CN207239980U - A kind of constant force floating system - Google Patents

Abstract

The utility model discloses a kind of constant force floating system, it is related to industrial automation equipment technical field, include controller, constant force floating unit, electrical servo valve and force snesor, constant force floating unit can realize constant force operation, force snesor can detect constant force size and send controller to, controller active accommodation or according to sensor information make a policy control electrical servo valve adjust constant force size to realize to the flow control for being input to constant force floating unit.The utility model both can carry out active control by controller pre-set programs to the constant force size of constant force floating unit, can also according to using when feedback in real time adjusted, it can realize the operation of a variety of scenes, controllable degree is high, governing speed is fast, is particularly helpful to realize the technique processing such as accurate polishing, cutting.

Description

A kind of constant force floating system

Technical field

It the utility model is related to industrial automation equipment technical field, more particularly to a kind of constant force floating system.

Background technology

In industrial processes, polishing is very common process.Casting（Such as cast iron, cast aluminium, cast steel）Overlap and pour Weld seam among mouth and weldment often needs to polish.Majority is polished by manpower at present, time-consuming and laborious, and work on the spot environment Difference（As dust is very big）, security incident happens occasionally so that the working environment for the staff that polishes is quite severe.Nowadays, use Robot or other automation equipments carry out polishing and are increasingly becoming trend.

Machine bearing is substantially rigid bearing, and axial stretching can not be realized in bruting process, therefore can not ensure to polish During constant force is imposed to processing device, have a great impact to the precision of polishing.Traditional approach often in bruting process Axial force distribution is polished with realizing.But the differences such as the surface configuration due to device to be polished, position and polishing mode, air exercise The control of the radial load of grinder tool is also critically important.Existing machine bearing is substantially rigid bearing, and small part can realize constant force What is shunk is also to float in axial constant force, and can not also be realized for radial load, the often simply flexible adjustment of some radial directions The constant force of radial direction so that some need efficiency that the technological operation of radial direction constant force is difficult to complete or completes, after the completion of workpiece Precision etc. is all difficult to reach requirement.

Existing robot or other automation equipments are polished, and generally require control whole system to carry out coordination work Industry.Since device to be polished is complicated, the control to whole system is also highly difficult, it is especially desirable to realizes beating for constant force Mill, due to lacking constant force device, and constant force control implementation result is bad so that the industrial polishing for being difficult to realize constant force.

Utility model content

The deficiency for more than, the utility model provide a kind of constant force floating system, can realize on the whole to whole system The control of system, to realize that accurate constant force is processed.

To reach above-mentioned purpose, the utility model adopts the following technical solution：

A kind of constant force floating system, includes controller, constant force floating unit, electrical servo valve and force snesor,

The constant force floating unit includes radial floating unit and/or axial floating unit, wherein,

The radial floating unit includes cylinder barrel, piston, universal bearing, supporting cylinder, load pawl, support base and reinforcing Pawl, the cylinder barrel are sheathed on the piston exterior and form an air cavity with the piston, and the is provided with the cylinder barrel Three air inlets, the 3rd air inlet are connected with the air cavity, and the support base is fixedly connected on the bottom of the cylinder barrel； The universal bearing is arranged on the center of the support base, matches in the universal bearing with the universal bearing with being set with The supporting cylinder；The load pawl is fixedly connected with the supporting cylinder, and the reinforcing pawl is fixedly connected with the piston, described Load pawl is in contact with the reinforcing pawl；Limited block is provided with the universal bearing, the limited block causes the universal shaft The swing of radial direction can only be carried out by holding；

The axial floating unit includes floating axle, constant pressure outer cylinder body, constant pressure inner cylinder body and floating piston：The constant pressure Inner cylinder body and floating piston are sheathed on the outside of the floating axle respectively, and the constant pressure outer cylinder body is sheathed on the constant pressure inner cylinder body With the outside of floating piston, form a chamber between the constant pressure outer cylinder body and constant pressure inner cylinder body, described floating piston one end with The floating axle is fixedly connected, and the other end is located in the chamber and the chamber is divided into first chamber and second chamber, The first air inlet and the second air inlet, first air inlet and first chamber are provided with the side wall of the constant pressure outer cylinder body Room is connected, and second air inlet is connected with the second chamber；

The force snesor is arranged on the radial floating unit and/or axial floating unit, for measuring the branch Hold the radial load of cylinder and/or the axial force of the floating axle；

3rd air inlet of the electrical servo valve and the radial floating unit and/or with the axial floating unit First air inlet and/or the second air inlet are connected, for providing gas to the radial floating unit and/or axial floating unit Stream；

The controller is connected with the force snesor and the electrical servo valve respectively, for receiving the force snesor Measuring signal and control the electrical servo valve.

One kind as the utility model is improved, and the electrical servo valve includes servomotor, valve body and spool, described The output shaft of servomotor is fixedly connected with one end of the spool, and the spool is located in the valve body；

The spool offers the first vent grooves in the circumferential, in the horizontal stroke of excessively described first vent grooves on the valve body The first servo valve air inlet and the first servo valve air gate are provided with the position in section, certain angle is gone in the spool When, the first servo valve air inlet, the first vent grooves are connected with the first servo valve air gate.

One kind as the utility model is improved, and one end inner sleeve of the cylinder barrel is equipped with sleeve, and the sleeve is located at Between the cylinder barrel and the piston, the air cavity is formed between the sleeve, cylinder barrel and piston；The cylinder barrel and work Linear bearing is provided between plug and/or between the sleeve and piston；Linear axes are provided between the cylinder barrel and piston Hold.

One kind as the utility model is improved, and described supporting cylinder one end is fixedly installed extending, the supporting cylinder one End is fixedly installed extending, and the extending and supporting cylinder are hollow tubular structure.

One kind as the utility model is improved, and the floating axle is hollow tubular structure, the constant pressure inner cylinder body end face Perforate.

One kind as the utility model is improved, described when the constant force floating unit includes radial floating unit Clump weight is provided with extending and/or supporting cylinder to be used for realization the extending, supporting cylinder and clump weight and be fixed on institute The center of gravity of structure and the center of rotation of the universal bearing formed by the external devices on extending and supporting cylinder is stated to overlap；When When the constant force floating unit includes radial floating unit and axial floating unit, the extending and/or supporting cylinder and/or Be provided with axial floating unit clump weight be used for realization the extending, supporting cylinder, clump weight and axial floating unit and It is fixed on the center of gravity and the center of rotation of the universal bearing of structure formed by the external devices on the extending and supporting cylinder Overlap.

