CN113401560B

CN113401560B - Rapid conveying device and detection method based on static pressure air floating type heavy-load workpiece

Info

Publication number: CN113401560B
Application number: CN202011559172.4A
Authority: CN
Inventors: 吴宪举
Original assignee: Taizhou University
Current assignee: Taizhou University
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2023-05-16
Anticipated expiration: 2040-12-25
Also published as: CN113401560A

Abstract

The invention relates to the technical field of rapid workpiece conveying and detecting, in particular to a rapid workpiece conveying device and detecting method based on static pressure air floating heavy load, comprising a load workpiece, a track arranged at the lower end of the load workpiece, a power system matched with the load workpiece, a suspension system and a detecting system; the power system comprises a fixed table arranged on the side surface of the load workpiece and a gas actuating cylinder arranged on the fixed table, wherein the output end of the gas actuating cylinder is connected with the load workpiece and is used for providing side pushing power for the load workpiece to horizontally move on the track; the suspension system comprises an air cushion assembly, an air bottle matched with the air cushion assembly and a level gauge arranged on the upper end face of the load workpiece; the main controller and the power supply device are arranged in cooperation with the power system, the suspension system and the detection system. The invention has low cost, simple structure and easy operation, and is provided with the displacement sensor with high precision and strong linearity, thereby greatly improving the control progress of the experimental platform, and therefore, the invention has better popularization value and application prospect.

Description

Rapid conveying device and detection method based on static pressure air floating type heavy-load workpiece

Technical Field

The invention relates to the technical field of air suspension, in particular to a static pressure-based air suspension type rapid conveying device and a detection method for heavy-load workpieces.

Background

The heavy-duty workpieces are often required to be carried in the fields of production assembly, petroleum drilling, automobiles, aerospace, shipbuilding, nuclear power stations and the like, and at present, heavy equipment such as a crane and the like is used for carrying, so that the heavy-duty workpieces are long in time consumption, the labor intensity of workers is high, the carrying distance is limited by the crane and rails, long-distance transportation is difficult to realize, the workpieces are easily damaged due to collision, and safety accidents, economic losses and the like are caused. Therefore, it is necessary to develop a suspension experiment platform based on heavy-duty objects and a corresponding test system to solve the problems.

Disclosure of Invention

In order to solve the problems, the invention aims to provide the rapid conveying device and the detection method based on the static pressure air floating type heavy-load workpiece, which are low in cost, simple in structure, easy to operate, high in accuracy and strong in linearity, and greatly improve the control accuracy of an experimental platform, so that the rapid conveying device has good popularization value and application prospect.

In order to achieve the above purpose, the present invention provides the following technical solutions: a rapid transport device based on a static pressure air floating type heavy-load workpiece comprises a load workpiece, a track arranged at the lower end of the load workpiece, a power system matched with the load workpiece, a suspension system and a detection system; the power system comprises a fixed table arranged on the side surface of the load workpiece and a gas actuating cylinder arranged on the fixed table, wherein the output end of the gas actuating cylinder is connected with the load workpiece and is used for providing side pushing power for the load workpiece to horizontally move on the track; the suspension system comprises an air cushion assembly arranged on the lower end face of the load workpiece, an air bottle matched with the air cushion assembly and a level gauge arranged on the upper end face of the load workpiece; the main controller and the power supply device are arranged in cooperation with the power system, the suspension system and the detection system.

Preferably, the air cushion assembly comprises a plurality of air cushion modules which are arranged in a arraying way, an output port of the air cylinder is sequentially provided with a pressure reducing valve, a main pipeline, a main valve and a control box, and a branch air pipeline is connected between an input port of any air cushion module and an input port of the main valve and an input port of the control box in space.

Preferably, any one of the air cushion modules comprises an aluminum alloy plate bearing body, a rubber air bag and an aluminum plate which are sequentially arranged from bottom to top.

Preferably, the detection system comprises a thrust sensor arranged at the output end of the gas actuator cylinder, a ten-axis digital attitude sensor arranged at the upper end surface of the load workpiece, a displacement sensor matched with the power system and a pressure sensor matched with the suspension system.

Preferably, the displacement sensor comprises a laser displacement sensor arranged on the side surface of the load workpiece and a stay wire displacement sensor arranged at the end part of the sliding rail.

Preferably, the detection system is matched with the digital signal collector, the output end of the digital signal collector is connected with a PC, and the output end of the PC is connected with the input end of the main controller.

Preferably, the gas actuating cylinder comprises an actuating cylinder body provided with an inner cavity, a combustion supporting device arranged in the inner cavity and a pushing piston matched with the inner cavity.

