses encoder.
Further, the axis direction of the guide rail is vertical with the axis of two wheel shafts, and with the axis of two wheel shafts institute
It is parallel at plane.
Further, the wreath piece of the Moebius steel band passes through the second idler roller in same accessory part, the
The first idler roller, third idler roller between one idler roller, and in same accessory part.
The drive method of the high-precision tape driving device is specific as follows：
Step 1: the second idler roller is moved to the direction for squeezing Moebius steel band in tensioning ranging accessory partWherein, F0For preset pretightning force；E is the elasticity modulus of Moebius steel band.
Step 2: n tensioning distance measuring sensor is numbered successively, n=9.N tensioning distance measuring sensor detects itself
To the distance of 1 working portion of Moebius steel band.1st tensioning distance measuring sensor is to n-th of tensioning distance measuring sensor to not comparing
The distance of this black 1 working portion of steel band is followed successively by db1,db2,db3,...,dbn.1st is tensioned distance measuring sensor to n-th of tensioning
The horizontal distance of distance measuring sensor and 3 axis of active wheeled steel is followed successively by x1,x2,x3,...,xn.Establish two-dimensional array A { [x1,
db1],[x2, db2],…,[xn, dbn]}.N groups element in two-dimensional array A is retouched successively in plane right-angle coordinate xoy
Point obtains n discrete point.According to least square method, n discrete point is fitted to curve Lbelt:Y=a (x4-2lx3+ xl3), really
Determine the value of a.
Calculate Characteristic pressures value Fa=24EIal.Wherein, l is between active wheeled steel axis and driven steel band wheel axis
Away from；I is the cross sectional moment of inertia of Moebius steel band cross section.
Calculate the actual pressure suffered by Moebius steel bandWherein, FcFor Moebius steel band institute
The tensile force received；A is the cross-sectional area of Moebius steel band；
If kaminFa≤Fa'≤kamaxFa, then it is directly entered step 3,1.5≤kamin≤ 2.5,5≤kamax≤10。
If Fa' < kaminFa, then the second idler roller in ranging accessory part is tensioned to the direction for squeezing Moebius steel band 1
It is mobile, and compute repeatedly new Characteristic pressures value Fa, until kaminFa≤Fa'≤kamaxFa。
If Fa' > kamaxFa, then it is tensioned the second idler roller in ranging accessory part and is moved to the direction for unclamping Moebius steel band
It is dynamic, and compute repeatedly new Characteristic pressures value Fa, until kaminFa≤Fa'≤kamaxFa。
Step 3: two angular displacement sensors detect the rotating speed n of active wheeled steel respectively1, driven wheeled steel rotating speed n2,
And calculate transmission efficiency η=n of Moebius steel band2/n1× 100%.Enter step four.
If Step 4: η < η0, then the second idler roller to squeeze Moebius steel band 1 direction move 0.01mm, wait for Δ
T executes step 3 after the time.95%≤η0≤ 98%, Δ t=kt/n1, 3≤kt≤10.,
If η >=η0, then five are entered step.
Step 5: calculating new tensile forcedsIt is in tensioning ranging accessory part the
Displacement of two idler rollers relative to original state.
Step 6: calculating the running deviation value of Moebius steel band on active wheeled steela1、a1' it is active steel band
The distance that two anti-deviation distance measuring sensors detect in anti-deviation distance measuring sensor group at wheel.It calculates and does not compare on driven wheeled steel
The running deviation value Δ z of this black steel band2；a2、a2' anti-for two in anti-deviation distance measuring sensor group at driven wheeled steel
The distance that sideslip distance measuring sensor detects.If Δ z1≤zmaxAnd Δ z2≤zmax, then it is directly entered step 9, otherwise enters step
Rapid seven.
Step 7: reducing the rotating speed of active wheeled steel so that the speed of service of Moebius steel band is less than 0.1m/s.Two
The first sliding block, the second sliding block and third sliding block are moved to the direction far from Moebius steel band in limit ranging accessory part
Extreme position.Slide unit in two limit ranging accessory parts is respectively moved to the both ends of guide rail.Two limit ranging assisted groups
The first electric pushrod, the second electric pushrod, third electric pushrod in part are released so that the first electric pushrod, second electronic
Push rod, third electric pushrod push-off pin outer end end face be higher than Moebius steel band working portion.