One kind as the utility model is improved, and linear guiding mechanism is equipped between the floating axle and constant pressure inner cylinder body, The linear guiding mechanism make it that axial linear motion can only be carried out between the floating axle and constant pressure inner cylinder body；The straight line Guiding mechanism includes：The first sliding groove on the outer surface of the floating axle, the inner surface arranged on the constant pressure inner cylinder body and Second sliding slot opposite with the first sliding groove position and multiple rolling elements in the first sliding groove and the second sliding slot.

One kind as the utility model is improved, and the constant force floating unit includes being used to measure the amount of piston displacement Displacement sensor and/or for measuring the displacement sensor of the floating axle displacement and/or floating for measuring the constant force The obliquity sensor of unit gradient.

One kind as the utility model is improved, and the spool is further opened with the second vent grooves, the valve in the circumferential The second servo valve air inlet is provided with the position of the cross section of excessively described second vent grooves and the second servo valve goes out on body Gas port, offers the total groove of air inlet on the valve body, and the port of the first servo valve air inlet and the second servo valve air inlet is same When positioned at the total groove of the air inlet slot bottom；When the spool goes to certain angle, the second servo valve air inlet, second are led to Gas groove and the second servo valve air gate are connected；And when the second servo valve air inlet, the second vent grooves and second are watched When taking valve air gate and being connected, the first servo valve air inlet, the first vent grooves are not connected with the first servo valve air gate, When the first servo valve air inlet, the first vent grooves are connected with the first servo valve air gate, second servo valve Air inlet, the second vent grooves are not connected with the second servo valve air gate.

One kind as the utility model is improved, and the spool offers the first discouraged groove and second and loses heart in the circumferential Groove,

On the valve body excessively described first lose heart groove cross section position on be provided with the first atmospheric air port and the One leakage port, when the spool goes to certain angle, first atmospheric air port, the first discouraged groove and the first leakage port phase Connection；The first outgassing groove, the port while position of the first servo valve air gate and the first leakage port are offered on the valve body In the slot bottom of first outgassing groove；

On the valve body excessively described second lose heart groove cross section position on be provided with the second atmospheric air port and the Two leakage ports, when the spool goes to certain angle, second atmospheric air port, the second discouraged groove and the second leakage port phase Connection；The second outgassing groove, the port while position of the second servo valve air gate and the second leakage port are offered on the valve body In the slot bottom of second outgassing groove；

When the first servo valve air inlet, the first vent grooves are connected with the first servo valve air gate, described Two atmospheric air ports, the second discouraged groove and the second leakage port are connected, first atmospheric air port, the first discouraged groove and first Leakage port does not connect；When the second servo valve air inlet, the second vent grooves are connected with the second servo valve air gate, institute State the first atmospheric air port, the first lose heart groove and the first leakage port is connected, second atmospheric air port, second lose heart groove and Second leakage port does not connect.

Compared with prior art, the beneficial effects of the utility model are：

1st, the utility model has constant force floating unit, and constant force floating unit includes radial floating unit and/or axial direction Floating unit, axial floating unit can realize that axial constant force is floated, and radial floating unit can realize that the constant force of radial direction is floated Dynamic, to realize that a kind of flexible polishing of constant force is processed, it can absorb to hommization the path of mechanical processing with being processed very much The curve deviation of blank material so that can be very flexibly along processed hair installed in polishing device of the utility model etc. Base surface is operated to realize the techniques such as polishing；

2nd, electrical servo valve realizes that flow and gas circuit control by servomotor driving and valve body and spool, can Realize that high action sensitivity, excellent flow-rate adjustment dynamic property and air pressure adjustment and gas circuit change the performances such as road integration, So as to ensure the constant force of constant force floating unit with constant force floating unit precise match to realize accurately gas flow optimized Float；

3rd, the constant force size of force sensor measuring constant force floating unit and controller is fed back to, controller controls and adjusts electricity Dynamic servo valve is swift excellent with reference to electrical servo valve by this control in real time to realize the flow control of electrical servo valve Point, can realize the fast reaction of electrical servo valve to realize the quick regulation of air-flow；

4th, the utility model can both be carried out actively the constant force size of constant force floating unit by controller pre-set programs Control, can also according to using when feedback in real time adjusted.

Brief description of the drawings

It is required in being described below to embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment The attached drawing used is briefly described.

Fig. 1 is the connection diagram of the utility model；

Fig. 2 is the structure diagram of axial floating unit；

Fig. 3 is the position signal of flange, force snesor, displacement sensor and obliquity sensor on axial floating unit Figure；

Fig. 4 is the structure diagram of electrical servo valve；

Fig. 5 is the front view of the embodiment of the electrical servo valve in Fig. 4；

Fig. 6 is the top view of the electrical servo valve in Fig. 4；

Fig. 7 is the explosive view of the electrical servo valve in Fig. 4；

Fig. 8 is the sectional view of the electrical servo valve in Fig. 4；

Fig. 9 is the schematic diagram of electrical servo valve specific embodiment；

Figure 10 is sectional view of the electrical servo valve in Fig. 9 in special angle；

Figure 11 is sectional view of the electrical servo valve in Fig. 9 in special angle；

Figure 12 is sectional view of the electrical servo valve in Fig. 9 in special angle；

The structure diagram of Figure 13 devices in order to control；

Figure 14 is the structure diagram of radial floating unit；

Figure 15 is the position view of grinding head, force snesor and clump weight on radial floating unit；

Figure 16 is the connection diagram of radial floating unit and axial floating unit.

Wherein, it is labeled as shown in figure：1：Cylinder barrel；2：Piston；3：Universal bearing；4：Support cylinder；5：Load pawl；6：Branch Support seat；7：Reinforce pawl；8：Air cavity；9：3rd air inlet；10：Sleeve；11：Floating axle；12：Constant pressure outer cylinder body；13：Constant pressure inner casing Body；14：Floating piston；15：First chamber；16：Second chamber；17：First air inlet；18：Second air inlet；19：Linear axes Hold；20：Extending；21：Clump weight；22：Rolling element；23：Displacement sensor；24：Limited block；25：Grinding head；26：Power senses Device；27：Controller；28：Obliquity sensor；29：Constant force floating unit；30：Touch-screen；31：Sensor interface；32：Servo valve Interface；33：Flange；100：Electrical servo valve；110：Servomotor；120：Valve body；130：Spool；140：The total groove of air inlet；150： First outgassing groove；160：Second outgassing groove；170：Rolling bearing；180：Connector；121：First servo valve air inlet；122：The One servo valve air gate；123：Second servo valve air inlet；124：Second servo valve air gate；125：First atmospheric air port； 126：First leakage port；127：Second atmospheric air port；128：Second leakage port；131：First vent grooves；132：Second ventilation Groove；133：First discouraged groove；134：Second discouraged groove.

Embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts All other embodiments obtained, shall fall within the protection scope of the present invention.

Embodiment 1

Fig. 1 to Figure 13 is refer to, the utility model provides a kind of constant force floating system, includes controller 27, constant force is floated Moving cell 29, electrical servo valve 100 and force snesor 26.

Fig. 2 is refer to, constant force floating unit 29 is axial floating unit, and axial floating unit includes floating axle 11, perseverance Press outer cylinder body 12, constant pressure inner cylinder body 13 and floating piston 14：Constant pressure inner cylinder body 13 and floating piston 14 are sheathed on floating axle respectively 11 outside, constant pressure outer cylinder body 12 are sheathed on the outside of constant pressure inner cylinder body 13 and floating piston 14, constant pressure outer cylinder body 12 and constant pressure A chamber is formed between inner cylinder body 13,14 one end of floating piston is fixedly connected with floating axle 11, and the other end is located in chamber and will Chamber is divided into first chamber 15 and second chamber 16, and the first air inlet 17 and second is provided with the side wall of constant pressure outer cylinder body 12 Air inlet 18, the first air inlet 17 are connected with first chamber 15, and the second air inlet 18 is connected with second chamber 6.

During work, by the first air inlet 17 of axial floating unit either the second air inlet 18 to first chamber 15 or Inflation in second chamber 16, when being inflated by the first air inlet 17 into first chamber 15, floating piston 14 is by airflow function Moved to 16 direction of second chamber, since floating piston 14 is fixedly connected with floating axle 11, floating piston 14 drives floating Axis 11 moves together, and floating axle 11 is in the state stretched out.When the timing of air-flow one that first chamber 15 inputs, floating piston 14 by Power is certain, therefore it is that constant, i.e., described axial constant force is floated to pass to the power of floating axle 11 by floating piston 14.When logical When crossing the second air inlet 18 and being inflated into second chamber 16, floating piston 14 is moved by airflow function to 15 direction of first chamber, Floating piston 14 drives floating axle 11 to move together, and floating axle 11 is in the state of retraction.When the air-flow that second chamber 16 inputs One timing, 14 stress of floating piston is certain, therefore it is also constant to pass to the power of floating axle 11 by floating piston 14.It is worth It is noted that due to the chamber indoor activity that floating piston 14 can be formed in constant pressure outer cylinder body 12 and constant pressure inner cylinder body 13, the The boundary line of one chamber 15 and second chamber 16 does not define significantly.In addition, it should be noted that floating piston 14 and perseverance The not necessarily complete top secret of outer cylinder body 12 is pressed, therefore when the first air inlet 17 is inflated into first chamber 15, gas It can be discharged by the gap between floating piston 14 and constant pressure outer cylinder body 12 and the second air inlet 18；When the second air inlet 18 to In second chamber 16 during inflation, gas can also pass through the gap between floating piston 14 and constant pressure outer cylinder body 12 and the first air inlet Mouth 17 is discharged.By above-mentioned setting, it can be achieved that floating in axial constant force, this constant force is constant to workpiece when can be work The power of pushing or to the power of the constant pull-up of workpiece, regardless of constant force, can realize to the axial permanent of processing device Power acts on, so as to play the role of constant force, protect device, put forward high-precision purpose.

Further, linear guiding mechanism is equipped between floating axle 11 and constant pressure inner cylinder body 13, linear guiding mechanism causes Axial linear motion can only be carried out between floating axle 11 and constant pressure inner cylinder body 13.Preferably, linear guiding mechanism includes：It is arranged on The first sliding groove on the outer surface of floating axle 11, the inner surface arranged on constant pressure inner cylinder body 13 and opposite with the first sliding groove position Two sliding slots and multiple rolling elements 22 in the first sliding groove and the second sliding slot.Preferably, the first sliding groove and the second sliding slot are Circular sliding slot, rolling element 22 are sphere, are preferably steel ball, the design of circular sliding slot and steel ball can reduce rolling element 22 with The interior wall friction of the first sliding groove and the second sliding slot, increases the service life of axial constant force floating installation.Preferably set by this Meter, can further limit floating axle 11 can only carry out axial linear motion, and ensure that the smoothness of axial linear motion Property.

Floating axle 11 is hollow cylindrical configuration, the center drilling of 13 end face of constant pressure inner cylinder body.In the specific implementation, floating axle 11 or constant pressure inner cylinder body 13 on may be installed according to use demand, be fixed with external devices, such as power source, polishing are first-class.It is floating Moving axis 11 is the 13 end face perforate of hollow tubular structure and constant pressure inner cylinder body, these external devices can be placed in two respectively, Power source is such as installed on 13 one end of constant pressure inner cylinder body, grinding head is installed on 11 one end of floating axle, at this time the output shaft of power source 11 one end of floating axle can be extended to by the perforate of 13 end face of floating axle 11 and constant pressure inner cylinder body, to the grinding head on floating axle 11 Power is provided.Certainly, external devices, which can also be installed concentratedly, is fixed on floating axle 11 1.

Fig. 3 is refer to, force snesor 26 is arranged on axial floating unit, for measuring the axial force of floating axle 11.It is permanent Press and force sensor 26 and obliquity sensor 28 are installed on 13 end face of inner cylinder body.Force snesor 26 is used to detect actual polishing Power, obliquity sensor 28 are used to measure the angle of inclination of axial floating unit with respect to the horizontal plane.Floating axle 11, floating piston 14 And the weight of other components being connected on both is a part for axial force.When the utility model is in different angle, this A little weight are different to the axial component of floating axle 11.The angle of inclination of axial floating unit is measured by obliquity sensor 28, i.e., Influence of the weight to axial force can be obtained, finally allows to adjust the pressure in first chamber 15 or second chamber 16 to ensure The utility model remains the axial constant force of floating axle 11 under different postures.Force snesor 26 can monitor actual beat Power is ground, and feeds back to controller 27 to adjust the air pressure of first chamber 15 and second chamber 16, to keep the axial direction of floating axle 11 Constant force.

Fig. 3 is refer to, axial floating unit further includes the displacement sensor 23 for measuring 11 displacement of floating axle.Float Axis 11 is provided with connector in the one end for being connected with floating piston 14, and inclined-plane, displacement are provided with the side of constant pressure outer cylinder body 12 One end of sensor 23 is fixedly connected on connector, and connector is the one of flange 33, i.e. displacement sensor 23 in the present embodiment End is fixedly connected on floating axle 11 by flange 33, and the other end is movably connected on the inclined-plane of the constant pressure outer cylinder body 12, Displacement sensor 23 is strain-type sensor, and the measurement of displacement is realized by the change of 23 movable end of displacement sensor.