Preferably, the gas actuator cylinder comprises an actuator cylinder shell, a high-pressure bin shell and a pushing mechanism, wherein the space of the high-pressure bin shell is communicated with one side part of the actuator cylinder shell, the pushing mechanism is matched with the other side part of the actuator cylinder shell, an end cover, high-energy fuel and a starting device are sequentially arranged in the high-pressure bin shell, and the starting device is arranged at the outlet end of the high-pressure bin shell, which is communicated with the actuator cylinder shell.

Preferably, the pushing mechanism comprises a piston rod penetrating through the actuator cylinder shell and a piston arranged at the inner side part of the actuator cylinder shell, the outer side end of the piston rod, which is positioned at the actuator cylinder shell, is connected with a load workpiece, and the outer wall of the piston is provided with a sealing rubber ring matched with the actuator cylinder shell.

A detection method based on a static pressure air floating type heavy-load workpiece rapid transport device comprises the following steps: (1) Loading a workpiece into a load workpiece, adjusting the level to a horizontal position, opening an air source valve of an air bottle, stabilizing the pressure of the air source valve in a working pressure range through a pressure stabilizing valve, enabling air flow to flow into an air cushion assembly, slowly lifting the workpiece under the action of the pressure of air chambers, and adjusting the level to the horizontal position again by changing the pressure of each air chamber to finish equipment debugging work; (2) closing an air source valve of the air bottle and waiting for a conveying instruction; (3) After the main controller transmits the instruction, an air source valve of the air bottle is opened, the power system is started after the suspension system is stable, the gas actuator cylinder pushes the suspension system to move forwards under the action of high-pressure gas pressure, the gas actuator cylinder is separated from the workpiece after reaching the maximum stroke, and the workpiece slides to a specified position freely.

The invention has the following advantages:

1. no electric and magnetic pollution is generated;

2. the friction force is small, and the comprehensive friction coefficient is between 0.1 and 0.5 percent. The traction force or the thrust force required during the movement is very small, and the output power is less than one tenth of the transportation power of the wheel type transportation equipment;

3. the walking is flexible, the turning radius is small, the turning radius is limited only by the size of the workpiece, and the device is particularly suitable for narrow channels or places which often need turning, and the carrying process is stable;

4. the transportation capacity/dead weight ratio is large, and a mode of carrying a large piece of heavy objects by a small volume is adopted. For example, the dead weight of an air cushion module device for carrying a 10-ton heavy workpiece is only about 40kg, and a fork truck with the same tonnage is more than 5 tons;

5. the ground pressure is small, the load is uniform, the ground is not damaged, and the bearing capacity of structures such as floors, pavements and bridges is improved;

6. the maintenance is simple, no movable part exists, the safety and reliability are high, and the maintenance cost is low;

7. the method has no requirement on the external dimension of the transported workpiece and has good adaptability;

8. almost no heat is generated, no viscosity change occurs, and no cooling measures are needed.

The invention builds a set of suspension experiment platform and corresponding test system for heavy-duty objects, and completes the principle verification experiment of the suspension platform. By adjusting static experiments and dynamic experiments of different parameters under multiple working conditions, the change relation of the suspension height, the air film thickness and the load mass is obtained, and the concepts of critical pressure and critical mass are provided for theoretical analysis and definition. The vibration frequency of the suspension platform exceeding the critical pressure is tested, the vibration curve of the suspension height and the inlet pressure is obtained, and a reference basis is provided for modal analysis of the suspension platform. By testing the suspension resistance coefficients under different materials, the optimized track material is selected. The adaptability to roadbed is strong (namely, the method can be suitable for various ground conditions, and the requirement on ground flatness is as low as possible); the running resistance is small; the air consumption is small, the operation is stable and is not easy to be disturbed by external conditions (namely, is not easy to vibrate); the pressure is stable, the pressure of each air cushion is balanced, and the shaking phenomenon does not occur; has self-restoring moment after being disturbed.

Drawings

FIG. 1 is a schematic view of a sensor structure according to the present invention;

FIG. 2 is a schematic view of the structure of the present invention with four cylinders;

FIG. 3 is a cross-sectional view of a gas cylinder having a high-chamber housing in accordance with the present invention;

FIG. 4 is a schematic view of the air cushion module according to the present invention;

FIG. 5 is a table of DYLF-102 thrust sensor technology parameters in the present invention;

FIG. 6 is a table of HG-C1030 technical parameters in the present invention;

FIG. 7 is a table of WXY60-L-20200A1 technical parameters in the present invention;

FIG. 8 is a table of WT901C technical parameters in the present invention;

FIG. 9 is a graph of actuator characteristics for different load masses in the present invention;

fig. 10 is a graph showing the motion characteristics of the levitation platform of the present invention.

