WO2015051603A1 - Magnetic fluid suspension type moving platform - Google Patents

Magnetic fluid suspension type moving platform Download PDF

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Publication number
WO2015051603A1
WO2015051603A1 PCT/CN2014/070881 CN2014070881W WO2015051603A1 WO 2015051603 A1 WO2015051603 A1 WO 2015051603A1 CN 2014070881 W CN2014070881 W CN 2014070881W WO 2015051603 A1 WO2015051603 A1 WO 2015051603A1
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WO
WIPO (PCT)
Prior art keywords
platform
magnetic fluid
suspension
groove
floating
Prior art date
Application number
PCT/CN2014/070881
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French (fr)
Chinese (zh)
Inventor
宋政辉
Original Assignee
宋政辉
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Publication date
Application filed by 宋政辉 filed Critical 宋政辉
Priority to CN201480001694.9A priority Critical patent/CN104487732B/en
Publication of WO2015051603A1 publication Critical patent/WO2015051603A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically

Definitions

  • the present invention relates to a device mounting mobile platform, and more particularly to a magnetic fluid suspension mobile platform.
  • An object of the present invention is to overcome the deficiencies of the prior art and to provide a magnetic fluid suspension moving platform for reducing vibration of moving parts during precision parts or mold installation.
  • the technical solution adopted by the present invention is:
  • the magnetic fluid suspension mobile platform comprises a mobile vehicle, a magnetic fluid suspension device, a suspension platform, a hydraulic device and a controller, the magnetic fluid suspension device and the hydraulic device are fixed on the moving vehicle;
  • the magnetic fluid suspension device The utility model comprises a groove, a magnetic fluid and an electromagnetic coil.
  • the groove is arranged on the moving vehicle, the magnetic fluid is arranged in the groove, and the electromagnetic coil is mounted on the groove;
  • the suspension platform comprises a floating platform and a platform, and the floating platform is above the platform.
  • the floating platform is fixedly connected with the platform, the floating platform is in contact with the magnetic fluid in the groove, the platform is in contact with the upper end surface of the groove, and the floating platform is mechanically coupled with the groove;
  • the hydraulic device comprises a reverse push rail and a hydraulic cylinder, the hydraulic cylinder
  • the cylinder block is fixedly connected with the platform, the piston rod of the hydraulic cylinder is provided with a roller, the roller is in contact with the reverse push rail of the groove, and the reverse push rail is fixedly connected with the groove;
  • the controller is provided with a control line connected with the electromagnetic coil and the hydraulic device .
  • the magnetic fluid suspension moving platform moves to the side of the equipment, and the precision components or precision molds that need to be moved and installed at the shock level are placed on the platform of the floating platform; the power of the electromagnetic coil is turned on by the controller, so that The electromagnetic coil generates a magnetic field.
  • the magnetic flux of the magnetic field passes through the magnetic fluid in the groove, so that the magnetic fluid is magnetized, and the specific gravity of the magnetic fluid is increased.
  • the specific gravity of the magnetic fluid is greater than the specific gravity of the floating platform, the floating platform is suspended on the magnetic fluid.
  • the hydraulic cylinder of the hydraulic device is controlled by the controller, and the piston rod of the hydraulic cylinder is extended to press the reverse thrust rail, and the piston rod is extended.
  • the reverse suspension platform moves horizontally on the magnetic fluid of the groove 6, and the precision component or the precision mold to be mounted is moved to a position to be mounted by using the suspension platform, so as to prevent the precision component or the precision mold 17 from being damaged during the movement.
  • the beneficial effects of the invention are: a magnetic fluid suspension moving platform, a controller is used to control the electromagnetic coil to generate a magnetic field, a magnetic field is used to magnetize the magnetic fluid, the specific gravity of the magnetic fluid is increased, the suspension platform is suspended on the magnetic fluid, and the hydraulic device is driven by the controller.
  • the suspension platform moves on the magnetic fluid. Because the suspension platform is suspended and suspended in the liquid, the problem that the suspension platform vibrates during the movement is effectively solved, so as to avoid moving vibration damage and need to move the mounted precision parts or precision molds.
  • FIG. 1 is a schematic structural view of a magnetic fluid suspension moving platform. detailed description
  • FIG. 1 is a schematic structural view of a magnetic fluid suspension moving platform including a moving vehicle 1, a magnetic fluid suspension device 2, a floating platform 3, a hydraulic device 4, and a controller 5, a magnetic fluid suspension device 2, and a hydraulic pressure
  • the magnetic fluid suspension device 2 is fixed on the moving vehicle 1; the magnetic fluid suspension device 2 includes a groove 6, a magnetic fluid 7 and an electromagnetic coil 8.
  • the groove 6 is disposed on the moving vehicle 1, and the magnetic fluid 7 is disposed in the groove 6, the electromagnetic coil 8 is mounted on the recess 6;
  • the suspension platform 3 includes a floating platform 9 and a platform 10, the floating platform 9 is above the platform 10, the floating platform 9 is fixedly connected with the platform 10, and the magnetic fluid 7 in the floating platform 9 and the recess 6 In contact, the platform 10 is in contact with the upper end surface 21 of the recess 6, and the floating table 9 is mechanically coupled with the recess 6.
