CN203833573U - Long-distance two-dimensional following constant force hoisting device - Google Patents
Long-distance two-dimensional following constant force hoisting device Download PDFInfo
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- CN203833573U CN203833573U CN201320648122.2U CN201320648122U CN203833573U CN 203833573 U CN203833573 U CN 203833573U CN 201320648122 U CN201320648122 U CN 201320648122U CN 203833573 U CN203833573 U CN 203833573U
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Abstract
The utility model provides a long-distance two-dimensional following constant force hoisting device which comprises a constant force output cylinder, an air floating device, a guide rail system, a pulley block, a rope rolling motor, a suspension rope and a detection device. The guide rail system comprises a linear guide rail, sliding blocks and a motor. The sliding blocks are arranged on the linear guide rail in a sleeved mode, the motor can drive the sliding blocks to move, the air floating device is connected with the sliding blocks, a first fixed pulley and a second fixed pulley are connected with the air floating device, one end of the suspension rope is fixed, and the other end of the suspension rope sequentially penetrate through the first fixed pulley, a movable pulley and the second fixed pulley to be connected with the rope rolling motor. The movable pulley is connected with the constant force output cylinder through a movable pulley seat, and a piston rod of the constant force output cylinder penetrates through a cylinder barrel cover and is used for hoisting a target workpiece. Constant force hoisting in the vertical direction is achieved through the constant force output cylinder, ultra-long following in the vertical direction is achieved through the detection device, the pulley block and the rope rolling motor, horizontal following is achieved through the pulley block and the air floating device, stability is good, and precision is high.
Description
Technical field
The utility model relates to two-dimentional constant force erecting by overhang.
Background technology
Two dimension constant force erecting by overhang is that target workpiece is realized to the constant force hanging of vertical direction and the motion accompanying in level, and target workpiece is not introduced to other external force, target workpiece state of kinematic motion is not exerted an influence.Prior art normally adopts suspension strop that the slide block of line slideway and target workpiece are coupled together, by angular transducer, measure the drift angle of suspension strop, by electric machine control slide block movement, realize the motion accompanying of horizontal direction, by force sensor measuring, go out again the size of power on suspension strop, by tightening up or loosening suspension strop and realize the servo-actuated and constant force of vertical direction and export.But because sensor measurement exists certain error, electric machine control precision is not high, be difficult to eliminate fluctuation and error, in specific implementation process, there are a lot of problems.Because air-float guide rail is compared and had frictionless feature compared with common rail, therefore the gentle empty boasting of target workpiece is coupled together, by air supporting, be enclosed within frictionless motion on air-bearing shafts and realize that horizontal motion is passive follows, by counterweight and target workpiece, hang again, realize constant force output and the motion accompanying of vertical direction, but when target workpiece is done acceleration or deceleration motion, counterweight can produce because of the impact of self inertia power one and act on the subsidiary load in target workpiece, and the larger impact of counterbalance mass is larger, therefore this method is only applicable to the occasion of target workpiece low speed or uniform movement, on the other hand, be subject to the restriction of processing conditions and working accuracy, the stroke of air-float guide rail is little, be difficult to realize the motion accompanying of ultralong-stroke.
Summary of the invention
Large for existing two-dimentional constant force erecting by overhang measured error, follow the problems such as precision is not high, loss of weight counterweight inertia force influence is large, the utility model provide a kind of adopt constant force output cylinder realize constant force hanging, air-float guide rail realize long apart from level follow, precision is high, the two dimension of good stability is followed constant force erecting by overhang.
The utility model solves the technical scheme that its technical matters adopts:
Long-distance 2 D is followed constant force erecting by overhang, comprises constant force output cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor, suspension strop, detecting device.
Described guide track system comprises line slideway, slide block, motor.Described line slideway is arranged on horizontal gird and stent support is passed through at two ends, and described slide block set is contained on line slideway, and described motor is rack-mount and can drive slide block movement.
Described air-floating apparatus comprises air supporting seat, air-bearing shafts, air supporting cover; Described air supporting cover is sleeved on air-bearing shafts, and described air-bearing shafts two ends are by air supporting seat supports, described air supporting seat connection sliding block.
Described assembly pulley comprises the first fixed pulley, the second fixed pulley and movable pulley, described the first fixed pulley and the second fixed pulley and air supporting cover are fixing, described suspension strop one end and support are fixed, the described suspension strop other end connects serving motor through the first fixed pulley, movable pulley, the second fixed pulley successively, and described movable pulley connects constant force output cylinder by movable pulley seat.
