CN113953877B - Floating support device and floating support method - Google Patents

Floating support device and floating support method Download PDF

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Publication number
CN113953877B
CN113953877B CN202010699834.1A CN202010699834A CN113953877B CN 113953877 B CN113953877 B CN 113953877B CN 202010699834 A CN202010699834 A CN 202010699834A CN 113953877 B CN113953877 B CN 113953877B
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air passage
sliding core
locking
locking head
supporting
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CN113953877A (en
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饶鑫宇
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Xiangyang Xinxing Precision Manufacturing Co ltd
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Xiangyang Xinxing Precision Manufacturing Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/15Devices for holding work using magnetic or electric force acting directly on the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/15Devices for holding work using magnetic or electric force acting directly on the work
    • B23Q3/154Stationary devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Adjustment Of The Magnetic Head Position Track Following On Tapes (AREA)

Abstract

A floating support device and a floating support method are provided, wherein the floating support device comprises a support shell, a sliding core, a locking head and an embedded magnet; the bottom of the supporting shell is fixed on the tool bottom plate, the inner wall of the supporting shell is provided with a conical locking surface, an inward extending flange is arranged at the upper port of the supporting shell, the side wall of the flange forms a guide surface, the guide surface is in sliding fit with the outer wall of the lower part of the sliding core, an air passage is arranged in the lower part of the sliding core, the tail part of the air passage is provided with a plurality of uniformly distributed tail ends of the air passage, the inner end of each tail end of the air passage is high, the outer end of the air passage is low, the locking head is arranged at the outer end of the tail end of the air passage, the head of the air passage is an air passage inlet for inputting low-temperature pressure medium, and the air passage inlet is positioned at the bottom of the sliding core; the upper part of the sliding core is limited outside the supporting shell, the end face of the upper part of the sliding core is a supporting end face for supporting the part, and the upper part of the sliding core is a magnetic part. The invention realizes pressure adjustment of the product by utilizing the magnetic strength of the magnet, has more flexible application, and has the characteristics of easy observation and adjustment, reliable application, convenient maintenance and the like.

Description

Floating support device and floating support method
Technical Field
The invention belongs to the field of floating support, and particularly relates to a floating support device and a floating support method.
Background
With the application of more and more lightweight materials and the improvement of design precision, the requirements on the manufacturing precision of products are higher and higher. Therefore, the floating support is needed in the processing process of some thin-wall parts with insufficient rigidity, and the final quality of the workpiece is greatly influenced by whether the magnitude of the supporting force is adjustable, the effectiveness of the floating support in the processing process and the like. At present, the main stream of floating supports in the market lack the function of detecting and adjusting the supporting force.
For this reason, it is not the structure of the device that lacks sensitivity to changes in gas/liquid pressure, which results in a risk of sudden locking failure when the gas/liquid pressure is reduced, and thus the detection of the supporting force becomes insignificant, since there is no way to detect it, if any. In addition, before the device is locked, most devices provide the pushing force of the sliding core part to the workpiece by the spring, even if some floating supports are called to have only a few N pressure to the workpiece, the elastic force provided by the floating supports can be gradually increased along with the compression of the spring, and most manufacturers of the floating supports cannot provide the relation between the supporting stroke and the spring pressure, so that more objects and experience are needed for judgment in use. This presents an inconvenience to manufacturing and tooling design work.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the floating support device which has high precision, can be standardized, has good sensitivity to gas/liquid pressure change, can be simultaneously applied to a pneumatic or hydraulic environment, and has the characteristics of easiness in observation and adjustment, reliability in operation, convenience in maintenance and the like.
It is another object of the present invention to provide a floating support method.