  • the hydraulic device 4 includes a reverse push rail 11 and a hydraulic cylinder 12, and the cylinder block 13 of the hydraulic cylinder 12 is fixed to the platform 10.
  • the piston rod 14 of the hydraulic cylinder 12 is provided with a roller 23, the roller 23 is in contact with the reverse push rail 11 of the groove 6, and the reverse guide rail 11 is fixedly connected with the groove 6;
  • the controller 5 is provided with a control line and an electromagnetic coil 8 And liquid Device 4.
  • the controller 5 In order to control the magnetic field of the electromagnetic coil 8 by the controller 5, the controller 5 is provided with a power controller 15, which is provided in the controller 5, and the power controller 15 is provided with a power control line connected to the electromagnetic coil 8, for The power input to the electromagnetic coil 8 is controlled, and the change in the magnetic field strength of the electromagnetic coil 8 is controlled by the change in the power of the electromagnetic coil 8.
  • the controller 5 is provided with a distance measuring sensor 16, which is disposed on the distance measuring board 17, and the distance measuring board 17 is fixed on the upper end surface 21 of the recess 6, The distance for detecting the elevation of the platform 10 of the suspension platform 3.
  • the floating table 9 is provided with guide rails on both sides thereof, and the groove 6 is provided with guide grooves on both sides thereof, and the guide rail of the floating table 9 is dynamically coupled with the guide groove of the groove 6;
  • the length of the groove 9 is smaller than the length of the groove 6, the rear end of the floating table 9 and the rear end of the groove 6 are provided with a first gap 18, and the front end of the floating table 9 and the front end of the groove 6 are provided with a second gap 19, the second gap
  • the length of 19 is greater than the stroke of the piston rod 20 of the hydraulic cylinder 12, so as not to hit the edge of the groove 6 when the suspension platform 3 moves, the length of the second gap 19 is greater than the length of the first gap 18; the length of the platform 10 is greater than that of the groove 6.
  • the length of the platform 10 can be supported on the upper end surface 21 of the recess 6 when the floating platform 3 is not floated.
  • the reverse guide rail 11 is perpendicular to the horizontal plane, and the piston rod 14 is perpendicular to the thrust reverse rail 11.
  • the state in which the suspension platform 3 is not raised is that the specific gravity of the magnetic fluid 7 is smaller than the specific gravity of the suspension platform 3, the floating platform 9 of the floating platform 3 sinks in the magnetic fluid 7, and the floating platform 3 is supported on the upper end surface 21 of the recess 6. on.
  • the state in which the suspension platform 3 is raised is: the specific gravity of the magnetic fluid 7 is larger than the specific gravity of the suspension platform 3, the floating platform 9 of the floating platform 3 floats on the surface of the magnetic fluid 7, and the platform 10 of the floating platform 3 leaves the upper end surface 21 of the groove 6. .
  • the measuring board 17 is provided with a scale 20, and the platform 10 of the floating platform 3 is provided with a height pointer 22, as the height of the lifting platform 3 is indicated.
  • the working principle of the magnetic fluid suspension mobile platform is: when working, the magnetic fluid suspension moving platform moves to the side of the device, and the precision components or precision molds 25 that need to be installed in the shock level are placed on the platform 10 of the floating platform 3; 5 Turn on the power of the electromagnetic coil 8, and the electromagnetic coil 8 generates a magnetic field.
  • the magnetic field lines of the magnetic field pass through the magnetic fluid 7 in the groove 6, so that the magnetic fluid 7 is magnetized, and the specific gravity of the magnetic fluid 7 is increased.
  • the specific gravity is greater than the specific gravity of the suspension platform 3
  • the suspension platform 3 is suspended on the magnetic fluid 7 to prevent the suspension platform 3 from vibrating during the movement; after the suspension platform 3 is suspended on the magnetic fluid 7, the hydraulic pressure of the hydraulic device 4 is controlled by the controller 5.
  • the cylinder 12 is operated, the piston rod 14 of the hydraulic cylinder 12 is extended to press against the thrust rail 11, and the piston rod 14 is extended to push the suspension platform 3 horizontally on the magnetic fluid 7 in the recess 6, and the suspension platform 3 is required.
  • the mounted precision part or precision mold 25 is moved to a position where it is required to be mounted so as not to damage the precision part or the precision mold 25 during movement.
  • the buoyancy of the floating platform 3 in the magnetic fluid 7 is proportional to the specific gravity of the magnetic fluid 7
  • the specific gravity of the magnetic fluid 7 is proportional to the input electromagnetic coil of the controller 5
  • the power of 8 is proportional; the height at which the floating platform 3 rises in the magnetic fluid 7 is proportional to the increase in the specific gravity of the magnetic fluid 7.