In the figure: 1. a fixed table; 2. a gas cylinder; 3. an air cushion module; 4. a gas cylinder; 5. loading a workpiece; 6. a level gauge; 7. a track; 8. an end cap; 9. a high pressure cartridge housing; 10. an actuator cylinder; 11. sealing the rubber ring; 12. a piston; 13. a piston rod; 14. an aluminum alloy plate bearing body; 15. a power supply device; 16. a high energy fuel; 17. a starting device; 18. a pressure sensor; 19. a pressure reducing valve; 20. a main valve; 21. a PC; 22. a push force sensor; 23. a ten-axis digital attitude sensor; 24. an aluminum plate; 25. a rubber air bag; 26. a laser displacement sensor; 27. a pull wire displacement sensor; 28. a digital signal collector; 29. a main pipeline; 30. a control box; 31. and a branch air pipeline.

Detailed Description

Referring to fig. 1 to 8, the fast transporting device based on the static pressure air floating type heavy-duty workpiece in the embodiment comprises a load workpiece 5, a track 7 arranged at the lower end of the load workpiece 5, a power system matched with the load workpiece 5, a suspension system and a detection system; the power system comprises a fixed table 1 arranged on the side surface of a load workpiece 5 and a gas actuator cylinder 2 arranged on the fixed table 1, wherein the output end of the gas actuator cylinder 2 is connected with the load workpiece 5 and is used for providing side pushing power for horizontally moving the load workpiece 5 on a track 7; the suspension system comprises an air cushion assembly arranged on the lower end face of the load workpiece 5, an air bottle 4 matched with the air cushion assembly and a level gauge 6 arranged on the upper end face of the load workpiece 5; the coordination power system, the suspension system and the detection system are provided with a main controller and a power supply device 15.

In the invention, a power system consists of a fixed table 1 and a gas actuator cylinder 2, and side thrust is provided for the system, wherein the fixed table 1 is used for fixing the gas actuator cylinder 2 on the ground and pushing a suspended load workpiece 5 on a track 7 by utilizing reaction force.

The air cushion assembly comprises a plurality of air cushion modules 3 which are arranged in a arrayed mode, a pressure reducing valve 19, a main pipeline 29, a main valve 20 and a control box 30 are sequentially arranged at an output port of the air cylinder 4, and a branch pipeline 31 is connected between an input port of any air cushion module 3 and an input port of the control box 30 of the main valve 20.

In the invention, the air cushion module 3 is arranged below the suspension platform, 5 air cushion modules are respectively arranged at two sides of the suspension platform, the pressure reducing valve 19 is opened, the pressure P0 of high-pressure air in the air bottle 4 is reduced to about P1 (the pressure in the pressure reducing valve 19), and after the air cushion module is stabilized, the test system starts to collect data. When the control box 30 of the main valve 20 is opened, the air flows into the control box 30 of the main valve 20 through the main pipeline, the control box 30 of the main valve 20 distributes the air flow into four branch pipes, a pressure drop occurs at the moment, and the pressure of the main pipeline is stabilized near P1 by the regulating and reducing valve 19. After the suspension pressure is stable, whether the level 6 still keeps the horizontal position is observed, and when the level 6 is inclined, the flow of each branch is regulated by regulating four branch pressure reducing valves 19 on a control box 30 of the main valve 20, so that the pressure of each branch is regulated, and the level 6 is returned to the horizontal position again.

A detection method based on a static pressure air floating type heavy-load workpiece rapid transport device comprises the following steps: firstly, the level gauge 6 is adjusted to the horizontal position, an air source valve of the air bottle 4 is opened, the air source valve is stabilized in the working pressure range through a pressure stabilizing valve, an air chamber valve is opened, air flows into the air inlet pad assembly, a workpiece is slowly lifted under the action of the air chamber pressure, the level gauge 6 is adjusted to the horizontal position again through changing the pressure of each air chamber, and equipment debugging work is completed. And then closing the valve of the air chamber and waiting for a transport instruction. After the conveying instruction is issued, opening the valve of the air chamber, starting the fire device of the gas actuator cylinder 2 after the system is stable (about 1.2 s), and pushing the suspension system to move forward by the gas actuator cylinder 2 under the action of high-pressure air pressure, and separating the suspension system from the workpiece after the actuator cylinder reaches the maximum stroke, wherein the workpiece slides to a specified position freely.

Any one of the air cushion modules 3 comprises an aluminum alloy plate bearing body 14, a rubber air bag 25 and an aluminum plate 24 which are sequentially arranged from bottom to top.

The air cushion module 3 consists of an aluminium alloy plate carrying body 14 and an air cushion unit. The air cushion unit is composed of a flexible rubber bladder 25 and an intermediate aluminum plate 24. The rubber bladder 25 is a key component of the air suspension system and is a doughnut-shaped bladder made of urethane and woven mesh.