Fig. 4 to Fig. 8 is refer to, electrical servo valve 100 includes servomotor 110, valve body 120 and spool 130, servo electricity The output shaft of machine 110 is fixedly connected with one end of spool 130, and spool 130 is located in valve body 120；

Spool 130 offers the first vent grooves 131 in the circumferential, and the horizontal stroke of the first vent grooves 131 is being crossed on valve body 120 The first servo valve air inlet 121 and the first servo valve air gate 122 are provided with the position in section, is gone to necessarily in spool 130 During angle, the first servo valve air inlet 121, the first vent grooves 131 are connected with the first servo valve air gate 122.

Servomotor 110 is connected by connector 180 with valve body 120, is specially that mode is bolted in connector 180 It is fixedly connected with valve body 120, then servomotor 110 is bolted mode and is fixedly connected with connector 180.Connector 180 centers offer through hole to allow spool 130 to pass through.Spool 130 is located in valve body 120, is specially to offer to engrave in valve body 120 Sky, 130 outer wall of spool match with the hollow-out part.

During implementation, by servomotor 110 control spool 130 rotate, when spool 130 goes to certain angle, first into Gas port 121, the first vent grooves 131 are connected with the first gas outlet 122, can realize at this time air-flow from the first air inlet 121 into Enter, discharged from the first gas outlet 122 to realize current-controlled purpose.First vent grooves 131 are opened in the circumferential direction of spool 130 On, therefore can be by 130 angle of adjusting spool, to realize that the communicating passage of the first vent grooves 131 and the first air inlet 121 is cut Face area, i.e. the communicating passage area of section of the first vent grooves 131 and the first air inlet 121 are big, and air-flow flux is big, and first is logical The communicating passage area of section of 131 and first air inlet 121 of gas groove is small, and air-flow flux is small, therefore can pass through adjusting spool 130 Angle controls the communicating passage area of section of the first vent grooves 131 and the first air inlet 121 accurate to reach air flow rate Control and the purpose of excellent flow-rate adjustment.

It refer to Fig. 4 to Fig. 8, spool 130 is further opened with the second vent grooves 132 in the circumferential, and the is being crossed on valve body 120 The second air inlet 123 and the second gas outlet 124 are provided with the position of the cross section of two vent grooves 132, is gone in spool 130 During certain angle, the second air inlet 123, the second vent grooves 132 are connected with the second gas outlet 124；And when the second air inlet 123rd, when the second vent grooves 132 are connected with the second gas outlet 124, the first air inlet 121, the first vent grooves 131 and One gas outlet 122 does not connect, when the first air inlet 121, the first vent grooves 131 are connected with the first gas outlet 122, second Air inlet 123, the second vent grooves 132 are not connected with the second gas outlet 124.Second air inlet 123, the second vent grooves 132 With the work of 124 ground operation principle of the second gas outlet and the first air inlet 121, the first vent grooves 131 and the first gas outlet 122 Principle is identical, be when core 130 goes to certain angle turn on realize air-flow by, and again by 130 angle of spool come Realize air flow rate accurately control and excellent flow-rate adjustment.Second air inlet 123, the second vent grooves 132 and the second outlet The setting that 124 and first air inlet 121 of mouth, the first vent grooves 131 and the first gas outlet 122 do not simultaneously turn on, can Realize that gas circuit changes road.

Fig. 4 to Fig. 8 is refer to, the total groove 140 of air inlet, the first air inlet 121 and the second air inlet are offered on valve body 120 123 port is at the same time positioned at the slot bottom of the total groove 140 of air inlet.During implementation, can by external feed stream pipeline directly with the total groove of air inlet 140, then the first air inlet 121 or the second air inlet 123 are diverted to, it can be achieved that an external feed stream from the total groove 140 of air inlet again Pipeline air inlet.

Fig. 4 to Fig. 8 is refer to, spool 130 offers the first discouraged discouraged groove 134 of groove 133 and second in the circumferential,

On valve body 120 cross first lose heart groove 133 cross section position on be provided with the first atmospheric air port 125 and the One leakage port 126, when spool 130 goes to certain angle, the discouraged groove 133 and first of the first atmospheric air port 125, first loses heart Mouth 126 is connected；Offer the first outgassing groove 150 on valve body 120, the port of the first gas outlet 122 and the first leakage port 126 is same When positioned at the first outgassing groove 150 slot bottom；

On valve body 120 cross second lose heart groove 134 cross section position on be provided with the second atmospheric air port 127 and the Two leakage ports 128, when spool 130 goes to certain angle, the discouraged groove 134 and second of the second atmospheric air port 127, second loses heart Mouth 128 is connected；Offer the second outgassing groove 160 on valve body 120, the port of the second gas outlet 124 and the second leakage port 128 is same When positioned at the second outgassing groove 160 slot bottom；

When the first air inlet 121, the first vent grooves 131 are connected with the first gas outlet 122, the second atmospheric air port 127th, second groove 134 that loses heart is connected with the second leakage port 128, and the first atmospheric air port 125, first is lost heart groove 133 and the One leakage port 126 does not connect；When the second air inlet 123, the second vent grooves 132 are connected with the second gas outlet 124, first The groove 133 that loses heart of atmospheric air port 125, first is connected with the first leakage port 126, and the second atmospheric air port 127, second is lost heart groove 134 do not connect with the second leakage port 128.

In existing valve flow control equipment, switch necessary not only for progress air flow rate control, gas circuit, it is also necessary at the same time Carry out air pressure adjustment.In the prior art often air flow rate control, gas circuit are realized using reversal valve and air pressure valve at the same time Switching and air pressure adjustment.But two kinds of equipment are used at the same time, one side cost is higher, is on the other hand also unfavorable for the collection of device Into and device between work in coordination.