  • the hydraulic cylinder 12 is provided with a displacement sensor 24 for detecting and controlling the distance of movement of the piston rod 14 of the hydraulic cylinder 12 to achieve the purpose of controlling the distance moved by the suspension platform 3 by the controller 5;
  • the distance the piston rod 14 moves is equal to the distance the suspension platform 3 moves.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

Disclosed is a magnetic fluid suspension type moving platform, comprising a moving trolley (1), a magnetic fluid suspension device (2), a suspension platform (3), a hydraulic device (4) and controllers (5). The magnetic fluid suspension device (2) and the hydraulic device (4) are fixed to the moving trolley (1); the magnetic fluid suspension device (2) comprises a groove (6), a magnetic fluid (7) and an electromagnetic coil (8), the groove (6) is arranged on the moving trolley (1), the magnetic fluid (7) is arranged in the groove (6), and the electromagnetic coil (8) is mounted on the groove (6); the suspension platform (3) comprises a floating table (9) and a platform (10); the hydraulic device (4) comprises a back-thrusting guide rail (11) and a hydraulic cylinder (12); a controller (5) is used to control the electromagnetic coil (8) to generate a magnetic field, and the magnetic field is used to magnetize the magnetic fluid (7) and to increase the specific gravity of the magnetic fluid (7), so as to cause the suspension platform (3) to be suspended above the magnetic fluid (7); a controller (5) is used to control the hydraulic device (4) to drive the suspension platform (3) to move on the magnetic fluid (7); and since the suspension platform (3) moves in suspension in a liquid, the problem of the suspension platform (3) vibrating during movement is effectively solved, such that damage to a precision component or a precision mould to be mounted in a moving manner due to vibration during movement can be avoided.

Description

磁流体悬浮移动平台  Magnetic fluid suspension mobile platform
技术领域 Technical field
本发明涉及一种设备安装移动平台， 特别是一种磁流体悬浮移动平 台 背景技术  The present invention relates to a device mounting mobile platform, and more particularly to a magnetic fluid suspension mobile platform.
在工程中， 一些精密的部件或者模具， 安装时移动需要减少震动， 以 免移动震动损坏精密部件或者模具， 特别是较重的精密部件或者模具， 一 种可以减少移动震动的磁流体悬浮移动平台已成为工程的需要。 发明内容  In engineering, some precision parts or molds need to reduce vibration during installation to avoid moving vibrations to damage precision parts or molds, especially heavier precision parts or molds. A magnetic fluid suspension mobile platform that can reduce moving vibration has been Become a project need. Summary of the invention
本发明的目的是克服现有技术的不足， 提供一种磁流体悬浮移动平 台， 用于减少精密部件或者模具安装时移动的震动。  SUMMARY OF THE INVENTION An object of the present invention is to overcome the deficiencies of the prior art and to provide a magnetic fluid suspension moving platform for reducing vibration of moving parts during precision parts or mold installation.
本发明所采用的技术方案是： 磁流体悬浮移动平台包括有移动车、 磁 流体悬浮装置、 悬浮平台、 液压装置以及控制器， 磁流体悬浮装置以及液 压装置固定于移动车上； 磁流体悬浮装置包括有凹槽、 磁流体以及电磁线 圈， 凹槽设于移动车上， 磁流体设于凹槽内， 电磁线圈安装于凹槽上； 悬 浮平台包括有浮台以及平台， 浮台在平台的上方， 浮台与平台固定连接， 浮台与凹槽内的磁流体接触， 平台与凹槽的上端面接触， 浮台与凹槽动配 合连接； 液压装置包括有反推导轨以及液压缸， 液压缸的缸座与平台固定 连接， 液压缸的活塞杆的设有滚轮， 滚轮与凹槽的反推导轨接触， 反推导 轨与凹槽固定连接； 控制器设有控制线与电磁线圈以及液压装置连接。  The technical solution adopted by the present invention is: The magnetic fluid suspension mobile platform comprises a mobile vehicle, a magnetic fluid suspension device, a suspension platform, a hydraulic device and a controller, the magnetic fluid suspension device and the hydraulic device are fixed on the moving vehicle; the magnetic fluid suspension device The utility model comprises a groove, a magnetic fluid and an electromagnetic coil. The groove is arranged on the moving vehicle, the magnetic fluid is arranged in the groove, and the electromagnetic coil is mounted on the groove; the suspension platform comprises a floating platform and a platform, and the floating platform is above the platform. The floating platform is fixedly connected with the platform, the floating platform is in contact with the magnetic fluid in the groove, the platform is in contact with the upper end surface of the groove, and the floating platform is mechanically coupled with the groove; the hydraulic device comprises a reverse push rail and a hydraulic cylinder, the hydraulic cylinder The cylinder block is fixedly connected with the platform, the piston rod of the hydraulic cylinder is provided with a roller, the roller is in contact with the reverse push rail of the groove, and the reverse push rail is fixedly connected with the groove; the controller is provided with a control line connected with the electromagnetic coil and the hydraulic device .