Later, the first sliding block, the second sliding block and the third sliding block in two limit ranging accessory parts do not compare to close
The direction movement of this black steel band.Compute repeatedly the running deviation value Δ z of Moebius steel band on active wheeled steel1, on driven wheeled steel
The running deviation value Δ z of Moebius steel band2, untilAndAfterwards, eight are entered step.
Step 8: the rotating speed of active wheeled steel restores to working speed.The first electricity in two limit ranging accessory parts
Dynamic push rod, the second electric pushrod, third electric pushrod are retracted.Slide unit in two limit ranging accessory parts resets.
The first sliding block, third sliding block are moved to close to the direction of the second sliding block in two limit ranging accessory parts, and second
Sliding block is moved to close to the direction of the first sliding block, third sliding block, until two the first idler rollers limited in ranging accessory parts,
Second idler roller, third idler roller are contacted with the wreath piece of Moebius steel band.Enter step nine.
Step 9: repeating step 1 to eight.
The invention has the advantages that：
1, Moebius steel band of the invention has stronger anti-deviation ability relative to ordinary steel belts.
2, the present invention integrates steel strip tension device and anti-deviation device so that steel band transmission system component structural shape
The simpler unification of formula, consequently facilitating replacing and repairing.
3, the present invention can be adjusted the tensile force of steel band in real time, can either prevented according to the size variation of actual loading pressure
It only skids, the pressure control for being also subject to steel band wheel shaft is in the reasonable scope.
4, present invention tensioning running deviation preventing mechanism is to carry out tensioning adjusting along the direction of axle axis, rather than conventional along hanging down
The direction of straight axle axis carries out tensioning adjusting, can carry out tensioning adjusting in the narrower space in space.
5, only there are one sides for Moebius steel band of the invention, compared to ordinary steel belts, the steel after inspection long-term work
The surface defect of band becomes to be more prone to, and is examined respectively without exceptionally surface (working face) and inner surface (non-working surface)
It looks into, reduces the inspection work of relative complex defect in inner surface.
6, only there are one sides for Moebius steel band of the invention, and compared to ordinary steel belts, steel strip surface cleaning work becomes
It must be more prone to, the steel band operation caused by the accumulation of non-working surface of dust, gravel and other impurity can be effectively prevent to wriggle
Or card resistance.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the stereogram of accessory part in the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, a kind of high-precision tape driving device, including rack, active wheeled steel 3, driven wheeled steel 8, not
Biousse steel band 1, wheel shaft, driving motor, anti-deviation distance measuring sensor group, angular displacement sensor 5 and tensioning running deviation preventing mechanism.Angle
Displacement sensor 5 uses encoder.Two wheel shafts are supported on the both ends of rack respectively.Driving motor and two angular displacement sensors
5 are each attached in rack.The input shaft of two angular displacement sensors 5 and one end of two wheel shafts are fixed by shaft coupling 4 respectively.
The output shaft of driving motor and the other end of wherein one wheel shaft are fixed.Active wheeled steel 3, driven wheeled steel 8 and two wheel shafts
It fixes, and is connected by Moebius steel band 1 respectively.Moebius steel band 1 is band-like in Moebius.By a bar shaped steel band
One end face edge is contacted with Article 3 end face edge, and Article 2 end face edge is contacted with Article 4 end face edge.First end face
Edge is located at third end face edge on two sides of bar shaped steel band, and is located at the both ends end face of bar shaped steel band
On.Second end face edge and the 4th end face edge are located on two sides of bar shaped steel band, and are located at bar shaped steel band
Both ends end face on.So that there are one the N-Side surfs connected for Moebius steel band 1.Moebius steel band 1 is located at active steel band
The straight setting (i.e. cross section is rectangular, and side is plane) in part on the upside of wheel 3, driven wheeled steel 8 is Moebius steel band 1
Working portion.Moebius steel band 1 is located at active wheeled steel 3, the part of 8 lower section of driven wheeled steel is Moebius steel band 1
Wreath piece.The part that Moebius steel band 1 is contacted with active wheeled steel 3, driven wheeled steel 8 is Moebius steel band 1
Bending part.