The technical scheme of the invention is as follows:
A floating support device, characterized in that: comprises a supporting shell, a sliding core, a locking head and an embedded magnet; the bottom of the supporting shell is fixed on the tool bottom plate, the inner wall of the supporting shell is provided with a conical locking surface, an inward extending flange is arranged at the upper port of the supporting shell, the side wall of the flange forms a guide surface, the guide surface is in sliding fit with the outer wall of the lower part of the sliding core, an air passage is arranged in the lower part of the sliding core, the tail part of the air passage is provided with a plurality of uniformly distributed tail ends of the air passage, the inner end of each tail end of the air passage is high, the outer end of the air passage is low, the locking head is arranged at the outer end of the tail end of the air passage, the head of the air passage is an air passage inlet for inputting low-temperature pressure medium, and the air passage inlet is positioned at the bottom of the sliding core; the upper part of the sliding core is limited outside the supporting shell, the end surface of the upper part of the sliding core is a supporting end surface for supporting the part, and the upper part of the sliding core is a magnetic part; the part is formed by processing a magnetic conductive material which is attracted with a magnetic part at the upper part of the sliding core; or the part is processed by non-magnetic conductive materials, and an external magnet with the magnetic pole opposite to the magnetic part at the upper part of the sliding core is arranged on the part; a magnetic field is formed between the magnetic part on the upper part of the sliding core and the part or between the magnetic part on the upper part of the sliding core and the external magnet; when the support end surface of the sliding core is contacted with the part and the sliding core moves upwards to the floating support part under the magnetic force action of the magnetic field, a low-temperature pressure medium is input into the tail end of the air channel through the inlet of the air channel, and the locking head moves outwards along the tail end of the air channel under the action of the low-temperature pressure medium and is in interference fit with the conical locking surface of the support shell; when the low-temperature pressure medium is disconnected at the inlet of the air passage, the locking head and the tail end of the air passage form clearance fit, the locking head and the conical locking surface of the support shell are in clearance fit, and the sliding core slides downwards to drive the support end surface of the sliding core to separate from the part.
The method for judging the slide core to move upwards to lock the locking head comprises the following steps: 1. the attraction force provided by the magnet and the external magnet is far greater than the weight of the sliding core, and the sliding core moves towards the surface of the workpiece under the drive of magnetic force and emits slight sound after contacting with the workpiece; 2. because the attraction force of the magnet is far greater than the weight of the slide core, and the stroke of the slide core required to move is small, the slide core can be contacted with a workpiece within about 1 second or within 1 second under the action of magnetic force, and can be locked after 1-2 seconds.
The locking head is spherical, and the locking head is sealed with the tail end by a sealing ring.
And a pressure sensor is arranged on the upper end surface of the sliding core.
The middle of the upper part of the sliding core is internally provided with an embedded magnet.
The sliding core is of a step-shaped structure with a small lower part and a large upper part, and the lower part of the sliding core is a cylindrical part; the air passage is arranged along the axial direction of the sliding core, a plurality of air passages are uniformly distributed at the radial tail end of the sliding core, and an air passage inlet is positioned on the bottom surface of the cylindrical part; the guide surface is a cylindrical surface, the upper end bottom surface of the conical locking surface is large, the lower end bottom surface of the conical locking surface is small, and the diameter of the upper end bottom surface of the conical locking surface is larger than that of the cylindrical surface.
The temperature difference between the low-temperature pressure medium temperature and the room temperature is more than 30 ℃.
The tail end of each air passage is of an oblique line structure, the tail end of each air passage is inclined to the horizontal plane, and the tail end of each air passage is perpendicular to the conical locking surface.
Gaps are arranged between the locking heads and the tail ends of the air passages, the section of the sliding core is larger than that of the locking heads, and the included angle theta between the conical locking surface and the vertical direction is not larger than 10 degrees.