When the air cushion module 3 is not working, the rubber air bag 25 supports the aluminum alloy plate bearing body 14. When the air source is opened, one part of the compressed air enters the special rubber air bag 25 to expand, and the other part enters the air chamber and flows out through the gap between the rubber air bag 25 and the ground, as shown in fig. 4 a. When the pressure gradually increases, the rubber bladder 25 further expands so that the thickness of the air film decreases, and when the pressure in the air chamber increases so that the suspension height increases so that the thickness of the air film increases, there is a complicated coupling relationship between the two, as shown in fig. 4 b. When the pressure in the air chamber exceeds the weight of the load, the platform reaches an equilibrium suspension state where the inlet flow is substantially equal to the outlet flow, as shown in figure 4 c.

The detection system comprises a thrust sensor 22 arranged at the output end of the gas actuator cylinder 2, a ten-axis digital attitude sensor 23 arranged at the upper end surface of the load workpiece 5, a displacement sensor matched with a power system and a pressure sensor 18 matched with a suspension system.

In the present invention, the detection operation of the test system mainly includes the calibration of the acceleration and magnetic field of the ten-axis digital attitude sensor 23, the calibration of the displacement sensor (laser and pull-wire), the push sensor 22, the pressure sensor 18, and the like. The method specifically comprises the following steps: 1. a ten-axis digital attitude sensor 23, accelerometer calibration, magnetic field calibration, etc.; 2. the pressure sensor 18, the thrust sensor 22, the laser displacement sensor 26 and the wire displacement sensor 27 are cleared.

In the invention, the type of the thrust sensor 22 is DYLF-102, and the measuring range is-4980N to 4980N. Is composed of a sensor and an amplifier as shown in fig. 4. The model of the amplifier is DY510 transmitter, which is used for collecting the signal of the thrust sensor 22, amplifying and stabilizing the voltage, and converting the signal into a voltage signal of 0-10V. The sensor adopts a spoke type elastic pull type structure, and has the characteristics of low appearance, unbalanced load resistance, high strength, convenience in installation, good symmetry of output pull pressure and the like. The universal pressure head is adopted, so that the automatic leveling can be realized, and the error influence caused by the radial direction is effectively eliminated.

In the invention, the model of the ten-axis digital attitude sensor 23 is 3.1.5WT901C ten-axis digital attitude sensor 23, the module integrates a high-precision gyroscope, an accelerometer and a geomagnetic field sensor, and the current real-time motion attitude of the module can be quickly solved by adopting a high-performance microprocessor and an advanced dynamic resolving and Kalman dynamic filtering algorithm, so that the measuring noise can be effectively reduced, the measuring precision can be improved. The attitude measurement precision is static 0.05 degrees and dynamic 0.1 degrees.

In the invention, 4 paths of pressure sensors 18 are adopted to test the pressure of air chambers in 4 air cushion modules 3, a pull wire sensor is used for testing real-time displacement data of a workpiece, a laser sensor is used for testing the suspension height of the workpiece, a push force sensor 22 is used for testing the acting force of a cylinder on the workpiece, and a ten-axis data posture sensor is used for testing the real-time posture and acceleration of the workpiece. The model of the pressure sensor 18 is an MIK-P300 diffusion silicon pressure transmitter, an aviation plug type, an SS304 stainless steel shell is adopted, the measuring range is 0-0.6MPa,24V direct current input is 0-10V direct current output.

The displacement sensor comprises a laser displacement sensor 26 arranged on the side face of the load workpiece 5 and a stay wire displacement sensor 27 arranged at the end part of the sliding rail.

In the present invention, the model of the laser displacement sensor 26 is HG-C1030, which is a sensor for non-contact measurement by using the diffuse reflection technique of laser. It consists of laser, laser detector and measuring circuit. Laser sensors are new types of measuring instruments. The non-contact accurate measurement of the position, displacement and other changes of the measured object can be realized. The sensor adopts a CMOS image technology, the light projecting element emits laser, the laser generates diffuse reflection after encountering a target, and the position information is calculated by receiving the diffuse reflection laser. Compared with other displacement sensors, the laser displacement sensor 26 has the advantages of no contact, high precision and small volume, and is widely applied to industrial automatic production.

In the present invention, the pull-cord displacement sensor 27 is model WXY60-L-2020-A1, which converts the workpiece displacement into a quantifiable, linearly proportional electrical signal. When the measured object moves, the steel rope connected with the measured object is pulled, and the steel rope drives the sensor transmission mechanism and the sensor element to synchronously move; when the displacement moves reversely, the rotating device inside the sensor automatically withdraws the rope, so that an electric signal which is proportional to the movement amount of the rope is output. Compared with the laser displacement sensor 26, the stay wire type sensor is connected with the measured workpiece through the stay wire, so that an acting force is applied to the measured workpiece to a certain extent, and the movement characteristics of the measured workpiece are influenced to a certain extent. Meanwhile, the stay wire type displacement sensor adopts physical contact, when the acceleration of the measured workpiece is overlarge, certain damage can be caused to the stay wire, so that the movement speed, the acceleration and the reciprocating frequency of the measured workpiece are required not to be too high.