Anti-deviation distance measuring sensor group includes two anti-deviation distance measuring sensors.Moebius steel band 1 is located at two anti-races
Between inclined distance measuring sensor.The detector coaxial arrangement of two anti-deviation distance measuring sensors, and it is respectively facing Moebius steel band 1
Two edges of working portion.Anti-deviation distance measuring sensor can detect itself and 1 working portion edge of Moebius steel band
Spacing.There are two anti-deviation distance measuring sensor group is total.One of them anti-deviation distance measuring sensor group is arranged in Moebius steel
The junction of the bending part and 1 working portion of Moebius steel band that correspond to active wheeled steel 3 with 1.Another anti-deviation ranging
Bending part and 1 working portion of Moebius steel band that driven wheeled steel 8 is corresponded in Moebius steel band 1 is arranged in sensor group
Junction.
As illustrated in fig. 1 and 2, tensioning running deviation preventing mechanism includes guide rail 6 and accessory part 7.Guide rail is fixed with rack, and is located at
The lower section of Moebius steel band 1.The axis direction of guide rail is vertical with the axis of two wheel shafts, and with the axis of two wheel shafts institute at
Plane is parallel.
Accessory part 7 includes slide unit 7-51, the first stepper motor 7-61, the second stepper motor 7-62, third stepper motor
7-63, the first leading screw 7-41, the second leading screw 7-42, third leading screw 7-43, the first sliding block 7-31, the second sliding block 7-32, third are slided
It is block 7-33, the first idler roller 7-21, the second idler roller 7-22, third idler roller 7-23, the first electric pushrod 7-11, second electronic
Push rod 7-12, third electric pushrod 7-13 and tensioning distance measuring sensor 7-01.Open up on slide unit 7-51 there are three parallel to each other and
The equal sliding slot of spacing.First leading screw 7-41, the second leading screw 7-42, third leading screw 7-43 are supported on respectively in three sliding slots, and
It is respectively driven by the first stepper motor 7-61, the second stepper motor 7-62, third stepper motor 7-63.Second leading screw 7-42 is located at
Between first leading screw 7-41 and third leading screw 7-43.First sliding block 7-31, the second sliding block 7-32, third sliding block 7-33 and three cunnings
Slot respectively constitutes sliding pair, and respectively constitutes screw pair with the first leading screw 7-41, the second leading screw 7-42, third leading screw 7-43.The
One electric pushrod 7-11, the second electric pushrod 7-12, the shell of third electric pushrod 7-13 and the first sliding block 7-31, the second sliding block
7-32, third sliding block 7-33 top fix respectively.First idler roller 7-21, the second idler roller 7-22, third idler roller 7-23
It is cylindrical, and distinguish structure with the shell of the first electric pushrod 7-11, the second electric pushrod 7-12, third electric pushrod 7-13
At revolute pair.Three tensioning distance measuring sensor 7-01 and the first electric pushrod 7-11, the second electric pushrod 7-12 and third are electronic
The push-off pin outer end of push rod 7-13 is fixed respectively, the axis formed plane parallel vertical of the direction of detector and two wheel shafts.Not
The wreath piece of biousse steel band 1 passes through the first idler roller 7- across the second idler roller 7-22, the first idler roller 7-21
21, between third idler roller 7-23.
There are three accessory part is total, the axis of the second idler roller 7-22 is located at active wheeled steel in one of accessory part
3, in the plane of symmetry of 8 axis of driven wheeled steel, the accessory part is as tensioning ranging accessory part.Other two accessory part is made
To limit ranging accessory part.Ranging accessory part is tensioned to be located between two limit ranging accessory parts.It is tensioned ranging auxiliary
The first electric pushrod 7-11, the second electric pushrod 7-12, third electric pushrod 7-13 are in retracted mode in component.Tensioning is surveyed
Away from accessory part slide unit 7-51 and the center position of guide rail 6 fix.Slide unit 7-51 in two limit ranging accessory parts
Sliding pair is constituted with guide rail 6, and is driven respectively by two Feed servo system components.Feed servo system component include feeding motor and
Feed wheel.Feeding motor is fixed with the slide unit in corresponding Feed servo system component.Feed wheel is contacted with the output shaft of feeding motor, and
It is in rolling contact with rack.