In this preferred embodiment, the first atmospheric air port 125, first is lost heart 133 and first leakage port 126 of groove and the The setting of two atmospheric air ports 127, second, 134 and second leakage port 128 of discouraged groove, i.e., in order to using only electricity provided by the embodiment Dynamic servo valve 100 can be achieved with air flow rate control, gas circuit switching and air pressure adjustment.When it is implemented, the first outgassing groove 150 It is connected respectively by pipeline with device to be supplied gas with the second outgassing groove 160；When spool 130 goes to certain angle, at this time first Air inlet 121, the first vent grooves 131 are connected with the first gas outlet 122, the second air inlet 123, the second vent grooves 132 Not connected with the second gas outlet 124, the discouraged groove 134 of the second atmospheric air port 127, second is connected with the second leakage port 128, the One atmospheric air port 125, first groove 133 that loses heart is not connected with the first leakage port 126, therefore can pass through the first air inlet 121, the One vent grooves 131 and the first gas outlet 122 are supplied gas to device to be supplied gas（Play the function of flow control）, and treat air feeding device Part is connected further through pipeline with discouraged 134 and second leakage port 128 of groove of the second atmospheric air port 127, second, and can the row of realization Gas（Play the function of air pressure adjustment）；When spool 130 goes to other certain angle, the second air inlet 123, second is ventilated at this time Groove 132 is connected with the second gas outlet 124, and the first air inlet 121, the first vent grooves 131 and the first gas outlet 122 do not connect Logical, the discouraged groove 133 of the first atmospheric air port 125, first is connected with the first leakage port 126, the second atmospheric air port 127, second The groove 134 that loses heart is not connected with the second leakage port 128, therefore can pass through the second air inlet 123, the second vent grooves 132 and the Supply gas to device to be supplied gas two gas outlets 124（Play the function of flow control）, and device to be supplied gas is further through pipeline and The discouraged groove 133 of one atmospheric air port 125, first is connected with the first leakage port 126, and can realize exhaust（Play air pressure tune The function of section）；And by these air inlets, the conversion of exhaust passage, also achieve the function that gas circuit switches.

Fig. 4 to Fig. 8 is refer to, the front-end and back-end of spool 130 are connected to a fixed by rolling bearing 170 and valve body 120. On the one hand the setting of rolling bearing 170 can ensure the steady of the rotation of spool 130, reduction and the friction of valve body 120, on the other hand It is also ensured that spool 130 can keep axis rotation to ensure that spool 130 coordinates with the fine and close of valve body 120.

Fig. 9 to Figure 12 is refer to, cutting is carried out on tetra- faces of A-A, B-B, C-C and D-D to electrical servo valve, obtains four The sectional view of a position.

Figure 10 is the sectional view of A-A, B-B, C-C and D-D tetra- position of the spool 130 under a special angle, at this time the One air inlet 121, the first vent grooves 131 are not connected with the first gas outlet 122, the second air inlet 123, the second vent grooves 132 do not connect with the second gas outlet 124, and discouraged 134 and second leakage port 128 of groove of the second atmospheric air port 127, second does not connect Logical, the discouraged groove 133 of the first atmospheric air port 125, first is not connected with the first leakage port 126, it will be assumed that the angle is 0 °.

When spool 130 rotates clockwise 80 ° at 0, as shown in figure 11, the second air inlet 123, second is ventilated at this time Groove 132 is connected with the second gas outlet 124, and the first air inlet 121, the first vent grooves 131 and the first gas outlet 122 do not connect Logical, the discouraged groove 133 of the first atmospheric air port 125, first is connected with the first leakage port 126, the second atmospheric air port 127, second The groove 134 that loses heart is not connected with the second leakage port 128, can pass through the second air inlet 123, the second vent grooves 132 and the at this time Supply gas to device to be supplied gas two gas outlets 124（Play the function of flow control）, and device to be supplied gas is further through pipeline and The discouraged groove 133 of one atmospheric air port 125, first is connected with the first leakage port 126, and can realize exhaust（Play air pressure tune The function of section）.

When spool 130 rotates 80 ° counterclockwise at 0, as shown in figure 12, the first air inlet 121, first is ventilated at this time Groove 131 is connected with the first gas outlet 122, and the second air inlet 123, the second vent grooves 132 and the second gas outlet 124 do not connect Logical, the discouraged groove 134 of the second atmospheric air port 127, second is connected with the second leakage port 128, the first atmospheric air port 125, first The groove 133 that loses heart is not connected with the first leakage port 126, therefore can pass through the first air inlet 121, the first vent grooves 131 and the Supply gas to device to be supplied gas one gas outlet 122（Play the function of flow control）, and device to be supplied gas is further through pipeline and The discouraged groove 134 of two atmospheric air ports 127, second is connected with the second leakage port 128, and can realize exhaust（Play air pressure tune The function of section）.

Electrical servo valve 100 is connected with the first air inlet 17 of axial floating unit and the second air inlet 18, for Axial floating unit provides air-flow.Specially the first air inlet 17 and the second air inlet 18 are gone out by air delivering pipeline and first respectively Air drain 150 is connected with the second outgassing groove 160.Because floating piston 14 is not necessarily completely top-secret with constant pressure outer cylinder body 12 , therefore when the first air inlet 17 is inflated into first chamber 15, gas can also pass through floating piston 14 and constant pressure outer cylinder body Gap and the second air inlet 18 between 12 are discharged；When the second air inlet 18 is inflated into second chamber 16, gas also may be used Discharged by the gap between floating piston 14 and constant pressure outer cylinder body 12 and the first air inlet 17.According to above-mentioned to electrical servo The concrete structure of valve 100 and the elaboration of function are understood, air-flow offer is carried out, it can be achieved that axial direction using electrical servo valve 100 The flow control of floating unit and air pressure adjustment.

Fig. 1 is refer to, controller 27 is connected with force snesor 26 and electrical servo valve 100 respectively, is sensed for reception The measuring signal of device 26 simultaneously controls electrical servo valve 100.Figure 13 is refer to, touch-screen 30, sensing are included outside controller 27 Device interface 31 and servo valve interface 32, are internally provided with user interactive module, signal acquisition module, control module of servo valve and divide Analysis and decision-making module.User interactive module includes touch-screen 30, I/O, communication interface etc., and user is inputted by user interactive module Control instruction and parameter, can also obtain constant force floating system information.Signal acquisition module is connected with sensor interface 31, for adopting Collect the signal of force snesor 26.Control module of servo valve is connected with servo valve interface 32 for controlling electrical servo valve 100.Analysis And decision-making module is used for all signals of comprehensive analysis, control instruction is sent, maintains the axial force of axial floating unit constant.Implement When, such as polished using the utility model, be then fixedly mounted grinding head on floating axle 11, during polishing, grinding head and wait to beat Device contacts are ground, can be by one（It is more）The effect of a power（This power can be detected by force snesor 26 and send controller 27 to）, Floating axle 11 has the trend of axial movement at this time（If floating axle 11 moves, 11 displacement of floating axle can be displaced by sensor 23 detect and send controller 27 to）, therefore the signal detected by force snesor 26 and displacement sensor 23, can be by controlling Device 27 processed adjusts, and the gas to the first air inlet 17 and/or the second air inlet 18 is realized by controlling electrical servo valve 100 Flow control is flowed, realizes that the axial force of floating axle 11 is constant by gas flow optimized, to realize that constant force is polished.Certainly, this practicality It is new can also active control electrical servo valve 100 realize the air-flow stream to the first air inlet 17 and/or the second air inlet 18 Amount control, constant force polishing.

