Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/023—Cartesian coordinate type
  • B25J9/026—Gantry-type
• • 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
  • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
  • F16F15/005—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion using electro- or magnetostrictive actuation means
• • 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
  • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
  • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
• • 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
  • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
  • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
  • F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
• • 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
  • F16S—CONSTRUCTIONAL ELEMENTS IN GENERAL; STRUCTURES BUILT-UP FROM SUCH ELEMENTS, IN GENERAL
  • F16S3/00—Elongated members, e.g. profiled members; Assemblies thereof; Gratings or grilles
  • F16S3/04—Elongated members, e.g. profiled members; Assemblies thereof; Gratings or grilles designed for being joined to similar members in various relative positions
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
  • G01M15/00—Testing of engines
  • G01M15/14—Testing gas-turbine engines or jet-propulsion engines
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
  • G01M7/00—Vibration-testing of structures; Shock-testing of structures
  • G01M7/02—Vibration-testing by means of a shake table
  • G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B5/00—Anti-hunting arrangements
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B6/00—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral or differential
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G3/00—Controlled members; Assemblies or arrangements thereof
• • 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
  • F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
  • F16F2228/06—Stiffness
  • F16F2228/066—Variable stiffness

Definitions

• the invention concerns a device for changing the dynamic stiffness and/or vibration absorption of a gantry or overhanging structure with a gantry or an upright stand slidingly guided along a frame, whereas the gantry or upright stand is movably connected to at least one other movable element.
• Stiffness along with vibration absorption is one of the most important construction requirements. High dynamic stiffness together with high absorption of structure vibrations is extremely important. The stiffness along with vibration absorption is crucial for reducing the oscillation of structures and increasing the accuracy of positioning and motion of machines.
• the stiffness along with vibration absorption is crucial for reducing the oscillation of structures and increasing the accuracy of positioning and motion of machines.
• the dynamic stiffness consists of the static stiffness and vibration absorption of the structure.
• the stiffness increases passively by enlarging section profiles of load-carrying elements of a structure, by using varied materials and by various structural modifications through extensive optimizations. Especially preferable is a combination of materials with a high stiffness and low density, leading to a low weight of the resulting structure, and appropriate structural modifications.
• a tube-shaped beam using carbon composites of high modulus carbon fibers and polymer binder whereas their maximum material absorption can be achieved by integrating absorbing layers of a material with very high absorption into the inner structure of the composite.
• Absorption of vibration or deformation can be mostly influenced directly by an active mechatronic solution, the stiffness can be influenced only in an indirect way.
• Active elements are placed into the structure of the construction, mostly piezoelectric actuators, but these can also be electrodynamic, magnetostrictive, hydraulic or magnetorheologic, or in some case ionic polymers as well.
• Active elements can be placed into construction elements, bars of lattice-work structure, on a surface of beams or shells as piezoelectric actuator patches or solid active layers, into actuators of ropes connecting parts of a structure or can be implemented as fixing elements of additional substances.
• Mechanisms of the controlled absorption of vibrations are based on additional absorption, vibration isolation, vibration compensation or vibration absorption. Furthermore we differentiate between active (with possible energy supply) and semi-active (with energy dissipation only) control of vibration absorption. Applications are widespread from wings of airplanes, constructions of antennas, radars and telescopes and boring bars to constructions of rope bridges.
• active solutions include a concept of the mechatronic stiffness (PV 2006-123/CZ patent 304667) that increases (in case of need even modifies or decreases) the dynamic stiffness of structures, thus also increasing the stiffness to weight ratio of a structure leading to increasing its own frequencies.
• This concept with an actuator of a controlled force source removes the abovementioned problems on a large scale. For its practical realization a compact solution is needed that would not enlarge and increase a weight of solutions existing up to now.
• a tube in a tube is an advantageous solution.
• a compact solution has been created where an actuator has been placed outside the tube using a tow-bar.
• the aim of this invention is to create a solution of such a device for changing the dynamic stiffness (stiffness and vibration absorption) of a structure with variable dimensions when moving, especially movable gantry and overhanging structures.
• Ropes are firmly fixed to the gantry or upright stand through one end and attached to a pulley with an actuator through the second end, or ropes are firmly fixed to the gantry or upright stand through one end and are guided over at least two pulleys without actuators to some movable element of the structure, whereas at least two pulleys without actuators are arranged on the opposite side of the movable element of the structure. Possibly ropes are arranged between a platform sliding along a stacker upright stand and a carriage sliding along a frame. Ropes can be connected to an auxiliary actuator between their ends.
• the structure is equipped with a sensor of position or acceleration of its movable elements.