Length L, width h, the thickness δ of 1 steel band of Moebius steel band meet following three inequality：
Wherein, T is the upper limit of torque suffered by 1 wreath piece of Moebius steel band, 0.8Nm≤T≤10Nm, this implementation
T takes 1Nm in example；G is the modulus of shearing of Moebius steel band 1, and Moebius steel band 1 uses Q235 steel in the present embodiment, therefore G
=8 × 1010Pa；r1For the radius of active wheeled steel 3；r2For the radius of driven wheeled steel 8, r2=r1；k1For cornerite coefficient, 0.8
≤k1≤1；S is bandwidth safety coefficient, s > 1.1；dgAxis for the first idler roller in an accessory part, third idler roller exists
Distance (the i.e. axis of the axis of the first idler roller and third idler roller projected in one plane of vertical 3 axis of active wheeled steel
Distance of the line along rail axis direction)；The ideal cornerite for being Moebius steel band 1 on active wheeled steel 3；For Mo Biwu
Ideal cornerite of this steel band 1 on driven wheeled steel 8；
Under original state, the first idler roller 7-21, the second idler roller 7-22, third idler roller 7-23 in all accessory parts
It is contacted with Moebius steel band 1, and there is no pressure to Moebius steel band 1.
Moebius steel band 1 has stronger anti-deviation ability relative to ordinary steel belts, the reason is as follows that：
Moebius steel band 1 is divided into two and half equal steel bands of width in the width direction.Due to Moebius steel band 1
Wreath piece reversed 180 °.Therefore one and half steel bands are different from the contact area of active wheeled steel 3, driven wheeled steel 8.By two
Half steel band of item is divided into the first half steel bands and the second half steel bands.So that the contact area of the first half steel bands, active wheeled steel 3 is less than the
The contact area of 2 half steel bands, active wheeled steel 3, the first half steel bands, driven wheeled steel 8 contact area be more than the second half steel
The contact area of band, driven wheeled steel 8.
As it can be seen that when vibration occurs, the first half steel bands, active wheeled steel 3 frictional force reduction amount be less than the second half steel bands,
The frictional force reduction amount of active wheeled steel 3, the first half steel bands, driven wheeled steel 8 frictional force reduction amount be more than the second half steel bands,
The frictional force reduction amount of driven wheeled steel 8.Moebius steel band 1 has the trend to the big side slip of frictional force reduction amount.
Thus, when vibration occurs, Moebius steel band 1 slides the direction of trend on active wheeled steel 3, driven wheeled steel 8
On the contrary.Opposite sliding trend can be contained mutually, and then avoid the sliding of Moebius steel band 1.
The drive method of the high-precision tape driving device is specific as follows：
Step 1: the preload of Moebius steel band 1.Be tensioned ranging accessory part in the second idler roller to squeeze Moebius
It moves in the direction of steel band 1
Wherein, F0For preset pretightning force, value 2300N；E is the elasticity modulus of Moebius steel band 1, the present embodiment
The middle use of Moebius steel band 1 Q235 steel, therefore E=2 × 1011Pa。
Step 2: the real-time adjustment of 1 tensile force of Moebius steel band.Driving motor rotates, and Mobius Strip 1 starts to transport
Row.N tensioning distance measuring sensor is numbered successively, n=9.N tensioning distance measuring sensor detects itself and arrives Moebius steel
Distance with 1 working portion.1st tensioning distance measuring sensor works to n-th of tensioning distance measuring sensor to Moebius steel band 1
Partial distance is followed successively by db1,db2,db3,...,dbn.1st is tensioned distance measuring sensor to n-th of tensioning distance measuring sensor and master
The horizontal distance of 3 axis of dynamic wheeled steel is followed successively by x1,x2,x3,...,xn.Establish two-dimensional array A { [x1, db1],[x2, db2],…,
[xn, dbn]}.N groups element in two-dimensional array A is carried out to described point (tensioning ranging sensing successively in plane right-angle coordinate xoy
The distance of device to 1 working portion of Moebius steel band is ordinate；It is tensioned the level of distance measuring sensor and 3 axis of active wheeled steel
Distance is abscissa), obtain n discrete point.