Embodiment 2

The present embodiment provides a kind of constant force floating system, as different from Example 1, constant force floating unit in the present embodiment 29 be radial floating unit.

Refer to Figure 14, radial floating unit include cylinder barrel 1, piston 2, universal bearing 3, supporting cylinder 4, load pawl 5, Support base 6 and reinforcing pawl 7, cylinder barrel 1 are sheathed on the outside of piston 2 and form an air cavity 8 with piston 2, be provided with cylinder barrel 1 3rd air inlet 9, the 3rd air inlet 9 are connected with air cavity 8, and support base 6 is fixedly connected on the bottom of cylinder barrel 1；Universal bearing 3 The center of support base 6 is arranged on, matches somebody with somebody the supporting cylinder 4 for being set with and matching with universal bearing 3 in universal bearing 3；Load pawl 5 and branch Hold cylinder 4 to be fixedly connected, reinforcing pawl 7 is fixedly connected with piston 2, and load pawl 5 is in contact with reinforcing pawl 7；It is provided with universal bearing 3 Limited block 24, limited block 24 is so that universal bearing 3 can only carry out the swing of radial direction.

During work, exterior grinding head 25 etc. is installed on supporting cylinder 4, the force in radial such as exterior grinding head 25（If For F1）So that supporting cylinder 4 is amesiality around the center of rotation swing of universal bearing 3.Shaking moment M1=F1 × L1 caused by F1 （L1 is the arm of force）.There is gas in air cavity 8, piston 2 bears gas pressure（It is set to F2）, F2 passes to reinforcing pawl 7 and acting on and holds Power pawl 5, prevents supporting cylinder 4 from being swung around the center of rotation of universal bearing 3.Moment of resistance M2=F2 × L2 that F2 is produced（L2 is the arm of force）. As M1=M2, floating installation stress balance, universal bearing 3 is not swung, at this time F1=F2 × L2/L1.What floating installation was swung During, if amplitude of fluctuation is little, L1, L2 change are also little, and constant force floating is regarded as in engineering.Meanwhile pass through adjusting Air pressure size in air cavity 8 also can regulating device radial direction constant force size.Radial floating unit, can make polishing pressure permanent all the time It is fixed, processed with realizing that the constant force of radial direction floats to polish.It can absorb to hommization very much the path of mechanical processing and processed blank The curve deviation of material so that can be very flexibly along processed blank table installed in polishing device of the utility model etc. Face is operated to realize the techniques such as polishing.

Refer to Figure 14, one end inner sleeve of cylinder barrel 1 is equipped with sleeve 10, sleeve 10 be located at cylinder barrel 1 and piston 2 it Between, air cavity 8 is formed between sleeve 10, cylinder barrel 1 and piston 2.Setting for sleeve 10 can be with the adjustment of cylinder barrel 1 and piston 2, such as 2 phase of adjustment and cylinder barrel 1 and piston of 2 interaction force of adjustment, cylinder barrel 1 and piston of 2 compactness of cylinder barrel 1 and piston Adjustment of mutual movement relation etc..Further, Figure 14 is refer to, between cylinder barrel 1 and piston 2 between sleeve 10 and piston 2 It is provided with linear bearing 19；Linear bearing 11 is provided between cylinder barrel 1 and piston 2.When supporting cylinder 4 bears radial load, ten thousand Swung to bearing 3, in the case where load pawl 5, reinforcing pawl 7 act on, piston 2 can impose certain lateral force to cylinder barrel 1 and sleeve 10, The lateral force and piston 2 and the mutual movement locus of cylinder barrel 1 and sleeve 10 are simultaneously not parallel, therefore can cause piston 2 and cylinder Abrasion is be easy to cause between cylinder 1 and between piston 2 and sleeve 10, is unfavorable for the use of device.Linear bearing 19 can be used for Bear lateral force, reduce between piston 2 and cylinder barrel 1 and the abrasion between piston 2 and sleeve 10, beneficial to piston 2 and cylinder The mutual movement of cylinder 1 and sleeve 10.

23 one end of displacement sensor for measuring 2 offset of piston is fixedly connected with cylinder barrel 1, the other end and piston 2 The tablet that is either fixedly connected on piston 2, flange etc. are fixedly connected or are flexibly connected.Assuming that the gas stream being filled with to air cavity 8 Amount is certain, then 2 stress of piston are certain, therefore when the position for knowing piston 2（Displacement）.Force snesor 26 is installed on supporting cylinder 4 one end are measuring radial load.

Figure 14 and Figure 15 are refer to, 4 one end of supporting cylinder, which is set, is fixedly installed extending 20, and extending 20 helps to pacify Dress, fixed external devices.Extending 20 and supporting cylinder 4 are hollow tubular structure.In the specific implementation, extending 20 and/or branch Holding may install according to use demand on cylinder 4, be fixed with external devices, such as power source, grinding head 25.Extending 20 and branch It is hollow tubular structure to hold cylinder 4, these external devices can be respectively placed in two, power source such as is installed on extending 20 1 End, grinding head 25 are installed on 4 one end of supporting cylinder, and the output shaft of power source can be hollow by extending 20 and supporting cylinder 4 at this time Internal stretch provides power to 4 one end of cylinder is supported, to the grade of grinding head 25.Certainly, external devices can also be installed concentratedly and are fixed on Extending 20 or 4 one, cylinder of supporting.