Described constant force output cylinder comprises piston, piston rod, cylinder barrel, end cap, cylinder barrel lid, air inlet cover; Described piston rod connects piston, described piston bush be contained in cylinder barrel and and cylinder barrel wall between have minimum gap, described cylinder barrel two ends are set with end cap and cylinder barrel lid, described end cap and movable pulley seat are affixed, described piston rod, through cylinder barrel lid hanging target workpiece, has minimum gap between described piston rod and cylinder barrel lid inwall.
Described detecting device comprises two groups of laser displacement sensors and reflector, described laser displacement sensor is arranged on respectively air supporting seat and cylinder barrel covers, described reflector is sleeved on piston rod, and described laser displacement sensor can be measured respectively the displacement of air supporting cover and piston rod.
Further, the air inlet cover of described constant force output cylinder comprises the first air inlet cover and the second air inlet cover, and described the first air inlet cover is sleeved on cylinder barrel, and described the second air inlet cover is sleeved on cylinder barrel and covers.
Between described the first air inlet cover and cylinder barrel, leave gap and form the first air storing cavity, described the first air inlet puts and is provided with the first admission port, and described the first admission port communicates with the first air storing cavity.Between described the second air inlet cover and cylinder barrel lid, leave gap and form the second air storing cavity, described the second air inlet puts and is provided with the second admission port, and described the second admission port communicates with the second air storing cavity.
Described cylinder barrel first cutoff port radially that is uniformly distributed along the circumference, described first radially cutoff port communicate with the first air storing cavity, described first radially cutoff port in axial direction have two groups at least, described first radially installs orifice plug in cutoff port.
Described cylinder barrel covers second cutoff port radially that is uniformly distributed along the circumference, described second radially cutoff port communicate with the second air storing cavity, described second radially cutoff port in axial direction have two groups at least, described second radially installs orifice plug in cutoff port.
Described piston is provided with the first pressure relief groove, the first radial direction through hole in the axial blind hole that described the first pressure relief groove comprises piston center, the first groove on outside piston cylinder, the first groove; Described the first radial direction through hole communicates with axial blind hole, and described the first groove has two groups and be positioned at the two ends of piston at least.
Described piston rod center has axially extending bore and forms and to unload pore, described in unload pore and communicate with the axial blind hole at piston center.
Described cylinder barrel covers and is provided with the second pressure relief groove, and described the second pressure relief groove comprises the second groove on cylinder barrel lid inwall, the second radial direction through hole in the second groove; Described the second radial direction through hole communicates with ambient atmosphere.
Described end cap is provided with air gate, and described cylinder barrel covers and is provided with induction opening; Described induction opening connects baroceptor and large storage tank by tracheae, stores pressure-sustaining gas in described large storage tank.
Between described end cap and cylinder barrel, between cylinder barrel and the first air inlet cover, between cylinder barrel lid and cylinder barrel, all adopt O type circle to seal between cylinder barrel lid and the second air inlet cover.
Further, described the first fixed pulley, the second fixed pulley are air-bearing pulley, and described air supporting cover, the first fixed pulley, the second fixed pulley can pass through air-bearing shafts air feed.
Mentality of designing of the present utility model shows:
Because air-float guide rail does not exist friction force, therefore target workpiece is connected with air supporting cover, air supporting cover can be on air-bearing shafts frictionless motion, realizing the passive of horizontal direction follows, due to target workpiece, also will realize the constant force of vertical direction hangs, therefore the fixed pulley group hanging target workpiece that suspension strop puts by air supporting, when target workpiece horizontal motion, fixed pulley on slide block and movable pulley motion, the hanging force of vertical direction is unaffected, fixed pulley and movable pulley are air-bearing pulley, in the time of so just guaranteeing that suspension strop moves on pulley almost without friction, target workpiece is not introduced to additional forces.
The stroke of air-float guide rail is limited, therefore by air-floating apparatus and guide track system are coupled together, utilize laser displacement sensor to measure the displacement of air supporting cover, metrical information is fed back to guide track system control air-bearing shafts and move corresponding distance, make air supporting cover be positioned at all the time its effective travel.