磁流体悬浮移动平台工作时， 磁流体悬浮移动平台移动到设备的旁 边， 将需要防震水平移动安装的精密部件或者精密模具放于悬浮平台的平 台上； 利用控制器接通电磁线圈的电源， 使电磁线圈产生磁场， 磁场的磁 力线经过凹槽内的磁流体，使磁流体被磁化，磁流体被磁化后的比重增加， 当磁流体的比重大于悬浮平台的比重时， 悬浮平台悬浮于磁流体上， 防止 悬浮平台在移动中震动； 悬浮平台悬浮于磁流体上后， 利用控制器控制液 压装置的液压缸工作， 液压缸的活塞杆伸出压住反推导轨， 利用活塞杆伸 出反推悬浮平台于凹槽 6的磁流体上水平移动， 利用悬浮平台将需要安装 的精密部件或者精密模具移动到需要安装的位置， 以免精密部件或者精密 模具 17在移动中受损。 When the magnetic fluid suspension mobile platform is working, the magnetic fluid suspension moving platform moves to the side of the equipment, and the precision components or precision molds that need to be moved and installed at the shock level are placed on the platform of the floating platform; the power of the electromagnetic coil is turned on by the controller, so that The electromagnetic coil generates a magnetic field. The magnetic flux of the magnetic field passes through the magnetic fluid in the groove, so that the magnetic fluid is magnetized, and the specific gravity of the magnetic fluid is increased. When the specific gravity of the magnetic fluid is greater than the specific gravity of the floating platform, the floating platform is suspended on the magnetic fluid. Preventing the suspension platform from vibrating during movement; after the suspension platform is suspended on the magnetic fluid, the hydraulic cylinder of the hydraulic device is controlled by the controller, and the piston rod of the hydraulic cylinder is extended to press the reverse thrust rail, and the piston rod is extended. The reverse suspension platform moves horizontally on the magnetic fluid of the groove 6, and the precision component or the precision mold to be mounted is moved to a position to be mounted by using the suspension platform, so as to prevent the precision component or the precision mold 17 from being damaged during the movement.
本发明的有益效果是： 磁流体悬浮移动平台， 利用控制器控制电磁线 圈产生磁场， 利用磁场磁化磁流体， 增加磁流体的比重， 使悬浮平台悬浮 于磁流体上， 利用控制器控制液压装置驱动悬浮平台于磁流体上移动， 由 于悬浮平台悬浮于液体中移动， 有效解决了悬浮平台在移动中震动的问 题， 以免移动震动损坏需要移动安装的精密部件或者精密模具。 附图说明  The beneficial effects of the invention are: a magnetic fluid suspension moving platform, a controller is used to control the electromagnetic coil to generate a magnetic field, a magnetic field is used to magnetize the magnetic fluid, the specific gravity of the magnetic fluid is increased, the suspension platform is suspended on the magnetic fluid, and the hydraulic device is driven by the controller. The suspension platform moves on the magnetic fluid. Because the suspension platform is suspended and suspended in the liquid, the problem that the suspension platform vibrates during the movement is effectively solved, so as to avoid moving vibration damage and need to move the mounted precision parts or precision molds. DRAWINGS
图 1是磁流体悬浮移动平台的结构示意图。 具体实施方式  1 is a schematic structural view of a magnetic fluid suspension moving platform. detailed description
下面结合附图对本发明进行进一步的说明：  The present invention will be further described below in conjunction with the accompanying drawings:
图 1所示的磁流体悬浮移动平台的结构示意图， 磁流体悬浮移动平台 包括有移动车 1、 磁流体悬浮装置 2、 悬浮平台 3、 液压装置 4以及控制器 5， 磁流体悬浮装置 2以及液压装置 4固定于移动车 1上； 磁流体悬浮装 置 2包括有凹槽 6、 磁流体 7以及电磁线圈 8， 凹槽 6设于移动车 1上， 磁流体 7设于凹槽 6内， 电磁线圈 8安装于凹槽 6上； 悬浮平台 3包括有 浮台 9以及平台 10，浮台 9在平台 10的上方，浮台 9与平台 10固定连接， 浮台 9与凹槽 6内的磁流体 7接触， 平台 10与凹槽 6的上端面 21接触， 浮台 9与凹槽 6动配合连接； 液压装置 4包括有反推导轨 11 以及液压缸 12， 液压缸 12的缸座 13与平台 10固定连接， 液压缸 12的活塞杆 14的 设有滚轮 23， 滚轮 23与凹槽 6的反推导轨 11接触， 反推导轨 11与凹槽 6固定连接； 控制器 5设有控制线与电磁线圈 8以及液压装置 4连接。  FIG. 1 is a schematic structural view of a magnetic fluid suspension moving platform including a moving vehicle 1, a magnetic fluid suspension device 2, a floating platform 3, a hydraulic device 4, and a controller 5, a magnetic fluid suspension device 2, and a hydraulic pressure The magnetic fluid suspension device 2 is fixed on the moving vehicle 1; the magnetic fluid suspension device 2 includes a groove 6, a magnetic fluid 7 and an electromagnetic coil 8. The groove 6 is disposed on the moving vehicle 1, and the magnetic fluid 7 is disposed in the groove 6, the electromagnetic coil 8 is mounted on the recess 6; the suspension platform 3 includes a floating platform 9 and a platform 10, the floating platform 9 is above the platform 10, the floating platform 9 is fixedly connected with the platform 10, and the magnetic fluid 7 in the floating platform 9 and the recess 6 In contact, the platform 10 is in contact with the upper end surface 21 of the recess 6, and the floating table 9 is mechanically coupled with the recess 6. The hydraulic device 4 includes a reverse push rail 11 and a hydraulic cylinder 12, and the cylinder block 13 of the hydraulic cylinder 12 is fixed to the platform 10. Connecting, the piston rod 14 of the hydraulic cylinder 12 is provided with a roller 23, the roller 23 is in contact with the reverse push rail 11 of the groove 6, and the reverse guide rail 11 is fixedly connected with the groove 6; the controller 5 is provided with a control line and an electromagnetic coil 8 And liquid Device 4.