• Figures 1 to 14 show a schematic depiction of a possible embodiment of a device for changing the dynamic stiffness and/or vibration absorption of a moving gantry or overhanging structure.
• FIG. 1 shows a schematic depiction of a device for changing the dynamic stiffness and/or vibration absorption of a moving gantry-type structure.
• This is a machining device with gantry ⁇ moving along frame 8.
• Slide 3 moves along gantry 1; headstock 2 throwing out from slide 3 is fitted with a tilting head with a machining tool in the bottom.
• Gantry 1 is guided along frame 8, which represents a supporting element for gantry 1 here, and gantry I is connected to frame 8 through ropes 10.
• Ropes 10 allow respecting a change in gantry I position on frame 8 caused by its move along frame 8.
• Ropes 10 can transfer tensile forces only, so preferably a couple of ropes 10 are used, whereas one rope 10 is guided in the opposite direction than the second rope 10.
• the arrangement of attachment of ropes IQ, and possibly of their actuators, to a supporting element (to frame 8 here) is described in more details in Figures 8-14 below.
• Figure 2 shows a schematic depiction of a device for changing the dynamic stiffness and/or vibration absorption of a moving gantry-type structure in an alternative embodiment.
• This is a machining device with gantry 1 consisting only of a cross rail moving along frame 8.
• Slide 3 moves along gantry I; headstock 2 throwing out from slide 3 is fitted with a tilting head with a machining tool in the bottom.
• Gantry ⁇ is guided along frame 8, which represents a frame structure supporting element for gantry 1 here, and gantry l is connected to frame 8 through ropes 10.
• Ropes 10 are guided over pulleys IT attached to frame 8 to pulleys 12 with an actuator attached to frame 8.
• Ropes 10 allow respecting a change in gantry i position on frame 8 caused by its move along frame 8. Two couples of ropes 10 are used here as well. The arrangement of attachment of ropes 10, and possibly of their actuators, to a supporting element (to frame 8 here) is described in more details in Figures 8-14 below.
• FIG 3 shows a schematic depiction of a device for changing the dynamic stiffness and/or vibration absorption of a moving structure of an overhanging headstock 2 (the same as in Figs. 1 and 2).
• This is a machining device with gantry 1 moving along frame 8.
• Slide 3 moves along gantry 1; overhanging headstock 2 throwing out from slide 3 is fitted with a tilting head with a machining tool in the bottom.
• Headstock 2 is attached to gantry i, which represents a supporting element for headstock 2 here, through ropes JO.
• Ropes K) allow respecting a change in a position of the top of headstock 2 caused by a move of headstock 2 and by slide 3 along gantry L
• Ropes JO are arranged in couples. The arrangement of attachment of ropes JO, and possibly of their actuators, to a supporting element (to gantry J, here) is described in more details in Figures 8-14 below.
• Fig.4 shows a schematic depiction of the device from Fig. 3 in a front projection.
• Fig. 5 shows a schematic depiction of a device for changing the dynamic stiffness and/or vibration absorption of a moving structure of an overhanging headstock 2.
• This is a machining device with gantry ⁇ moving along frame 8.
• Slide 3 moves along gantry 1 ; overhanging headstock 2 throwing out from slide 3 is fitted with a tilting head with a machining tool in the bottom.
• Headstock 2 is attached to slide 3, which represents a supporting element for headstock 2 here, through ropes JO.
• Ropes 10 allow respecting a change in a position of headstock 2 towards slide 3 caused by a move of headstock 2.
• Ropes 10 are arranged in couples.
• Fig. 6 shows a schematic depiction of the device from Fig. 5 in a front projection.
• Fig. 7 shows a schematic depiction of a device for changing the dynamic stiffness and/or vibration absorption of a moving structure of an overhanging upright stand 5 of a stacker along which platform 6 moves.
• This is a storehouse (rack) stacker on a travel carriage 4 with upright stand 5 of a stacker travelling on frame 8. Further, platform 6 moves along upright stand 5 of the stacker, carrying a pallet or another object to a required position given by a travel of carriage 4 and platform 6.
• Upright stand 5 of the stacker is flightly attached to carriage 4 and platform 6 is flightly attached to upright stand 5 of the stacker.
• Platform 6 is attached through upright stand 5 of the stacker to carriage 4 using ropes 10; carriage 4 represents here a supporting element for upright stand 5 of the stacker and platform 6.
• Ropes 10 allow respecting a variable position of platform 6 with regard to the bottom of upright stand 5 of the stacker caused by a movement of platform 6 along upright stand 5 of the stacker.