The constant force output of vertical direction is exported cylinder by constant force and is realized, constant force output cylinder connects fixed pulley by fixed pulley seat, its output shaft hanging target workpiece, the piston of constant force output cylinder can be in cylinder barrel frictionless motion, therefore as long as passing ratio valve and storage tank control pass into the atmospheric pressure value of inner cavity of cylinder, keep constant, it is constant that the power value of exporting on cylinder barrel keeps.Because the stroke of constant force output cylinder is limited, therefore, the suspension strop other end connects serving motor, serving motor can be realized the folding and unfolding of suspension strop, by laser displacement sensor, can measure the displacement of connecting rod piston, then by serving motor folding and unfolding suspension strop band moveable cylinder, move corresponding distance, guarantee that connecting rod piston is positioned at its effective travel all the time, thereby realize the long distance hanging of vertical direction.
Constant force output cylinder barrel inner chamber communicates with large storage tank, in large storage tank, store pressure-sustaining gas, be equivalent to increase the volume of cylinder barrel inlet chamber, the volume-variation that piston movement causes is less on the impact of air pressure sudden change, on the other hand, active by line slideway is followed, and has reduced to change because connecting rod piston motion causes cylinder barrel cavity volume the impact that air pressure is produced, and has further improved the precision of constant force hanging.
The cylinder barrel of constant force output cylinder and cylinder barrel cover and are respectively equipped with radially cutoff port, radially cutoff port overcoat has air inlet cover, the admission port that high pressure gas put from air inlet enters, by cutoff port radially between piston and cylinder barrel, between piston rod and cylinder barrel lid, form air film, for piston provides support and lubricates; Piston is not subject to the impact of admission line, and intake method is simple, good stability.Piston and cylinder barrel cover and are equipped with pressure relief groove, and pressure relief groove communicates with ambient atmosphere, in the film formed gap of gas, form atmospheric area, make to have pressure gradient in gap, and the formation that air film is stablized in promotion, load-carrying capacity is good; Radially cutoff port on cylinder barrel is positioned at the medium position of cylinder barrel, and piston has certain length, in piston moving process, can guarantee that radially cutoff port on cylinder barrel is all the time in its range of movement.
The utility model has the advantages that: good stability, precision are high.
Accompanying drawing explanation
Fig. 1 is that long-distance 2 D is followed constant force erecting by overhang schematic diagram
Fig. 2 is constant force output cylinder schematic diagram
Fig. 3 is constant force output cylinder schematic perspective view
The specific embodiment
Long-distance 2 D is followed constant force erecting by overhang, comprises constant force output cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor 24, suspension strop 32, detecting device etc.
Described guide track system comprises line slideway 27, slide block 28, motor 25.Described line slideway 27 is arranged on horizontal gird and two ends are supported by support 26, and described slide block 28 is sleeved on line slideway 27, and described motor 25 is arranged on support 26 and can drives slide block 28 motions.
Described air-floating apparatus comprises air supporting seat 29, air-bearing shafts 30, air supporting cover 31; Described air supporting cover 31 is sleeved on air-bearing shafts 30, and described air-bearing shafts 30 two ends are supported by air supporting seat 29, described air supporting seat 29 connection sliding blocks 28.
Described assembly pulley comprises the first fixed pulley 34, the second fixed pulley 33 and movable pulley 35, described the first fixed pulley 34 and the second fixed pulley 33 are fixing with air supporting cover 31, described suspension strop 32 one end and support 26 are fixing, described suspension strop 32 other ends connect serving motor 24 through the first fixed pulley 34, movable pulley 35, the second fixed pulley 33 successively, and described movable pulley 35 connects constant force output cylinder by movable pulley seat 36.
Constant force output cylinder comprises piston 5, piston rod 17, cylinder barrel 4, end cap 1, cylinder barrel lid 12, air inlet cover; Piston rod 17 connects piston 5, piston 5 be sleeved in cylinder barrel 4 and and cylinder barrel wall between have minimum gap, cylinder barrel 4 two ends are set with end cap 1 and cylinder barrel lid 12, described end cap and movable pulley seat are affixed, described piston rod 17 is through cylinder barrel lid 12 hanging target workpiece, and described piston rod 17 and cylinder barrel cover has minimum gap between 12 inwalls.End cap 1 is provided with induction opening 2, and cylinder barrel lid 12 is provided with air gate 11; Induction opening 2 connects baroceptor and large storage tank by tracheae, in large storage tank, stores pressure-sustaining gas.