为了利用控制器 5控制电磁线圈 8的磁场， 控制器 5设有功率控制器 15， 功率控制器 15设于控制器 5内， 功率控制器 15设有功率控制线与电 磁线圈 8连接， 用于控制输入电磁线圈 8的功率， 利用电磁线圈 8的功率 的变化控制电磁线圈 8磁场强度的变化。  In order to control the magnetic field of the electromagnetic coil 8 by the controller 5, the controller 5 is provided with a power controller 15, which is provided in the controller 5, and the power controller 15 is provided with a power control line connected to the electromagnetic coil 8, for The power input to the electromagnetic coil 8 is controlled, and the change in the magnetic field strength of the electromagnetic coil 8 is controlled by the change in the power of the electromagnetic coil 8.
为了检测以及控制悬浮平台 3升降， 控制器 5设有测距传感器 16， 测 距传感器 16设于测距板 17上， 测距板 17固定于凹槽 6的上端面 21上， 用于检测悬浮平台 3的平台 10升降的距离。 In order to detect and control the lifting and lowering of the suspension platform 3, the controller 5 is provided with a distance measuring sensor 16, which is disposed on the distance measuring board 17, and the distance measuring board 17 is fixed on the upper end surface 21 of the recess 6, The distance for detecting the elevation of the platform 10 of the suspension platform 3.
为了使悬浮平台 3可以于凹槽 6移动， 浮台 9两侧设有导轨， 凹槽 6 两侧设有导槽， 浮台 9的导轨与凹槽 6的导槽动配合连接； 浮台 9的长度 小于凹槽 6的长度， 浮台 9的后端与凹槽 6的后端设有第一间隙 18， 浮台 9的前端与凹槽 6的前端设有第二间隙 19， 第二间隙 19的长度大于液压 缸 12的活塞杆 20行程， 以免悬浮平台 3移动时碰击凹槽 6的边沿， 第二 间隙 19的长度大于第一间隙 18的长度； 平台 10的长度大于凹槽 6的长 度， 使悬浮平台 3未浮起时， 平台 10可以支撑于凹槽 6的上端面 21上。  In order to make the floating platform 3 move in the groove 6, the floating table 9 is provided with guide rails on both sides thereof, and the groove 6 is provided with guide grooves on both sides thereof, and the guide rail of the floating table 9 is dynamically coupled with the guide groove of the groove 6; The length of the groove 9 is smaller than the length of the groove 6, the rear end of the floating table 9 and the rear end of the groove 6 are provided with a first gap 18, and the front end of the floating table 9 and the front end of the groove 6 are provided with a second gap 19, the second gap The length of 19 is greater than the stroke of the piston rod 20 of the hydraulic cylinder 12, so as not to hit the edge of the groove 6 when the suspension platform 3 moves, the length of the second gap 19 is greater than the length of the first gap 18; the length of the platform 10 is greater than that of the groove 6. The length of the platform 10 can be supported on the upper end surface 21 of the recess 6 when the floating platform 3 is not floated.
为了使悬浮平台 3可以于凹槽 6垂直升降， 反推导轨 11与水平面垂 直， 活塞杆 14与反推导轨 11垂直。  In order to allow the suspension platform 3 to vertically ascend and descend in the recess 6, the reverse guide rail 11 is perpendicular to the horizontal plane, and the piston rod 14 is perpendicular to the thrust reverse rail 11.
悬浮平台 3未升起的状态是:磁流体 7的比重小于悬浮平台 3的比重， 悬浮平台 3的浮台 9下沉于磁流体 7中， 悬浮平台 3被支撑于凹槽 6的上 端面 21上。  The state in which the suspension platform 3 is not raised is that the specific gravity of the magnetic fluid 7 is smaller than the specific gravity of the suspension platform 3, the floating platform 9 of the floating platform 3 sinks in the magnetic fluid 7, and the floating platform 3 is supported on the upper end surface 21 of the recess 6. on.
悬浮平台 3升起的状态是： 磁流体 7的比重大于悬浮平台 3的比重， 悬浮平台 3的浮台 9浮起于磁流体 7面，悬浮平台 3的平台 10离开凹槽 6 的上端面 21。  The state in which the suspension platform 3 is raised is: the specific gravity of the magnetic fluid 7 is larger than the specific gravity of the suspension platform 3, the floating platform 9 of the floating platform 3 floats on the surface of the magnetic fluid 7, and the platform 10 of the floating platform 3 leaves the upper end surface 21 of the groove 6. .