According to least square method, n discrete point is fitted to curve Lbelt:Y=a (x4-2lx3+ xl3), that is, determine taking for a
Value so that no matter b takes any value, following formula perseverance to set up.
Wherein, l is the spacing of 3 axis of active wheeled steel and 8 axis of driven wheeled steel.
Calculate Characteristic pressures value Fa=24EIal, wherein I is the cross sectional moment of inertia of 1 cross section of Moebius steel band.Do not compare
For this black steel band 1 under no tensile force state, working portion, which is bent to, meets curve LbeltShape when suffered pressure value be
Characteristic pressures value.
Calculate the actual pressure suffered by Moebius steel band 1Wherein, FcFor Moebius steel band 1
Suffered tensile force (calculates F for the first timea' when, Fc=F0)；A is the cross-sectional area of Moebius steel band 1；ymFor Moebius
1 working portion of steel band is located at active wheeled steel 3, the amount of deflection at 8 plane of symmetry of driven wheeled steel；
If kaminFa≤Fa'≤kamaxFa, then it is directly entered step 3,1.5≤kamin≤ 2.5,5≤kamax≤10。
If Fa' < kaminFa, then it is assumed that tensile force at this time is too small, needs to increase pretightning force, be tensioned in ranging accessory part
Second idler roller is moved to the direction for squeezing Moebius steel band 1, and repeats matched curve Lbelt, according to new curve LbeltA
Value calculates new Characteristic pressures value Fa, until kaminFa≤Fa'≤kamaxFa。
If Fa' > kamaxFa, then it is assumed that tensile force at this time is excessive, needs to reduce pretightning force, be tensioned in ranging accessory part
Second idler roller is moved to the direction for unclamping Moebius steel band 1, and repeats matched curve Lbelt, according to new curve LbeltA
Value calculates new Characteristic pressures value Fa, until kaminFa≤Fa'≤kamaxFa。
Step 3: the 1 transmission efficiency Detection & Controling of Moebius steel band.Two angular displacement sensors 5 detect actively respectively
The rotating speed n of wheeled steel 31, driven wheeled steel 8 rotating speed n2, and transmission efficiency η=n of Moebius steel band 1 is calculated in real time2/n1
× 100%.Enter step four.
Step 4: to ensure the precision of Steel Belt Transmission, it is desirable that η is consistently greater than transmission efficiency preset value η0.If η < η0, then
Two idler rollers move 0.01mm to the direction for squeezing Moebius steel band 1, and step 3 is repeated after waiting for the Δ t times.95%
≤η0≤ 98%, Δ t=kt/n1, 3≤kt≤10。
If η >=η0, then five are entered step.
Step 5: calculating new tensile forcedsIt is in tensioning ranging accessory part the
Relative to the displacement of original state (i.e. Step 1: being tensioned in ranging accessory part second in two, four after the movement of two idler rollers
The superposition of tight roller displacement).
Step 6: the sideslip of Moebius steel band 1 is corrected.
Calculate the running deviation value of Moebius steel band 1 on active wheeled steel 3a1、a1' at active wheeled steel 3
In anti-deviation distance measuring sensor group two anti-deviation distance measuring sensors 2 detect at a distance from Moebius steel band 1.Calculate from
The running deviation value Δ z of Moebius steel band 1 on dynamic wheeled steel 82；a2、a2' it is anti-deviation survey at driven wheeled steel 8
Away from two anti-deviation distance measuring sensors 2 in sensor group detect at a distance from Moebius steel band 1.If Δ z1≤zmaxAnd
Δz2≤zmax, then it is directly entered step 9, otherwise enters step seven.