The detection system is matched with the PC 21, and the output end of the PC 21 is connected with the input end of the main controller.

In the invention, the number of sensors used in the experiment is large, and parameters to be acquired include a four-way pressure sensor 18, a stay wire displacement sensor 27, a laser displacement sensor 26, a push force sensor 22 and a ten-axis digital attitude sensor 23. The DHDAS dynamic signal acquisition and analysis system can acquire 16 paths of signals simultaneously, so that experimental requirements are met.

The system has wide application range, and can complete the test and analysis of various physical quantities such as stress strain, vibration, pressure, force and the like. The DHDAS dynamic signal acquisition and analysis system is mainly characterized in that: (1) The system has strong anti-interference capability, can realize multi-channel parallel sampling, and has the highest sampling frequency of 256 kHz/channel; (2) Advanced DDS digital frequency synthesis technology is adopted, and the sampling pulse has high precision and high stability, so that the synchronism, the accuracy and the stability of the multichannel sampling rate are ensured; (3) The functions of real-time acquisition, real-time storage, real-time display, real-time analysis and the like can be realized for signal acquisition; (4) The interface is flexible, and the USB3.0 interface is adopted, so that the computer and the instrument are convenient to communicate, and the interface is friendly and is suitable for operation and use. The signal acquisition work can be conveniently realized by performing operations such as parameter setting (measuring range, sensor sensitivity, sampling rate and the like), zero clearing, sampling, stopping and the like on the collector.

The main technical indexes of the system are as follows: the uncertainty of the system is less than or equal to 0.5 percent (FS), the linearity of the system is 0.05 percent, and the distortion is less than or equal to 0.5 percent.

The gas actuator cylinder 2 comprises an actuator cylinder body 10 provided with an inner cavity, a combustion supporting device arranged in the inner cavity and a pushing piston 12 matched with the inner cavity.

In the invention, the combustion-supporting device is a starting device 17 body, the starting device 17 is placed in the actuating cylinder and is directly burnt through the starting device 17, so that high-pressure fuel gas is generated, and the piston 12 is pushed to push the load to do work under the action of the fuel gas. The structure is simple and compact, the inner trajectory calculation is convenient, and the device can be used for occasions with low thrust.

The gas actuator cylinder 2 comprises an actuator cylinder shell, a high-pressure bin shell 9 and a pushing mechanism, wherein the space of the high-pressure bin shell is communicated with one side part of the actuator cylinder shell, the pushing mechanism is matched with the other side part of the actuator cylinder shell, an end cover 8, high-energy fuel 16 and a starting device 17 are sequentially arranged in the high-pressure bin shell 9, and the starting device 17 is arranged at the outlet end of the high-pressure bin shell, which is communicated with the actuator cylinder shell, in the high-pressure bin shell 9.

The pushing mechanism comprises a piston rod 13 penetrating through the actuator cylinder shell and a piston 12 arranged at the inner side part of the actuator cylinder shell, wherein the outer side end of the piston rod 13 positioned at the actuator cylinder shell is connected with the load workpiece 5, and a sealing rubber ring 11 matched with the actuator cylinder shell is arranged on the outer wall of the piston 12.

In the invention, a high-pressure bin nozzle actuating cylinder type structure is adopted, a high-pressure chamber is formed by high-energy fuel 16 in a high-pressure bin shell 9 and a starting device 17, and an actuating cylinder is formed by the actuating cylinder shell and a pushing mechanism. The high-pressure chamber is essentially a semi-closed combustion chamber taking the fuel gas of the starting device 17 as a power source, and the change rule of the fuel gas pressure directly influences the fuel gas flowing into the actuating cylinder, thereby influencing the change rule of the fuel gas pressure in the actuating cylinder and finally influencing the movement rule of the load. When the ratio of the pressure of the actuator cylinder to the pressure of the high-pressure chamber is smaller than the critical pressure ratio, the flow characteristic of the spray pipe is not influenced by the pressure in the actuator cylinder, and the gas flow keeps sonic flow in the throat; when the ratio of the pressure of the actuator cylinder to the pressure of the high-pressure chamber is increased to reach the critical pressure ratio, subsonic flow phenomenon can occur in the gas flow at the throat part of the spray pipe. In the subcritical state, the pressure of the actuator cylinder is relatively high, so that the gas flow of the high-pressure chamber is influenced by the pressure of the high-pressure chamber and the pressure of the low-pressure chamber. In this state, therefore, the high-pressure chamber pressure is affected by the magnitude of the ram pressure.