为了指示悬浮平台 3升降的高度， 测距板 17设有标尺 20， 悬浮平台 3的平台 10设有高度指针 22， 由于指示悬浮平台 3升降的高度。  In order to indicate the height of the lifting platform 3, the measuring board 17 is provided with a scale 20, and the platform 10 of the floating platform 3 is provided with a height pointer 22, as the height of the lifting platform 3 is indicated.
为了保证浮台 9浮起时， 活塞杆 14的滚轮 23还在反推导轨 11上， 反推导轨 11的长度大于浮台 9的高度。  In order to ensure that the floating table 9 floats, the roller 23 of the piston rod 14 is still on the reverse push rail 11, and the length of the reverse guide rail 11 is larger than the height of the floating table 9.
磁流体悬浮移动平台的工作原理是： 工作时， 磁流体悬浮移动平台 移动到设备的旁边，将需要防震水平移动安装的精密部件或者精密模具 25 放于悬浮平台 3的平台 10上； 利用控制器 5接通电磁线圈 8的电源， 使 电磁线圈 8产生磁场， 磁场的磁力线经过凹槽 6内的磁流体 7， 使磁流体 7被磁化， 磁流体 7被磁化后的比重增加， 当磁流体 7的比重大于悬浮平 台 3的比重时， 悬浮平台 3悬浮于磁流体 7上， 防止悬浮平台 3在移动中 震动； 悬浮平台 3悬浮于磁流体 7上后， 利用控制器 5控制液压装置 4的 液压缸 12工作， 液压缸 12的活塞杆 14伸出压住反推导轨 11， 利用活塞 杆 14伸出反推悬浮平台 3于凹槽 6内的磁流体 7上水平移动， 利用悬浮 平台 3将需要安装的精密部件或者精密模具 25移动到需要安装的位置， 以免精密部件或者精密模具 25在移动中受损。 为了实施控制器 5控制悬浮平台 3的浮动以及升降的高度， 悬浮平台 3于磁流体 7中受到的浮力与磁流体 7的比重成正比， 磁流体 7的比重成 正比与控制器 5输入电磁线圈 8的功率成正比； 悬浮平台 3于磁流体 7上 升的高度与磁流体 7比重的增加成正比。 The working principle of the magnetic fluid suspension mobile platform is: when working, the magnetic fluid suspension moving platform moves to the side of the device, and the precision components or precision molds 25 that need to be installed in the shock level are placed on the platform 10 of the floating platform 3; 5 Turn on the power of the electromagnetic coil 8, and the electromagnetic coil 8 generates a magnetic field. The magnetic field lines of the magnetic field pass through the magnetic fluid 7 in the groove 6, so that the magnetic fluid 7 is magnetized, and the specific gravity of the magnetic fluid 7 is increased. When the magnetic fluid 7 When the specific gravity is greater than the specific gravity of the suspension platform 3, the suspension platform 3 is suspended on the magnetic fluid 7 to prevent the suspension platform 3 from vibrating during the movement; after the suspension platform 3 is suspended on the magnetic fluid 7, the hydraulic pressure of the hydraulic device 4 is controlled by the controller 5. The cylinder 12 is operated, the piston rod 14 of the hydraulic cylinder 12 is extended to press against the thrust rail 11, and the piston rod 14 is extended to push the suspension platform 3 horizontally on the magnetic fluid 7 in the recess 6, and the suspension platform 3 is required. The mounted precision part or precision mold 25 is moved to a position where it is required to be mounted so as not to damage the precision part or the precision mold 25 during movement. In order to implement the controller 5 to control the floating of the floating platform 3 and the height of the lifting and lowering, the buoyancy of the floating platform 3 in the magnetic fluid 7 is proportional to the specific gravity of the magnetic fluid 7, the specific gravity of the magnetic fluid 7 is proportional to the input electromagnetic coil of the controller 5 The power of 8 is proportional; the height at which the floating platform 3 rises in the magnetic fluid 7 is proportional to the increase in the specific gravity of the magnetic fluid 7.
为了控制悬浮平台 3移动的距离， 液压缸 12设有位移传感器 24， 用 于检测以及控制液压缸 12的活塞杆 14移动的距离， 以达到利用控制器 5 控制悬浮平台 3移动的距离的目的； 活塞杆 14移动的距离与悬浮平台 3 移动的距离相等。  In order to control the distance of movement of the suspension platform 3, the hydraulic cylinder 12 is provided with a displacement sensor 24 for detecting and controlling the distance of movement of the piston rod 14 of the hydraulic cylinder 12 to achieve the purpose of controlling the distance moved by the suspension platform 3 by the controller 5; The distance the piston rod 14 moves is equal to the distance the suspension platform 3 moves.