Step 7: reducing the rotating speed of active wheeled steel 3 so that the speed of service of Moebius steel band 1 is less than 0.1m/s.Two
The first sliding block, the second sliding block and third sliding block are moved to the direction far from Moebius steel band 1 in a limit ranging accessory part
It moves to extreme position.Slide unit in two limit ranging accessory parts is respectively moved to the both ends of guide rail.Two limit rangings are auxiliary
The first electric pushrod 7-11, the second electric pushrod 7-12, the third electric pushrod 7-13 helped in component is released so that the first electricity
The push-off pin outer end end face of push rod 7-11, the second electric pushrod 7-12, third electric pushrod 7-13 are moved higher than Moebius steel band 1
Working portion.
Later, the first sliding block, the second sliding block and the third sliding block in two limit ranging accessory parts do not compare to close
The direction movement of this black steel band 1.Compute repeatedly the running deviation value Δ z of Moebius steel band 1 on active wheeled steel 31, driven wheeled steel
The running deviation value Δ z of Moebius steel band 1 on 82, untilAndAfterwards, eight are entered step.
Step 9: the rotating speed of active wheeled steel 3 restores to working speed.The first electricity in two limit ranging accessory parts
Dynamic push rod 7-11, the second electric pushrod 7-12, third electric pushrod 7-13 retract.Cunning in two limit ranging accessory parts
Platform resets.
The first sliding block, third sliding block are moved to close to the direction of the second sliding block in two limit ranging accessory parts, and second
Sliding block is moved to close to the direction of the first sliding block, third sliding block, until the first idler roller in two limit ranging accessory parts
7-21, the second idler roller 7-22, third idler roller 7-23 are contacted with the wreath piece of Moebius steel band 1.Enter step nine.
Step 9: repeating step 1 to eight.
Claims (7)
1. a kind of high-precision tape driving device, including rack, active wheeled steel, driven wheeled steel, Moebius steel band, wheel
Axis, driving motor, anti-deviation distance measuring sensor group, angular displacement sensor and tensioning running deviation preventing mechanism；It is characterized in that：Two wheels
Axis is supported on the both ends of rack respectively；The driving motor and two angular displacement sensors are each attached in rack；Two angles
The input shaft of displacement sensor and one end of two wheel shafts are fixed respectively；The output shaft of driving motor is another with wherein wheel shaft
One end is fixed；Active wheeled steel, driven wheeled steel and two wheel shafts are fixed respectively, and are connected by Moebius steel band；It is described
Moebius steel band in Moebius it is band-like；Moebius steel band is located at active wheeled steel, the part on the upside of driven wheeled steel
For the working portion of Moebius steel band；Moebius steel band is located at active wheeled steel, the part below driven wheeled steel is not
The wreath piece of biousse steel band；The part that Moebius steel band is contacted with active wheeled steel, driven wheeled steel is Moebius
The bending part of steel band；
The anti-deviation distance measuring sensor group includes two anti-deviation distance measuring sensors；Moebius steel band is located at two anti-races
Between inclined distance measuring sensor；The detector of two anti-deviation distance measuring sensors is towards the working portion of Moebius steel band；It is anti-
There are two sideslip distance measuring sensor group is total；One of them anti-deviation distance measuring sensor group setting corresponds to actively in Moebius steel band
The junction of the bending part and Moebius steel band working portion of wheeled steel；Another anti-deviation distance measuring sensor group setting exists
Moebius steel band corresponds to the junction of the bending part and Moebius steel band working portion of driven wheeled steel
The tensioning running deviation preventing mechanism includes guide rail and accessory part；The guide rail is fixed with rack, and is located at Mo Biwu