Described detecting device comprises two groups of laser displacement sensors 38 and reflector 37, described laser displacement sensor 38 is arranged on respectively on air supporting seat 29 and cylinder barrel lid 12, described reflector 37 is sleeved on piston rod 17, and described laser displacement sensor 38 can be measured respectively the displacement of air supporting cover 31 and piston rod 17.
Further, the air inlet cover of described constant force output cylinder comprises first air inlet cover the 7 and second air inlet cover 14, and described the first air inlet cover 7 is sleeved on cylinder barrel 4, and described the second air inlet cover 14 is sleeved on cylinder barrel lid 12; The first air inlet cover 7 and 4 of cylinder barrels leave gap and form the first air storing cavity 22, between the second air inlet cover and cylinder barrel lid, leave gap and form the second air storing cavity 20, the first air inlet cover 7 is provided with the first admission port 8, the first admission port 8 communicates 22 with the first air storing cavity, the second air inlet cover 14 is provided with the second admission port 16, the second admission ports 16 and communicates with the second air storing cavity 20.
Cylinder barrel 4 be uniformly distributed along the circumference first radially cutoff port 9, the first radially cutoff port 9 in axial direction have two groups, first radially cutoff port 9 communicate with the first air storing cavity 22; Cylinder barrel lid 12 be uniformly distributed along the circumference second radially cutoff port 15, the second radially cutoff port 15 in axial direction have two groups, second radially cutoff port 15 communicate with the second air storing cavity 20; The first cutoff port 9 and second interior orifice plug that is all provided with of cutoff port 15 radially radially.
Piston is provided with the first pressure relief groove, the first groove 10 on the axial blind hole 23 that the first pressure relief groove comprises piston center, outside piston cylinder, the first radial direction through hole 6 in the first groove 10; The first radial direction through hole 6 communicates with axial blind hole 23, and the first groove 10 has two groups and be positioned at the two ends of piston; Piston rod 17 centers have axially extending bore formation and unload pore 18, unload pore 18 and communicate with the axial blind hole 23 at piston center; Cylinder barrel lid 12 is provided with the second pressure relief groove, and the second pressure relief groove comprises the second groove 21 on cylinder barrel lid inwall, the second radial direction through hole 13 in the second groove; The second radial direction through hole 13 communicates with ambient atmosphere.
Between end cap 1 and cylinder barrel 4, between cylinder barrel 4 and the first air inlet cover 7, between cylinder barrel lid 12 and cylinder barrel 4, the 12 and second air inlet of cylinder barrel lid all adopts O type circle 3 to seal between overlapping 14.
Further, the first fixed pulley 34, the second fixed pulley 33, movable pulley 35 are air-bearing pulley, and air supporting cover the 31, first fixed pulley 34, the second fixed pulley 33 can pass through air-bearing shafts 30 air feed.
Claims (3)
1. long-distance 2 D is followed constant force erecting by overhang, it is characterized in that: comprise constant force output cylinder, air-floating apparatus, guide track system, assembly pulley, serving motor, suspension strop, detecting device;
Described guide track system comprises line slideway, slide block, motor; Described line slideway is arranged on horizontal gird and stent support is passed through at two ends, and described slide block set is contained on line slideway, and described motor is rack-mount and can drive slide block movement;
Described air-floating apparatus comprises air supporting seat, air-bearing shafts, air supporting cover; Described air supporting cover is sleeved on air-bearing shafts, and described air-bearing shafts two ends are by air supporting seat supports, described air supporting seat connection sliding block;
Described assembly pulley comprises the first fixed pulley, the second fixed pulley and movable pulley, described the first fixed pulley and the second fixed pulley and air supporting cover are fixing, described suspension strop one end and support are fixed, the described suspension strop other end connects serving motor through the first fixed pulley, movable pulley, the second fixed pulley successively, and described movable pulley connects constant force output cylinder by movable pulley seat;
Described constant force output cylinder comprises piston, piston rod, cylinder barrel, end cap, cylinder barrel lid, air inlet cover; Described piston rod connects piston, described piston bush be contained in cylinder barrel and and cylinder barrel wall between have minimum gap, described cylinder barrel two ends are set with end cap and cylinder barrel lid, described end cap and movable pulley seat are affixed, described piston rod, through cylinder barrel lid hanging target workpiece, has minimum gap between described piston rod and cylinder barrel lid inwall;
Described detecting device comprises two groups of laser displacement sensors and reflector, described laser displacement sensor is arranged on respectively air supporting seat and cylinder barrel covers, described reflector is sleeved on piston rod, and described laser displacement sensor can be measured respectively the displacement of air supporting cover and piston rod.