The present embodiment can be used when specifically used at different angles, therefore extending 20 and supporting cylinder 4 and be extended The various devices installed on cylinder 20 and supporting cylinder 4（Such as axial floating unit, power source, force snesor 26, grinding head 25 and peace Parts etc. necessary to filling these devices）Possessed gravity may be to supporting cylinder 4 and the radial direction suffered by device is made thereon Firmly there is certain influence, i.e. these gravity may aggravate or offset certain radial load so that treat the footpath of polishing device Preferable, default size is not necessarily to power size.In the utility model, can according to be actually needed extending 20 and/ Or clump weight 21 is provided with to realize extending 20, supporting cylinder 4, clump weight 21 and be fixed on extending 20 on supporting cylinder 4 With supporting cylinder 4 on external devices formed by structure center of gravity and the center of rotation of universal bearing 3 overlap.It is being embodied When, it can be installed according to use demand, be fixed with external devices on extending 20 or supporting cylinder 4, the gravity that external devices carry can The weight of structure formed by the external devices for can influence extending 20, supporting cylinder 4 and being fixed on extending 20 and supporting cylinder 4 The heart, therefore by adding clump weight 21 on extending 20 and/or supporting cylinder 4, to adjust extending 20, supporting cylinder 4, clump weight 21 and it is fixed on extending 20 and supports in the center of gravity of structure and the rotation of universal bearing 3 formed by external devices on cylinder 4 The heart overlaps, can be so that being installed on extending 20 and supporting cylinder 4 and extending 20 and supporting cylinder 4 each by this design Gravity possessed by kind device is cancelled each other, made up mutually, so as to eliminate influence of the gravity to radial load so that treat sander The radial load size of part with it is default in the same size.In this preferred embodiment, Figure 15 is refer to, is equipped with force snesor 26 One grinding head 25, is equipped with a clump weight 21 on extending 20.It is worth noting that, matching somebody with somebody shown in this preferable implementation The position relationship and pattern of pouring weight 21, simply a kind of preferable example, when it is implemented, can according to specific service condition come It is specific to set（Position and pattern）.

Electrical servo valve 100 is connected with the 3rd air inlet 9 of radial floating unit, for being provided to radial floating unit Air-flow.Specially the 3rd air inlet 9 is connected by air delivering pipeline the first outgassing groove 150 or the second outgassing groove 160, passes through control Electrical servo valve 100 can realize the control of the air flow rate to entering air cavity 8.During implementation, such as polished using the present embodiment, Then on supporting cylinder 4（Between force sensor 26）Grinding head 25 is fixedly mounted, during polishing, grinding head 25 connects with device to be polished Touch, can be by one（It is more）The effect of a power（This power can be detected by force snesor 26 and send controller 27 to）, support at this time Cylinder 4 has the trend radially wobbled, therefore the signal detected by force snesor 26, can be adjusted by controller 27, leads to Control electrical servo valve 100 is crossed to realize the air flow rate control to the 3rd air inlet 9, supporting cylinder is realized by gas flow optimized 4 radial load is constant, to realize that constant force is polished.Certainly, the utility model can also active control electrical servo valve 100 realize The air flow rate of 3rd air inlet 9 is controlled, constant force polishing.

Embodiment 3

Figure 16 is refer to, the present embodiment provides a kind of constant force floating system, unlike embodiment 1 and embodiment 2, sheet Constant force floating unit 29 includes axial floating unit and radial floating unit, axial floating unit and radial floating in embodiment The specific connection relation of unit is fixedly installed in by the grade connector of flange 33 for the floating axle 11 of axial floating unit and radially floated On the side wall of moving cell.Certainly, in the utility model axial floating unit and radial floating unit position relationship and connection Relation also has other patterns, and the present embodiment is one of which pattern.Electrical servo valve 100 has two, respectively to axial floating Moving cell and radial floating unit provide air-flow, and the structure of electrical servo valve 100 refer to embodiment 1.Axial floating unit and The structure of the concrete structure of radial floating unit and each component thereon please respectively refer to embodiment 1 and embodiment 2 to axial direction The specific descriptions and restriction of the structure of floating unit and radial floating unit and the structure of each component thereon.

During implementation, such as polished using the present embodiment, then grinding head 25 is fixedly mounted on supporting cylinder 4（Between have one A force snesor 26）, during polishing, grinding head 25 and device contacts to be polished can be by one（It is more）The effect of a power（Radial load can quilt Force snesor 26 on radial floating unit detects that axial force can be detected by the force snesor 26 on axial floating unit, And send controller 27 to）, supporting cylinder 4 has the trend radially wobbled at this time and floating axle 11 has becoming for axial movement Gesture, therefore the signal detected by force snesor 26, can be adjusted by controller 27, by controlling electrical servo valve 100 Come realize to the 3rd air inlet 9 and the air flow rate of the first air inlet 17 or the second air inlet 18 control, by gas flow optimized come Realize that the radial load of supporting cylinder 4 is constant constant with axial force, to realize that constant force is polished.Certainly, the utility model can also be actively Electrical servo valve 100 is controlled to realize the air flow rate control to the 3rd air inlet 9 and the first air inlet 17 or the second air inlet 18 System, constant force polishing.

The above, is only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to In this, any one skilled in the art is in the technical scope that the utility model discloses, the change that can readily occur in Change or replace, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with described Subject to scope of the claims.

Claims (10)

1. a kind of constant force floating system, includes controller（27）, constant force floating unit（29）, electrical servo valve（100）And power Sensor（26）, it is characterised in that：

The constant force floating unit（29）Include radial floating unit and/or axial floating unit, wherein,

The radial floating unit includes cylinder barrel（1）, piston（2）, universal bearing（3）, supporting cylinder（4）, load pawl（5）、 Support base（6）With reinforcing pawl（7）, the cylinder barrel（1）It is sheathed on the piston（2）It is exterior and with the piston（2）Form one A air cavity（8）, the cylinder barrel（1）On be provided with the 3rd air inlet（9）, the 3rd air inlet（9）With the air cavity（8）Phase Connection, the support base（6）It is fixedly connected on the cylinder barrel（1）Bottom；The universal bearing（3）It is arranged on the support Seat（6）Center, the universal bearing（3）It is interior with being set with and the universal bearing（3）The supporting cylinder to match（4）； The load pawl（5）With the supporting cylinder（4）It is fixedly connected, the reinforcing pawl（7）With the piston（2）It is fixedly connected, it is described Load pawl（5）With the reinforcing pawl（7）It is in contact；The universal bearing（3）Inside it is provided with limited block（24）, the limited block （24）So that the universal bearing（3）It can only carry out the swing of radial direction；

The axial floating unit includes floating axle（11）, constant pressure outer cylinder body（12）, constant pressure inner cylinder body（13）And floating piston （14）：The constant pressure inner cylinder body（13）And floating piston（14）The floating axle is sheathed on respectively（11）Outside, the constant pressure Outer cylinder body（12）It is sheathed on the constant pressure inner cylinder body（13）And floating piston（14）Outside, the constant pressure outer cylinder body（12）And perseverance Press inner cylinder body（13）Between form a chamber, the floating piston（14）One end and the floating axle（11）It is fixedly connected, it is another End is divided into first chamber in the chamber and by the chamber（15）And second chamber（16）, the constant pressure outer cylinder body （12）Side wall on be provided with the first air inlet（17）With the second air inlet（18）, first air inlet（17）With described first Chamber（15）It is connected, second air inlet（18）With the second chamber（16）It is connected；

The force snesor（26）It is arranged on the radial floating unit and/or axial floating unit, for measuring the branch Hold cylinder（4）Radial load and/or the floating axle（11）Axial force；

The electrical servo valve（100）With the 3rd air inlet of the radial floating unit（9）And/or with the axial floating list First air inlet of member（17）And/or second air inlet（18）It is connected, for the radial floating unit and/or axially floating Moving cell provides air-flow；

The controller（27）Respectively with the force snesor（26）With the electrical servo valve（100）It is connected, for receiving State force snesor（26）Measuring signal and control the electrical servo valve（100）.