When the sliding core moves upwards to the floating support part under the action of the magnetic force of the magnetic field on the contact of the support end surface of the sliding core and the part, gaps are arranged between the locking head and each tail end of the air channel, and the sliding core locking method comprises the following steps: the inlet of the air passage is filled with a low-temperature pressure medium with the temperature difference of more than 30 ℃ with the room temperature; when the sliding core and the locking head are reduced from the initial temperature, the section of the sliding core is larger than the section of the locking head, the shrinkage deformation speed of the locking head is faster than the shrinkage deformation speed of each tail end of the air channel under the influence of the temperature of the low-temperature pressure medium, the locking head moves along each tail end of the air channel towards the conical locking surface of the supporting shell and contacts with the air channel under the influence of the low-temperature pressure medium, when the sliding core is shrunk and deformed to be stable under the influence of the temperature of the low-temperature pressure medium, the tail ends of the air channel are in interference fit with the locking head, and the locking head is abutted against the conical locking surface of the supporting shell, so that the sliding core is in a locking state;
When the locking of the sliding core needs to be released, the low-temperature pressure medium at the inlet of the air passage is disconnected, the temperature of the sliding core and the locking head is restored to the initial temperature, the sliding core and the locking head are restored to the initial size, and gaps are formed between the locking head and each tail end of the air passage, so that the locking of the sliding core can be released.
The invention has simple structure, low manufacturing cost, convenient and quick installation, wide adaptation and effective application.
The attraction force of the magnets is used in the invention, and if the parts are magnetic induction pieces, only 1 magnet can be used in the invention. Even if the parts cannot sense magnetism and are needed to be used in groups, 2 magnets are respectively arranged on two sides of the parts; the external magnet can be replaced by an electromagnet to achieve the purpose of adjusting the pressure of the product by adjusting the magnetic strength of the point magnet according to the requirement of the product, and the application is more flexible.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram showing the locking force F applied to the conical locking surface by the force F generated by the air pressure acting on the locking head on the inclined surface in a horizontal state;
FIG. 3 shows a schematic view of the locking force F applied to the tapered locking surface by the force F generated by the air pressure acting on the locking head on the inclined surface, being perpendicular to the tapered locking surface.
Detailed Description
In fig. 1, the invention comprises a support shell 1, a slide core 2, a locking head 3, an embedded magnet 4 and an external magnet 5. The figure also includes a supported part 6, a slide inner air passage, a support shell guide opening 8 and an air passage inlet 9.
The bottom of the supporting shell 1 is fixed on a tool bottom plate, and a conical locking surface and a guide surface on the upper part are arranged inside the supporting shell. Wherein the conical surface is determined according to the diameter of the slide core 2 and the maximum amplitude of the up-and-down movement; the upper guide surface is used for limiting the freedom degree of the sliding core 2, ensuring that the sliding core can only move up and down, and the gap can be very small without obstructing other functions of the device, thereby ensuring the accuracy of the movement of the device.
An air passage is arranged in the sliding core 2 and is used for transmitting pressure; the bottom is provided with an air passage inlet 9 for inputting pressure medium; the air passage is provided with a plurality of evenly distributed air passages, namely, according to the change of the internal pressure of the air passage, the locking head 3 makes proper reaction: the pressure in the air passage rises, and the locking head 3 moves outwards and is tightly attached to a conical locking surface on the support shell 1; the locking surface arranged in the slide core 2 is conical, so that the slide core 2 does not move downwards under the condition that the locking head 3 continuously clings to the conical locking surface and keeps the airway pressure not to be reduced, thereby achieving the supporting effect. When the pressure in the air passage is reduced, the locking head 3 cannot be continuously tightly attached to the conical locking surface, and the sliding core 2 slides downwards under the action of gravity, so that the supporting effect is not achieved.
The outer side of the locking head 3 is spherical so as to ensure point contact when contacting with a conical locking surface in the supporting shell 1 and ensure the effectiveness of locking force; the inner side of the air passage is cylindrical, and the cylindrical part is provided with a sealing ring so as to ensure the stability of the air pressure in the air passage.
The middle position of the upper part of the slide core 2 is embedded with an embedded magnet 4 which is used for directly attracting a magnetic conductive workpiece or an external magnet 5 product, thereby driving the slide core 2 to move to a position where the workpiece is to be supported and finally attaching to a workpiece supporting surface.
A pressure sensor can be arranged at the supporting point of the upper end surface of the slide core 2 to monitor whether the supporting force is enough in the processing process, and the parameters of the pressure medium can be adjusted based on the supporting force.