Claims

权 利 要 求 书 Claim
1.磁流体悬浮移动平台， 其特征在于： 磁流体悬浮移动平台包括有移 动车 （1)、 磁流体悬浮装置 （2)、 悬浮平台 （3)、 液压装置 （4) 以及控 制器 （5)， 磁流体悬浮装置 （2) 以及液压装置 （4) 固定于移动车 （1) 上； 磁流体悬浮装置（2)包括有凹槽（6)、磁流体（7)以及电磁线圈（8)， 凹槽 （6) 设于移动车 （1) 上， 磁流体 （7) 设于凹槽 （6) 内， 电磁线圈1. A magnetic fluid suspension mobile platform, characterized in that: a magnetic fluid suspension mobile platform comprises a mobile vehicle (1), a magnetic fluid suspension device (2), a suspension platform (3), a hydraulic device (4), and a controller (5) The magnetic fluid suspension device (2) and the hydraulic device (4) are fixed on the moving vehicle (1); the magnetic fluid suspension device (2) comprises a groove (6), a magnetic fluid (7) and an electromagnetic coil (8), The groove (6) is disposed on the moving vehicle (1), and the magnetic fluid (7) is disposed in the groove (6), the electromagnetic coil
(8)安装于凹槽（6)上； 悬浮平台 （3)包括有浮台 （9) 以及平台（10)， 浮台 （9) 在平台 （10) 的上方， 浮台 （9) 与平台 （10) 固定连接， 浮台(8) mounted on the groove (6); the suspension platform (3) includes a floating platform (9) and a platform (10), the floating platform (9) is above the platform (10), the floating platform (9) and the platform (10) fixed connection, floating platform
(9) 与凹槽 （6) 内的磁流体 （7) 接触， 平台 （10) 与凹槽 （6) 的上端 面 （21) 接触， 浮台 （9) 与凹槽 （6) 动配合连接； 液压装置 （4) 包括 有反推导轨 （11) 以及液压缸 （12)， 液压缸 （12) 的缸座 （13) 与平台(9) in contact with the magnetic fluid (7) in the groove (6), the platform (10) is in contact with the upper end surface (21) of the groove (6), and the floating table (9) is mechanically coupled with the groove (6) The hydraulic unit (4) includes a reverse push rail (11) and a hydraulic cylinder (12), a cylinder block (13) and platform of the hydraulic cylinder (12);
(10) 固定连接， 液压缸 （12) 的活塞杆 （14) 的设有滚轮 （23)， 滚轮 (23) 与凹槽 （6) 的反推导轨 （11) 接触， 反推导轨 （11) 与凹槽 （6) 固定连接； 控制器 （5) 设有控制线与电磁线圈 （8) 以及液压装置 （4) 连接。 (10) Fixed connection, the piston rod (14) of the hydraulic cylinder (12) is provided with a roller (23), the roller (23) is in contact with the reverse push rail (11) of the groove (6), and the reverse guide rail (11) It is fixedly connected to the groove (6); the controller (5) is provided with a control line connected to the solenoid (8) and the hydraulic unit (4).
2.根据权利要求 1所述的磁流体悬浮移动平台， 为了利用控制器 （5) 控制电磁线圈 （8) 的磁场， 其特征在于： 所述的控制器 （5) 设有功率控 制器 （15)， 功率控制器 （15) 设于控制器 （5) 内， 功率控制器 （15) 设 有功率控制线与电磁线圈 （8)连接， 用于控制输入电磁线圈 （8) 的功率， 利用电磁线圈 （8) 的功率的变化控制电磁线圈 （8) 磁场强度的变化。  The magnetic fluid suspension moving platform according to claim 1, wherein the magnetic field of the electromagnetic coil (8) is controlled by the controller (5), characterized in that: the controller (5) is provided with a power controller (15) The power controller (15) is disposed in the controller (5), and the power controller (15) is provided with a power control line connected to the electromagnetic coil (8) for controlling the power of the input electromagnetic coil (8), using electromagnetic The change in power of the coil (8) controls the change in the magnetic field strength of the solenoid (8).
3.根据权利要求 1所述的磁流体悬浮移动平台， 为了检测以及控制悬 浮平台（3)升降， 其特征在于： 所述的控制器（5)设有测距传感器（16)， 测距传感器 （16) 设于测距板 （17) 上， 测距板 （17) 固定于凹槽 （6) 的上端面 （21) 上， 用于检测悬浮平台 （3) 的平台 （10) 升降的距离。  The magnetic fluid suspension mobile platform according to claim 1, wherein the controller (5) is provided with a distance measuring sensor (16), a distance measuring sensor, for detecting and controlling the lifting platform (3) lifting and lowering. (16) is set on the distance measuring plate (17), and the distance measuring plate (17) is fixed on the upper end surface (21) of the groove (6) for detecting the lifting distance of the platform (10) of the floating platform (3) .
4.根据权利要求 1所述的磁流体悬浮移动平台， 为了使悬浮平台 （3) 可以于凹槽 （6) 移动， 其特征在于： 所述的浮台 （9) 两侧设有导轨， 凹 槽 （6) 两侧设有导槽， 浮台 （9) 的导轨与凹槽 （6) 的导槽动配合连接。  The magnetic fluid suspension moving platform according to claim 1, wherein the floating platform (3) is movable in the groove (6), wherein: the floating platform (9) is provided with guide rails on both sides thereof. The groove (6) is provided with guide grooves on both sides, and the guide rail of the floating table (9) is mechanically coupled with the guide groove of the groove (6).