Because the index requires the transportation time of the suspension platform to be short, the power system is required to have strong thrust, the maintenance is avoided as simple as possible, and the gas actuator cylinder 2 is selected as a power source. The gas cylinder 2 is a driving device using the starting device 17 as a power source, has a high energy-weight ratio and is mainly used for completing the unfolding and load release of various mechanisms. The method has the advantages of small input energy, high response speed, high reliability and the like, and is widely applied to missile wingspan opening and launching processes of missiles, satellites and rockets. The gas type power source may be classified into a pure gas type and a mixed gas type. The mixed gas type is generally referred to as a gas-steam type, and is formed by adding a coolant on the basis of a gas power source. The coolant may be water or other liquid, or may be solid. Water is generally used as the coolant. The device is widely used as a power source of external power emission strategic missiles. Considering the simple structure, the scheme adopts a fuel gas type power source.

The working principle of the power system is as follows: the ignition device 17 ignites the high-energy fuel 16, the high-energy fuel 16 burns on the end face of the parallel layer in the high-pressure bin according to the combustion rule, high-pressure gas is generated and flows into the actuating cylinder through the spray pipe, the pressure of the actuating cylinder is increased, and the piston 12 pushes the load to slide rightwards under the action of the high-temperature and high-pressure gas. For the high-pressure bin, on one hand, the pressure of the high-pressure bin is continuously increased by high-pressure fuel gas generated by the combustion of the main grain, meanwhile, the spray pipe discharges the high-pressure fuel gas from the high-pressure bin, and when the high-pressure bin and the spray pipe reach balance, the pressure in the high-pressure bin is relatively stable, and the grain is relatively stable in combustion. For the pressure in the actuator cylinder, on the one hand, the pressure in the cylinder is increased due to the high-pressure gas flowing into the spray pipe; on the other hand, an increase in free volume in the cylinder due to movement of the piston 12 to the right indirectly results in a decrease in pressure. When the two reach equilibrium at a certain moment, the pressure in the actuator cylinder is not increased but gradually reduced. When the piston 12 moves to the stroke limit position, the push rod is separated from the load, the load does free sliding movement, the pressure in the actuating cylinder is equal to the atmospheric pressure under the action of the pressure relief opening, and the pressure in the high-pressure bin is gradually reduced to the atmospheric pressure after the explosive column is burnt.

In the present invention: the suspended workpiece is a high-quality high-strength cement product, and the density is 3720kg/m3.

1. Suspension mass: 20 tons;

2. transport distance: more than or equal to 10 meters;

3. effective length of the ram piston rod 13: 1 meter;

4. the working time is as follows: less than or equal to 10s;

5. the overall dimension length width height of the workpiece is: 3 m.times.3 m.times.0.6 m;

6. after the transportation action is finished, the device can be reused after simple treatment;

7. the preparation time is short, and maintenance is avoided as much as possible.

In the present invention: 1) The workpiece is loaded into the box, the level 6 is mounted on the box, and the level 6 is adjusted to the horizontal position. 2) The pressure of the gas cylinder 4 is checked to meet the working pressure requirement, and is generally more than 10MPa, a pressure reducing valve 19 and each gas path are connected, whether the gas path pipeline leaks gas or not is checked, and after the checking is normal, the main valve 20 is closed. 3) It is checked whether the power system is normal, which is to generate power by means of the movement of the piston 12 in the cylinder. 4) Installing and debugging a test system, calibrating each sensor, and starting the operation of the air suspension system after the system to be debugged is normal. 5) The pressure reducing valve 19 is opened, the high-pressure gas pressure P0 in the gas cylinder 4 is reduced to about P1 (the pressure in the pressure reducing valve 19), and after the pressure is stabilized, the test system starts to collect data. 6) The main valve 20 is opened, and the air flows into the control box 30 through the main pipeline, the control box 30 distributes the air into four branch pipes, and a pressure drop occurs at this time, and the pressure reducing valve 19 is regulated to stabilize the pressure in the main pipeline near P1. 7) After the suspension pressure is stable, whether the level 6 still keeps the horizontal position is observed, and when the level 6 is inclined, the pressure of each branch is regulated by regulating the four branch valve regulators on the control box 30, so that the level 6 returns to the horizontal position again. 8) The power system is turned on, and a thrust sensor 22 mounted on the piston rod 13 records the real-time acting force of the piston 12 on the suspension system. The suspension platform starts to move forwards under the action of thrust, after the stroke of the piston 12 is finished, the suspension platform is separated, and then the suspension platform performs free-running movement, the stay wire displacement sensor 27 records real-time position information, and the ten-axis digital attitude sensor 23 records real-time movement parameter information. 9) The suspension platform performs approximate uniform deceleration motion under the action of the air floatation friction resistance until the final speed is zero and is stationary. 10 A) the suspension platform is pulled back to the initial position for a repeatability experiment. 11 Closing the air source main valve 20 after the experiment is completed, taking out the air cushion module 3, and completing the transportation of the heavy-load workpiece. Note that the line of action of the thrust force is as close to the centroid as possible, otherwise the suspension system will experience lateral glide.