The external magnet 5 can select a permanent magnet or an electromagnet with adjustable magnetic force according to the characteristics of the workpiece; when the rigidity/strength of the workpiece is poor, the magnetism of the electromagnet can be reduced, so that the sliding core 2 generates extremely small pressure on the supporting point of the workpiece, the device is locked, and the external magnet 5 is removed, so that the influence of the floating support on the workpiece is ensured to be minimum; even through interaction with the pressure sensor near the upper end support point of the slide core 2, a "0N" pressure state of the floating support against the workpiece can be achieved, which is difficult to achieve in other floating/auxiliary support devices.
The taper of the tapered locking surface inside the support housing 1 is extremely small, and the end 7 of the air passage inside the slide core 2 (i.e., the portion connected to the locking head 3) can be made perpendicular to the taper. Thus, the influence of the floating support on the workpiece is minimum in the processing process of the thin-wall workpiece.
Before the part 6 is processed, a fixed supporting piece and the invention are needed to be used for supporting and fixing. The part 6 is firstly supported by a fixed supporting piece, and the invention is placed at a special part (such as a part with insufficient rigidity) of the part for floating support. Before the locking head 3 of the floating support is locked, the sliding core 2 and the part 6 must be jointed, and the forces between the sliding core and the part are balanced.
If the part 6 is made of magnetic conductive material, when the device is applied to processing a workpiece made of magnetic conductive material, such as a steel piece and an iron piece, the embedded magnet 4 drives the slide core 2 to move towards the surface of the part 6 due to magnetic action and finally attaches to the surface of the part 6 under the magnetic action, at this time, force balance is obtained among the slide core 2, the embedded magnet 4 and the part 6, the locking head 3 moves outwards under the action of pressure in an air channel and is tightly attached to a conical locking surface on the supporting shell 1, and the locking head 3 locks the position of the slide core 2.
If the part 6 is made of a material without magnetism, a strong magnet or an electromagnet is placed on the back of the part 6 to generate enough attraction force on the embedded magnet 4 on the slide core 2, the slide core 2 is driven to move towards the surface of the workpiece, balance among the slide core 2, the workpiece and the magnet is achieved, the locking head 3 moves outwards under the action of pressure in an air passage and is tightly attached to the conical locking surface on the support shell 1, and the locking head 3 locks the position of the slide core 2.
Once the slide core 2 is locked, the external magnet 5 can be withdrawn, so that the situation that the area where the external magnet 5 is located needs to be machined or the machining is influenced is avoided, and the use is more flexible. Of course, in order to reduce the interference of magnetic force on the device, the selected supporting shell 1 and the sliding core 2 are made of non-magnetic materials, and the sliding core 2 can be made small and light enough to ensure that the impact force generated by the mass of the sliding core 2 in the moment of attaching the product has the smallest influence on the product.
When in use, the air passage inlet 9 is filled with low-temperature (the temperature difference between the air passage inlet and the room temperature is more than 30 ℃) pressure air/liquid during locking, the diameters of the locking head 3 and the tail end 7 of the air passage are provided with very small gaps, and a sealing ring is not required to be arranged between the locking head 3 and the tail end 7 of the air passage; under the action of low-temperature gas (a certain time is needed), as the section of the slide core 2 is far larger than the section of the locking head 3, the diameter of the tail end 7 of the air channel is smaller than that of the locking head 3 under the action of low-temperature gas, and the locking head 3 and the tail end 7 of the air channel form interference fit. Because the cross section of the locking head 3 is small and stable, a certain gap is formed between the locking head 3 and the tail end 7 of the air passage, a certain gap is formed between the conical locking surface of the supporting shell 1 of the locking head 3, and the locking head 3 moves towards the conical locking surface of the supporting shell 1 again and contacts under the action of pressure gas in the tail end 7 of the air passage. After the sliding core 2 and the locking head 3 complete all shrinkage deformation, the device completes locking, and at the moment, the external magnet 5 can be removed.