5.根据权利要求 1所述的磁流体悬浮移动平台， 其特征在于： 所述的 浮台 （9) 的长度小于凹槽 （6) 的长度， 浮台 （9) 的后端与凹槽 （6) 的 后端设有第一间隙 （18)， 浮台 （9) 的前端与凹槽 （6) 的前端设有第二 间隙 （19)， 第二间隙 （19) 的长度大于液压缸 （12) 的活塞杆 （20) 行 程， 以免悬浮平台 （3) 移动时碰击凹槽 （6) 的边沿， 第二间隙 （19) 的 长度大于第一间隙 （18) 的长度； 平台 （10) 的长度大于凹槽 （6) 的长 度， 使悬浮平台 （3) 未浮起时， 平台 （10) 可以支撑于凹槽 （6) 的上端 面 (21) 上。 The magnetic fluid suspension moving platform according to claim 1, characterized in that: the length of the floating platform (9) is smaller than the length of the groove (6), and the rear end of the floating table (9) and the groove ( 6) The back end is provided with a first gap (18), and the front end of the floating table (9) and the front end of the groove (6) are provided with a second The gap (19), the length of the second gap (19) is greater than the stroke of the piston rod (20) of the hydraulic cylinder (12), so as to avoid the edge of the groove (6) when the suspension platform (3) moves, the second gap (19) The length of the platform is greater than the length of the first gap (18); the length of the platform (10) is greater than the length of the groove (6), so that the platform (10) can be supported by the groove when the floating platform (3) is not floating (6) ) on the upper end face (21).
6.根据权利要求 1所述的磁流体悬浮移动平台， 为了使悬浮平台 （3) 可以于凹槽 （6) 垂直升降， 其特征在于： 所述的反推导轨 （11) 与水平 面垂直， 活塞杆 （14) 与反推导轨 （11) 垂直。  The magnetic fluid suspension moving platform according to claim 1, wherein the suspension platform (3) is vertically movable in the recess (6), wherein: the reverse thrust rail (11) is perpendicular to the horizontal plane, and the piston The rod (14) is perpendicular to the reverse push rail (11).
7.根据权利要求 1所述的磁流体悬浮移动平台， 其特征在于： 所述的 悬浮平台 （3) 未升起的状态是： 磁流体 （7) 的比重小于悬浮平台 （3) 的比重， 悬浮平台 （3) 的浮台 （9)下沉于磁流体（7) 中， 悬浮平台 （3) 被支撑于凹槽 （6) 的上端面 （21) 上。  The magnetic fluid suspension mobile platform according to claim 1, characterized in that: the state in which the suspension platform (3) is not raised is: the specific gravity of the magnetic fluid (7) is smaller than the specific gravity of the suspension platform (3), The floating platform (9) of the suspension platform (3) sinks in the magnetic fluid (7), and the floating platform (3) is supported on the upper end surface (21) of the recess (6).
8.根据权利要求 1所述的磁流体悬浮移动平台， 其特征在于： 所述的 悬浮平台 （3) 升起的状态是： 磁流体 （7) 的比重大于悬浮平台 （3) 的 比重， 悬浮平台 （3) 的浮台 （9) 浮起于磁流体 （7) 面， 悬浮平台 （3) 的平台 （10) 离开凹槽 （6) 的上端面 （21)。  The magnetic fluid suspension moving platform according to claim 1, characterized in that: the floating platform (3) is raised in a state in which: the specific gravity of the magnetic fluid (7) is greater than the specific gravity of the floating platform (3), and the suspension The floating platform (9) of the platform (3) floats on the magnetic fluid (7) plane, and the platform (10) of the suspension platform (3) leaves the upper end surface (21) of the recess (6).
9.根据权利要求 1所述的磁流体悬浮移动平台，为了指示悬浮平台（3) 升降的高度， 其特征在于： 所述的测距板 （17) 设有标尺 （20)， 悬浮平 台 （3) 的平台 （10) 设有高度指针 （22)， 由于指示悬浮平台 （3) 升降 的高度。  The magnetic fluid suspension mobile platform according to claim 1, wherein the height of the suspension platform (3) is raised and lowered, wherein the distance measuring board (17) is provided with a scale (20) and a floating platform (3). The platform (10) is equipped with a height pointer (22), indicating the height of the lifting platform (3).
10.根据权利要求 1所述的磁流体悬浮移动平台， 为了保证浮台 （9) 浮起时， 活塞杆 （14) 的滚轮（23)还在反推导轨（11)上， 其特征在于： 所述的反推导轨 （11) 的长度大于浮台 （9) 的高度。  10. The magnetic fluid suspension moving platform according to claim 1, wherein in order to ensure that the floating table (9) floats, the roller (23) of the piston rod (14) is still on the reverse push rail (11), characterized in that: The length of the back push rail (11) is greater than the height of the floating table (9).
PCT/CN2014/070881 2013-10-11 2014-01-20 Magnetic fluid suspension type moving platform WO2015051603A1 (en)

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