2. long-distance 2 D as claimed in claim 1 is followed constant force erecting by overhang, it is characterized in that: the air inlet cover of described constant force output cylinder comprises the first air inlet cover and the second air inlet cover, described the first air inlet cover is sleeved on cylinder barrel, and described the second air inlet cover is sleeved on cylinder barrel and covers;
Between described the first air inlet cover and cylinder barrel, leave gap and form the first air storing cavity, described the first air inlet puts and is provided with the first admission port, and described the first admission port communicates with the first air storing cavity; Between described the second air inlet cover and cylinder barrel lid, leave gap and form the second air storing cavity, described the second air inlet puts and is provided with the second admission port, and described the second admission port communicates with the second air storing cavity;
Described cylinder barrel first cutoff port radially that is uniformly distributed along the circumference, described first radially cutoff port communicate with the first air storing cavity, described first radially cutoff port in axial direction have two groups at least, described first radially installs orifice plug in cutoff port;
Described cylinder barrel covers second cutoff port radially that is uniformly distributed along the circumference, described second radially cutoff port communicate with the second air storing cavity, described second radially cutoff port in axial direction have two groups at least, described second radially installs orifice plug in cutoff port;
Described piston is provided with the first pressure relief groove, the first radial direction through hole in the axial blind hole that described the first pressure relief groove comprises piston center, the first groove on outside piston cylinder, the first groove; Described the first radial direction through hole communicates with axial blind hole, and described the first groove has two groups and be positioned at the two ends of piston at least;
Described piston rod center has axially extending bore and forms and to unload pore, described in unload pore and communicate with the axial blind hole at piston center;
Described cylinder barrel covers and is provided with the second pressure relief groove, and described the second pressure relief groove comprises the second groove on cylinder barrel lid inwall, the second radial direction through hole in the second groove; Described the second radial direction through hole communicates with ambient atmosphere;
Described end cap is provided with air gate, and described cylinder barrel covers and is provided with induction opening; Described induction opening connects baroceptor and large storage tank by tracheae, stores pressure-sustaining gas in described large storage tank.
3. long-distance 2 D as claimed in claim 1 is followed constant force erecting by overhang, it is characterized in that: described the first fixed pulley, the second fixed pulley, movable pulley are air-bearing pulley, described air supporting cover, the first fixed pulley, the second fixed pulley can pass through air-bearing shafts air feed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320648122.2U CN203833573U (en) | 2013-10-18 | 2013-10-18 | Long-distance two-dimensional following constant force hoisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320648122.2U CN203833573U (en) | 2013-10-18 | 2013-10-18 | Long-distance two-dimensional following constant force hoisting device |
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| Publication Number | Publication Date |
|---|---|
| CN203833573U true CN203833573U (en) | 2014-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320648122.2U Withdrawn - After Issue CN203833573U (en) | 2013-10-18 | 2013-10-18 | Long-distance two-dimensional following constant force hoisting device |
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| CN (1) | CN203833573U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103523719A (en) * | 2013-10-18 | 2014-01-22 | 浙江工业大学 | Long-distance two-dimensional following constant force hoisting device |
| CN113501148A (en) * | 2021-08-18 | 2021-10-15 | 哈尔滨工业大学 | Polar coordinate tracking type air-floatation pulley guide counterweight suspension micro-low gravity simulation system |
-
2013
- 2013-10-18 CN CN201320648122.2U patent/CN203833573U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103523719A (en) * | 2013-10-18 | 2014-01-22 | 浙江工业大学 | Long-distance two-dimensional following constant force hoisting device |
| CN103523719B (en) * | 2013-10-18 | 2015-08-05 | 浙江工业大学 | Long-distance 2 D follows constant force erecting by overhang |
| CN113501148A (en) * | 2021-08-18 | 2021-10-15 | 哈尔滨工业大学 | Polar coordinate tracking type air-floatation pulley guide counterweight suspension micro-low gravity simulation system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140917 Effective date of abandoning: 20150805 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140917 Effective date of abandoning: 20150805 |
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| RGAV | Abandon patent right to avoid regrant |