When the locking needs to be released, the low-temperature low-pressure gas at the air passage inlet 9 can be disconnected to enable the device to return to normal temperature, and after the sliding block 2 and the locking head 3 return to normal temperature, the locking head 3 and the tail end 7 of the air passage generate a gap again, so that the locking can be released.
In fig. 2, F is the force generated by the air pressure acting on the locking head on the inclined plane, and finally, it can be seen through decomposition that F can be converted into a force perpendicular to the inclined plane and a force parallel to the inclined plane, wherein the force perpendicular to the inclined plane can be converted into a friction force during the auxiliary support work, which is beneficial to the auxiliary support locking. The force parallel to the inclined plane can cause the sliding block 2 to move upwards along the inclined plane under the action of the force, and the sliding block 2 is not used because the sliding block 2 is contacted with the part before, but the force can continuously act on the part to disturb the stress balance when clamping the part, and the workpiece is deformed when serious, so that the floating supporting device is unfavorable.
Only part of F1 in fig. 2 is converted into friction and part into upward force F1; whereas F in fig. 3 may be entirely converted into friction. According to the model comparison, when a force is applied perpendicular to the ramp, its friction is greater and the upward force F1 is smaller. The end 7 of the air channel in the present invention is thus arranged perpendicular to the conical locking surface 11. In order to make F1 smaller, the angle of the inclined plane is small.
In addition, the tail end 7 of the air passage is arranged in an inclined mode, so that the locking head 3 can move in the tail end 7 of the air passage under the influence of gravity of the locking head 3.
The friction force f in fig. 2 is smaller than the friction force f in fig. 3. In fig. 2, after the force F is decomposed, there is a force F1 with parallel inclined planes upward, f=cos θ×f×k in fig. 2, f1=sin θ×f, the force F1 will lift the slide core 2 upward, an excessive lifting force of the slide 2 will act on the part 6, and the part 6 will be deformed in severe cases, so that the floating support device is not favored, and the force F1 belongs to a harmful force. F in fig. 3 can be converted entirely into a friction force F without generating an upward force.
Wherein θ is the angle between the conical locking surface 11 and the vertical direction, and is normally smaller than 10 °;
f is the force generated by the air pressure acting on the inclined plane of the locking head;
f is the friction force between the locking head and the conical locking surface 11 when the slide core 2 is pressed;
k is the coefficient of friction.

Claims (7)

1. A floating support device, characterized in that: comprises a supporting shell (1), a sliding core (2), a locking head (3) and an embedded magnet (4); the bottom of the supporting shell (1) is fixed on the tool bottom plate, a conical locking surface is arranged on the inner wall of the supporting shell (1), an inwardly extending flange is arranged at the upper port of the supporting shell (1), a guide surface is formed on the side wall of the flange, the guide surface is in sliding fit with the outer wall of the lower part of the sliding core (2), an air passage is arranged in the lower part of the sliding core (2), a plurality of uniformly distributed tail ends (7) of the air passage are arranged at the tail part of the air passage, the inner end of each tail end (7) of the air passage is high, the outer end of the air passage is low in inclination, the locking head (3) is arranged at the outer end of the tail end of the air passage, the air passage head is an air passage inlet (9) for inputting low-temperature pressure medium, and the air passage inlet (9) is positioned at the bottom of the sliding core (2); the upper part of the sliding core (2) is limited outside the supporting shell (1), the upper end surface of the sliding core (2) is a supporting end surface for supporting the part (6), and the upper part of the sliding core (2) is a magnetic part; the part (6) is formed by processing a magnetic conduction material which is attracted with a magnetic part at the upper part of the sliding core (2); or the part (6) is processed by non-magnetic conductive materials, and an external magnet (5) with opposite magnetic poles to the magnetic part at the upper part of the slide core (2) is arranged on the part (6); a magnetic field is formed between the magnetic part at the upper part of the sliding core (2) and the part (6) or between the magnetic part at the upper part of the sliding core (2) and the external magnet (5);
When the supporting end surface of the sliding core (2) is contacted with the part (6) and the sliding core (2) moves upwards to the floating supporting part (6) under the magnetic force action of a magnetic field, a low-temperature pressure medium is input into the tail end (7) of the air passage through the air passage inlet (9), and the locking head (3) moves outwards along the tail end (7) of the air passage under the action of the low-temperature pressure medium and is in interference fit with the conical locking surface of the supporting shell (1); when the low-temperature pressure medium is disconnected from the air passage inlet (9), the locking head (3) and the tail end (7) of the air passage form clearance fit, the locking head (3) and the conical locking surface of the support shell (1) are in clearance fit, and the sliding core (2) slides downwards to drive the support end surface of the sliding core (2) to be separated from the part (6); the locking head (3) is spherical, and the locking head (3) and the tail end are sealed by a sealing ring; the pressure sensor is arranged on the upper end face of the sliding core (2).