Considering that the friction coefficient is reduced as much as possible, the track 7 is required to be as smooth as possible, and glass fiber reinforced plastics is selected.

The high pressure chamber is essentially a semi-closed combustion chamber of the starting device 17, and has two characteristics: firstly, the volume of the high-pressure chamber is unchanged; and secondly, the gas flows out. The lower pressure in the cylinder (typically much lower than the high pressure chamber) is also known as the low pressure chamber. The low pressure chamber volume continues to expand as the load moves.

The actuator characteristics were simulated as follows:

and constructing an inner trajectory simulation program by using a Sinmulink module in the computer Matlab. The diameter of the actuating cylinder is 0.2 m, the diameter of the high-pressure bin is 0.2 m, the diameter of the throat part of the spray pipe is 0.018 m, the diameter of the outlet of the spray pipe is 0.04 m, the stroke of the piston 12 is 1m, the main explosive column adopts double-base explosive column double cobalt-2, the dosage is 0.91kg, the end face combustion is carried out, the combustion speed accords with the exponential combustion speed rule, wherein a=0.003, the pressure coefficient p=0.2, the secondary work coefficient=1, and the load is 480kg,640kg, 1280kg,1440kg and 160 kg. The piston rod 13 pushes the load to move in parallel without friction, and the simulation result is shown in fig. 9.

The curves represented by data1 to data8 are loads of 480kg,640kg,800kg,960kg,1120kg,1280kg,1440kg, and 160 kg in this order. As can be seen from fig. 9 a, the operating pressure profile in the high-pressure chamber hardly changes, although the load mass increases from 480kg to 1600kg. The only difference is the trailing section after combustion is over, due toThe time of separation of the load from the ram is different. As can be seen from fig. 9 b, as the load mass increases, the pressure in the ram also increases gradually, increasing the pressure peak from 7.05MPa to 11.2MPa, but the overall trend is consistent. In addition, the working time of the actuator cylinder is gradually prolonged from 0.22s to about 0.33 s. This is because as the load mass increases, the time for the piston 12 to push the load through the full stroke increases. In fig. 9 c, like in fig. 9 b, as the load mass increases, the thrust of the piston 12 increases (the peak thrust increases from 2.22 x 105N to 3.52 x 105N) and the time of action increases. In FIG. 9, d is a time-dependent load acceleration curve, from which it can be seen that the load acceleration gradually decreases with increasing load mass, and the acceleration peak value thereof is represented by 461m/s ² Reduced to 220m/s ² . In FIG. 9, e, which is a time-dependent plot of load speed, it can be seen that as the load mass increases, the instantaneous speed of the load away from the pushrod decreases gradually from 28.4m/s to 19.5m/s. In fig. 9, f is a time-dependent load displacement curve, and it can be seen that, as the load mass increases, the displacement curve becomes more and more gentle, which means that at a certain moment, the displacement gradually decreases as the mass increases.

The kinematic simulation of the static pressure gas suspension platform is as follows:

programming by using a Sinmulink module in the Matlab of the computer. The track 7 is 10m long, the diameter of the actuating cylinder is 0.2 m, the stroke of the piston 12 is 1m, the main explosive column adopts double-base explosive column, the dosage is 1.52kg, the end surface and the like are burnt, the burning speed accords with the exponential burning rule, wherein a=0.003, and the pressure coefficient p=0.2. The diameter of the high-pressure bin is 0.2 meter, and the length is 0.1 meter. The simulation results are shown in fig. 10.

In fig. 10, a shows the pressure change curve of the high pressure chamber and the low pressure chamber, and it can be seen that the burning time of the cartridge is 0.29s. The pressure of the high-pressure bin gradually rises to 60MPa, and starts to decrease after 0.29 s; the low pressure chamber pressure reaches a peak value of 29.5MPa at 0.14s and gradually decreases thereafter, and after 0.27s the ram piston 12 stroke reaches 1m, at which time the pressure drops sharply under the action of the relief orifice.

In fig. 10 b and 10 c are a thrust curve and an acceleration curve, respectively, which are similar in trend, at a time of 0.14s, the thrust and acceleration reach a maximum value of 925kN and 46m/s2 at the same time, after which both start to decrease. After 0.27s the ram piston 12 is separated from the levitation platform and no thrust or acceleration is generated.

In fig. 10 d, the velocity increases to 8.95m/s at 0.27s, remaining unchanged until the movement is completed; the displacement reaches 10m at 1.28 s. And then the starting time is 1.2 s: and the total system movement time meets the overall design index requirement.

Based on numerical simulation and experimental principle verification of the static pressure suspension mechanism, an overall scheme of the static pressure suspension transport platform is designed by taking specific design indexes as criteria.

The system adopts a gas type high-pressure bin type actuator cylinder scheme, and a suspension system adopts 10 standard air cushions, and devices such as a stable platform and an air source are added on the basis. For reducing the suspension friction coefficient, a glass fiber reinforced plastic track 7 is selected. A static pressure suspension system with a load mass of 20 tons is designed.