The lower section of this steel band；The accessory part includes slide unit, the first stepper motor, the second stepper motor, third stepper motor,
One leading screw, the second leading screw, third leading screw, the first sliding block, the second sliding block, third sliding block, the first idler roller, the second idler roller,
Three idler rollers, the first electric pushrod, the second electric pushrod, third electric pushrod and tensioning distance measuring sensor；On the slide unit
Sliding slot there are three opening up；First leading screw, the second leading screw, third leading screw are supported on respectively in three sliding slots, and by first
Stepper motor, the second stepper motor, third stepper motor respectively drive；Second leading screw be located at the first leading screw and third leading screw it
Between；First sliding block, the second sliding block, third sliding block and three sliding slots respectively constitute sliding pair, and with the first leading screw, the second leading screw,
Third leading screw respectively constitutes screw pair；First electric pushrod, the second electric pushrod, the shell of third electric pushrod and first are slided
Block, the second sliding block, third sliding block are fixed respectively；First idler roller, the second idler roller, third idler roller are cylindrical, and with
First electric pushrod, the second electric pushrod, third electric pushrod shell respectively constitute revolute pair；Three tensioning distance measuring sensors
It is fixed respectively with the push-off pin outer end of the first electric pushrod, the second electric pushrod and third electric pushrod；
There are three accessory part is total, the axis of the second idler roller is located at active wheeled steel, driven steel in one of accessory part
In the plane of symmetry of belt wheel axis, the accessory part is as tensioning ranging accessory part；Other two accessory part is surveyed as limit
Away from accessory part；Ranging accessory part is tensioned to be located between two limit ranging accessory parts；It is tensioned in ranging accessory part
Slide unit is fixed with guide rail；Slide unit in two limit ranging accessory parts constitutes sliding pair with guide rail, and by two Feed servo systems
Component is driven respectively；
Length L, width h, the thickness δ of Moebius steel band steel band meet following three inequality：
Wherein, 0.8Nm≤T≤10Nm；G is the modulus of shearing of Moebius steel band；r1For the radius of active wheeled steel；r2
For the radius of driven wheeled steel, r2=r1；k1For cornerite coefficient, 0.8≤k1≤1；S is bandwidth safety coefficient, s > 1.1；dgIt is one
First idler roller in a accessory part, third idler roller axis projected in a plane of vertical 3 axis of active wheeled steel
Distance；The ideal cornerite for being Moebius steel band on active wheeled steel；It is Moebius steel band in driven wheeled steel
On ideal cornerite；
2. a kind of high-precision tape driving device according to claim 1, it is characterised in that：Under original state, Suo Youfu
The first idler roller in component, the second idler roller, third idler roller is helped to be contacted with Moebius steel band, and to Moebius steel band
There is no pressure.
3. a kind of high-precision tape driving device according to claim 1, it is characterised in that：The Feed servo system component
Including feeding motor and feed wheel；The feeding motor is fixed with the slide unit in corresponding Feed servo system component；Feed wheel with into
To the output shaft contact of motor, and it is in rolling contact with rack.
4. a kind of high-precision tape driving device according to claim 1, it is characterised in that：The angular displacement sensor
Using encoder.
5. a kind of high-precision tape driving device according to claim 1, it is characterised in that：The axis direction of the guide rail
It is vertical with the axis of two wheel shafts and parallel with the axis formed plane of two wheel shafts.
6. a kind of high-precision tape driving device according to claim 1, it is characterised in that：The Moebius steel band
The second idler roller of the wreath piece in same accessory part, the first idler roller, and in same accessory part
Between first idler roller, third idler roller.