2. The floating support of claim 1 wherein: an embedded magnet (4) is arranged in the middle of the upper part of the sliding core (2).
3. The floating support of claim 1 wherein: the sliding core (2) is of a step-shaped structure with a small lower part and a large upper part, and the lower part of the sliding core (2) is a cylindrical part; the air passage is arranged along the axial direction of the sliding core (2), a plurality of air passages are uniformly distributed at the radial tail end of the sliding core (2), and an air passage inlet (9) is positioned on the bottom surface of the cylindrical part;
the guide surface is a cylindrical surface, the upper end bottom surface of the conical locking surface is large, the lower end bottom surface of the conical locking surface is small, and the diameter of the upper end bottom surface of the conical locking surface is larger than that of the cylindrical surface.
4. The floating support of claim 1 wherein: the temperature difference between the low-temperature pressure medium temperature and the room temperature is more than 30 ℃.
5. The floating support of claim 1 wherein: the tail end (7) of each air passage is of an oblique line structure, the tail end (7) of each air passage is inclined to the horizontal plane, and the tail end (7) of each air passage is perpendicular to the conical locking surface.
6. The floating support of claim 5 wherein: gaps are arranged between the locking heads (3) and the tail ends (7) of the air passages, the section of the sliding core (2) is larger than that of the locking heads (3), and the included angle theta between the conical locking surface (11) and the vertical direction is not larger than 10 degrees.
7. A floating support method using the floating support device according to any one of claims 1 to 6, characterized in that:
When the supporting end face of the sliding core (2) is contacted with the part (6) and the sliding core (2) moves upwards to the floating supporting part (6) under the action of magnetic force of a magnetic field, gaps are formed between the locking head (3) and each tail end (7) of the air passage, and the sliding core (2) locking method comprises the following steps: the air passage inlet (9) is filled with a low-temperature pressure medium with the temperature difference of more than 30 ℃ with the room temperature; when the sliding core (2) and the locking head (3) are reduced from the initial temperature, the section of the sliding core (2) is larger than the section of the locking head (3), the shrinkage deformation speed of the locking head (3) is faster than the shrinkage deformation speed of the tail end (7) of each air passage under the influence of the low-temperature pressure medium, the locking head (3) moves towards and contacts the conical locking surface of the supporting shell (1) along the tail ends (7) of the air passages under the effect of the low-temperature pressure medium, and when the sliding core (2) is shrunk and deformed to be stable from the initial size under the influence of the low-temperature pressure medium, the interference fit is formed between the tail ends (7) of the air passages and the locking head (3), and the locking head (3) abuts against the conical locking surface of the supporting shell (1), so that the sliding core (2) is in a locking state;
When the locking of the sliding core (2) needs to be released, the low-temperature pressure medium at the air passage inlet (9) is disconnected, the temperature of the sliding core (2) and the locking head (3) is restored to the initial temperature, the sliding core (2) and the locking head (3) are restored to the initial size, gaps are formed between the locking head (3) and each tail end (7) of the air passage, and the locking of the sliding core (2) can be released.
CN202010699834.1A 2020-07-20 2020-07-20 Floating support device and floating support method Active CN113953877B (en)

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