The high-pressure bin gas generator and the charging structure are designed, a high-pressure bin gas inner trajectory mathematical model is established, the load mass is taken as an independent variable, and the numerical simulation calculation is carried out on the inner trajectory characteristic and the thrust characteristic of the gas high-pressure bin actuator cylinder by adopting a Simulink module in Matlab, so that the general rule and the thrust characteristic curve of the inner trajectory of the high-pressure bin gas actuator cylinder 2 are obtained.

After loading the power system on the suspension system, the result shows that the overall design requirement is met through Simulink numerical simulation.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims

1. The utility model provides a based on quick conveyor of quiet pressure air floating heavy load work piece which characterized in that: the device comprises a load workpiece, a track arranged at the lower end of the load workpiece, a power system matched with the load workpiece, a suspension system and a detection system; the power system comprises a fixed table arranged on the side surface of the load workpiece and a gas actuating cylinder arranged on the fixed table, wherein the output end of the gas actuating cylinder is connected with the load workpiece and is used for providing side pushing power for the load workpiece to horizontally move on the track; the suspension system comprises an air cushion assembly arranged on the lower end face of the load workpiece, an air bottle matched with the air cushion assembly and a level gauge arranged on the upper end face of the load workpiece; the main controller and the power supply device are arranged in cooperation with the power system, the suspension system and the detection system; the gas actuator cylinder comprises an actuator cylinder shell, a high-pressure bin shell and a pushing mechanism, wherein the high-pressure bin shell is spatially communicated with one side part of the actuator cylinder shell, the pushing mechanism is matched with the other side part of the actuator cylinder shell, an end cover, high-energy fuel and a starting device are sequentially arranged in the high-pressure bin shell, and the starting device is arranged at an outlet end of the actuator cylinder shell in the high-pressure bin shell; the pushing mechanism comprises a piston rod penetrating through the actuator cylinder shell and a piston arranged at the inner side part of the piston rod, the outer side end of the piston rod, which is positioned at the actuator cylinder shell, is connected with a load workpiece, and the outer wall of the piston is provided with a sealing rubber ring matched with the actuator cylinder shell.

2. The rapid transport device for heavy-duty workpieces based on static pressure air floating type according to claim 1, wherein the rapid transport device comprises: the air cushion assembly comprises a plurality of air cushion modules which are arranged in a arraying way, the output port of the air bottle is sequentially provided with a pressure reducing valve, a main pipeline, a main valve and a control box, and a branch air pipeline is connected between the input port of any air cushion module and the input ports of the main valve and the control box in space.

3. The rapid transport device for heavy-duty workpieces based on static pressure air floating type according to claim 2, wherein: any one of the air cushion modules comprises an aluminum alloy plate bearing body, a rubber air bag and an aluminum plate which are sequentially arranged from bottom to top.

4. The rapid transport device for heavy-duty workpieces based on static pressure air floating type according to claim 1, wherein the rapid transport device comprises: the detection system comprises a thrust sensor arranged at the output end of the gas actuator cylinder, a ten-axis digital attitude sensor arranged at the upper end face of the load workpiece, a displacement sensor matched with the power system and a pressure sensor matched with the suspension system.

5. The rapid transport device for heavy-duty workpieces based on static pressure air floating according to claim 4, wherein: the displacement sensor comprises a laser displacement sensor arranged on the side face of the load workpiece and a stay wire displacement sensor arranged at the end part of the sliding rail.

6. The rapid transport device for heavy-duty workpieces based on static pressure air floating type according to claim 1, wherein the rapid transport device comprises: the detection system is matched with the computer, a digital signal collector is arranged, the output end of the digital signal collector is connected with a PC, and the output end of the PC is connected with the input end of the main controller.

7. The detection method based on the static pressure air floating type heavy-duty workpiece rapid transport device as claimed in claim 1, wherein the detection method comprises the following steps: the method comprises the following steps:

(1) Loading a workpiece into a load workpiece, adjusting the level to a horizontal position, opening an air source valve of an air bottle, stabilizing the pressure of the air source valve in a working pressure range through a pressure stabilizing valve, enabling air flow to flow into an air cushion assembly, slowly lifting the workpiece under the action of the pressure of air chambers, and adjusting the level to the horizontal position again by changing the pressure of each air chamber to finish equipment debugging work;

(2) Closing an air source valve of the air bottle and waiting for a transport instruction;

(3) After the main controller transmits the instruction, an air source valve of the air bottle is opened, the power system is started after the suspension system is stable, the gas actuator cylinder pushes the suspension system to move forwards under the action of high-pressure gas pressure, the gas actuator cylinder is separated from the workpiece after reaching the maximum stroke, and the workpiece slides to a specified position freely.