2. constant force floating system according to claim 1, it is characterised in that：The electrical servo valve（100）Include and watch Take motor（110）, valve body（120）And spool（130）, the servomotor（110）Output shaft and the spool（130）One End is fixedly connected, the spool（130）Positioned at the valve body（120）It is interior；

The spool（130）The first vent grooves are offered in the circumferential（131）, the valve body（120）On excessively described first Vent grooves（131）Cross section position on be provided with the first servo valve air inlet（121）With the first servo valve air gate （122）, in the spool（130）When going to certain angle, the first servo valve air inlet（121）, the first vent grooves （131）With the first servo valve air gate（122）It is connected.

3. constant force floating system according to claim 1, it is characterised in that：The cylinder barrel（1）One end on the inside of be arranged There is sleeve（10）, the sleeve（10）Positioned at the cylinder barrel（1）With the piston（2）Between, the sleeve（10）, cylinder barrel （1）And piston（2）Between form the air cavity（8）；The cylinder barrel（1）And piston（2）Between and/or the sleeve（10）With Piston（2）Between be provided with linear bearing（19）；The cylinder barrel（1）And piston（2）Between be provided with linear bearing（19）.

4. constant force floating system according to claim 1, it is characterised in that：The supporting cylinder（4）One end is fixedly installed Extending（20）, the extending（20）With supporting cylinder（4）For hollow tubular structure.

5. constant force floating system according to claim 1, it is characterised in that：The floating axle（11）For hollow tubular knot Structure, the constant pressure inner cylinder body（13）End face perforate.

6. constant force floating system according to claim 4, it is characterised in that：When the constant force floating unit（29）Include During radial floating unit, the extending（20）And/or supporting cylinder（4）On be provided with clump weight（21）It is used for realization the extension Cylinder（20）, supporting cylinder（4）And clump weight（21）And it is fixed on the extending（20）With supporting cylinder（4）On external devices institute Into structure center of gravity and the universal bearing（3）Center of rotation overlap；When the constant force floating unit（29）Include When radial floating unit and axial floating unit, the extending（20）And/or supporting cylinder（4）And/or on axial floating unit It is provided with clump weight（21）It is used for realization the extending（20）, supporting cylinder（4）, clump weight（21）With axial floating unit and It is fixed on the extending（20）With supporting cylinder（4）On external devices formed by structure center of gravity and the universal bearing（3） Center of rotation overlap.

7. constant force floating system according to claim 1, it is characterised in that：The floating axle（11）With constant pressure inner cylinder body （13）Between be equipped with linear guiding mechanism, the linear guiding mechanism causes the floating axle（11）With constant pressure inner cylinder body（13）It Between can only carry out axial linear motion, the linear guiding mechanism includes：Arranged on the floating axle（11）Outer surface on The first sliding groove, arranged on the constant pressure inner cylinder body（13）Inner surface and second sliding slot opposite with the first sliding groove position and Multiple rolling elements in the first sliding groove and the second sliding slot（22）.

8. constant force floating system according to claim 1, it is characterised in that：The constant force floating unit（29）Including for Measure the piston（2）The displacement sensor of displacement（23）And/or for measuring the floating axle（11）The displacement of displacement Sensor（23）And/or for measuring the obliquity sensor of the constant force floating unit gradient（28）.

9. constant force floating system according to claim 2, it is characterised in that：The spool（130）Also open up in the circumferential There are the second vent grooves（132）, the valve body（120）On in excessively described second vent grooves（132）Cross section position on It is provided with the second servo valve air inlet（123）With the second servo valve air gate（124）, the valve body（120）On offer air inlet Total groove（140）, the first servo valve air inlet（121）With the second servo valve air inlet（123）Port at the same time positioned at described The total groove of air inlet（140）Slot bottom；In the spool（130）When going to certain angle, the second servo valve air inlet（123）、 Second vent grooves（132）With the second servo valve air gate（124）It is connected；And work as the second servo valve air inlet（123）、 Second vent grooves（132）With the second servo valve air gate（124）When being connected, the first servo valve air inlet（121）, One vent grooves（131）With the first servo valve air gate（122）Do not connect, when the first servo valve air inlet（121）, first Vent grooves（131）With the first servo valve air gate（122）When being connected, the second servo valve air inlet（123）, it is second logical Gas groove（132）With the second servo valve air gate（124）Do not connect.

10. constant force floating system according to claim 9, it is characterised in that：The spool（130）Offer in the circumferential First discouraged groove（133）With the second discouraged groove（134）,

The valve body（120）On excessively described first lose heart groove（133）Cross section position on be provided with the first air and lead to Mouthful（125）With the first leakage port（126）, in the spool（130）When going to certain angle, first atmospheric air port（125）、 First discouraged groove（133）With the first leakage port（126）It is connected；The valve body（120）On offer the first outgassing groove （150）, the first servo valve air gate（122）With the first leakage port（126）Port at the same time be located at first outgassing groove （150）Slot bottom；

The valve body（120）On excessively described second lose heart groove（134）Cross section position on be provided with the second air and lead to Mouthful（127）With the second leakage port（128）, in the spool（130）When going to certain angle, second atmospheric air port（127）、 Second discouraged groove（134）With the second leakage port（128）It is connected；The valve body（120）On offer the second outgassing groove （160）, the second servo valve air gate（124）With the second leakage port（128）Port at the same time be located at second outgassing groove （160）Slot bottom；

When the first servo valve air inlet（121）, the first vent grooves（131）With the first servo valve air gate（122）It is connected When logical, second atmospheric air port（127）, second lose heart groove（134）With the second leakage port（128）It is connected, described first Atmospheric air port（125）, first lose heart groove（133）With the first leakage port（126）Do not connect；When the second servo valve air inlet （123）, the second vent grooves（132）With the second servo valve air gate（124）When being connected, first atmospheric air port（125）、 First discouraged groove（133）With the first leakage port（126）It is connected, second atmospheric air port（127）, second lose heart groove （134）With the second leakage port（128）Do not connect.