7. a kind of drive method of high-precision tape driving device as described in claim 1, it is characterised in that：Step 1:
The second idler roller is moved to the direction for squeezing Moebius steel band in tight ranging accessory part
Wherein, F0For preset pretightning force；E is the elasticity modulus of Moebius steel band；
Step 2: n tensioning distance measuring sensor is numbered successively, n=9；N tensioning distance measuring sensor detects itself to not
The distance of 1 working portion of biousse steel band；1st tensioning distance measuring sensor is to n-th of tensioning distance measuring sensor to Moebius
The distance of 1 working portion of steel band is followed successively by db1,db2,db3,...,dbn；1st is tensioned distance measuring sensor to n-th of tensioning ranging
The horizontal distance of sensor and 3 axis of active wheeled steel is followed successively by x1,x2,x3,...,xn；Establish two-dimensional array A { [x1, db1],
[x2, db2],…,[xn, dbn]}；N groups element in two-dimensional array A is subjected to described point successively in plane right-angle coordinate xoy,
Obtain n discrete point；According to least square method, n discrete point is fitted to curve Lbelt:Y=a (x4-2lx3+xl3), determine a
Value；
Calculate Characteristic pressures value Fa=24EIal；Wherein, l is the spacing of active wheeled steel axis and driven steel band wheel axis；I is
The cross sectional moment of inertia of Moebius steel band cross section；
Calculate the actual pressure suffered by Moebius steel bandWherein, FcFor suffered by Moebius steel band
Clamp force；A is the cross-sectional area of Moebius steel band；
If Fa' < kaminFa, then it is tensioned the second idler roller in ranging accessory part and is moved to the direction for squeezing Moebius steel band 1,
And compute repeatedly new Characteristic pressures value Fa, until kaminFa≤Fa'≤kamaxFa, 1.5≤kamin≤ 2.5,5≤kamax≤10；
If Fa' > kamaxFa, then it is tensioned the second idler roller in ranging accessory part and is moved to the direction for unclamping Moebius steel band,
And compute repeatedly new Characteristic pressures value Fa, until kaminFa≤Fa'≤kamaxFa；
Step 3: two angular displacement sensors detect the rotating speed n of active wheeled steel respectively1, driven wheeled steel rotating speed n2, and count
Calculate transmission efficiency η=n of Moebius steel band2/n1× 100%；Enter step four；
If Step 4: η < η0, then the second idler roller to squeeze Moebius steel band 1 direction move 0.01mm, wait for the Δ t times
After execute step 3；95%≤η0≤ 98%, Δ t=kt/n1, 3≤kt≤10；,
If η >=η0, then five are entered step；
Step 5: calculating new tensile forcedsIt is second in tensioning ranging accessory part
Tight displacement of the roller relative to original state；
Step 6: calculating the running deviation value of Moebius steel band on active wheeled steela1、a1' at active wheeled steel
The distance that two anti-deviation distance measuring sensors detect in anti-deviation distance measuring sensor group；Calculate Moebius on driven wheeled steel
The running deviation value Δ z of steel band2；a2、a2' anti-deviation for two in anti-deviation distance measuring sensor group at driven wheeled steel
The distance that distance measuring sensor detects；If Δ z1≤zmaxAnd Δ z2≤zmax, then it is directly entered step 9, otherwise enters step seven；
Step 7: reducing the rotating speed of active wheeled steel so that the speed of service of Moebius steel band is less than 0.1m/s；Two limits
The first sliding block, the second sliding block and third sliding block are moved to the limit to the direction far from Moebius steel band in ranging accessory part
Position；Slide unit in two limit ranging accessory parts is respectively moved to the both ends of guide rail；In two limit ranging accessory parts
The first electric pushrod, the second electric pushrod, third electric pushrod release so that the first electric pushrod, the second electric pushrod,
The push-off pin outer end end face of third electric pushrod is higher than the working portion of Moebius steel band；
Later, the first sliding block, the second sliding block and the third sliding block in two limit ranging accessory parts are to close to Moebius
It moves in the direction of steel band；Compute repeatedly the running deviation value Δ z of Moebius steel band on active wheeled steel1, do not compare on driven wheeled steel
The running deviation value Δ z of this black steel band2, untilAndAfterwards, eight are entered step；
Step 8: the rotating speed of active wheeled steel restores to working speed；First in two limit ranging accessory parts electronic pushes away
Bar, the second electric pushrod, third electric pushrod are retracted；Slide unit in two limit ranging accessory parts resets；
The first sliding block, third sliding block are moved to close to the direction of the second sliding block in two limit ranging accessory parts, the second sliding block
It is moved to close to the direction of the first sliding block, third sliding block, until two the first idler rollers limited in ranging accessory parts, second
Idler roller, third idler roller are contacted with the wreath piece of Moebius steel band；Enter step nine；
Step 9: repeating step 1 to eight.
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