• Ropes 10 are arranged in couples. The arrangement of attachment of ropes 10, and possibly of their actuators, to a supporting element (to carriage 4 here) is described in more details in Figures 8-14 below.
• Fig. 8 shows a schematic depiction of ropes FO guided from gantry I to a supporting element (being frame 8 here) and the arrangement of their actuators.
• Ropes 10 are guided to pulleys 12 fitted with actuators Ml and M2.
• Pulleys 12 with actuators Ml and M2 are attached to frame 8.
• Gantry 1 is equipped with sensor 9 of a position of gantry 1 of frame 8 or of acceleration of a motion of gantry T
• the signal from sensor 9 is used for the feedback control of actuators Ml and M2, and due to this also of forces in ropes 10; it is used both for the control of the dynamic stiffness and/or vibration absorption of a gantry structure and/or of a position of the end of gantry ⁇ .
• This embodiment corresponds particularly to the device in Fig. 1.
• This embodiment corresponds also to the device in Figs. 3 and 4, if in Fig. 8 gantry l has been replaced by headstock 2 and frame 8 by gantry L
• this embodiment corresponds also to the device in Figs. 5 and 6, if in Fig. 8 gantry 1 has been replaced by headstock 2 and frame 8 by slide 3.
• this embodiment corresponds to the device in Fig. 7, if in Fig. 8 gantry 1 has been replaced by platform 6 and frame 8 by travel carriage 4.
• Fig. 9 shows a schematic depiction of ropes 10 guided from gantry l to a supporting element (being frame 8 here) and the arrangement of their actuators for the device in Fig. 2.
• Ropes 10 are guided over pulleys IT attached to frame 8 to pulleys 12 fitted with actuators Ml and M2.
• Pulleys 12 with actuators Ml and M2 are attached to frame 8.
• Gantry ⁇ is equipped with sensor 9 of a position of gantry 1 of frame 8 or of acceleration of a motion of gantry I.
• the signal from sensor 9 is used for the feedback control of actuators Ml and M2, and due to this also of forces in ropes 10; it is used both for the control of the dynamic stiffness and/or vibration absorption of a gantry structure and/or of a position of the end of gantry T
• the force in ropes 10 can be used for their passive pre-stressing according to their position.
• the schematic depiction of the arrangement of ropes 10 in Fig. 10 - reeling or unreeling of ropes 10 to/from pulleys 11 without actuators does not occur when changing a position of gantry 1, ropes 10 are only guided over these pulleys 1 L
• the arrangement of pulleys IT without actuators in Fig. 10 is possible on the left and on the right side, both the arrangements can be used for one gantry structure.
• An advantage is the invariable length of ropes K) even when gantry 1 is moving.
• this arrangement of ropes 10 can be preferably used for the device in Fig. 2.
• FIG. 11 A practical solution of a similar arrangement of ropes 10 in Fig. 10 is depicted in Fig. 11.
• a length of ropes 10 in sections from their ends to the first pulley IT without an actuator is variable when gantry 1 moves along frame 8 but an adverse effect of this variability can be compensated by pre-stressing ropes 10 or by connecting the left and right arrangement of pulleys IT without actuators into one device, as schematically depicted in Fig. 12.
• auxiliary actuators 13 are advisable to be used for a compensation of the variable length of ropes 10, as schematically depicted in Fig. 13.
• auxiliary actuators 13 shorten or lengthen ropes If), so that their prestress is constant regardless of a position of gantry 1 on frame 8 according to this position.
• auxiliary actuators 3 can be used even for the active feedback control as in Fig. 8, but in comparison with Fig. 8 ropes 10 need not to be reeled onto pulleys.
• This can be solved by connecting the left and right arrangement of auxiliary actuators 13 into one device. Such a connected arrangement is schematically depicted in Fig. 14.
• This device can use auxiliary actuators 13 only for keeping the constant prestress of ropes 10 or also for the active feedback control, in which case, however, sensor 9 needs to be placed as in Fig. 8; in this Figure sensor 9 is not shown.
• Figs. 8-14 show only the arrangement of attachment of ropes 10, and possibly of their actuators, to the supporting element for gantry structure L
• This solution can also be accordingly used for overhanging slide-out structures depicted in Figs. 3-6 or for overhanging platform 6 of the stacker depicted in Fig. 7.
• ropes 10 transfer tensile forces only, ropes 10 are arranged in couples in order to act in both the directions because the tension for one rope of the couple means the compression for the second rope of the couple.
• An advantage of the invention is a possibility to achieve the variable dynamic stiffness of the structure due to ropes, thus the additional static stiffness and/or the additional vibration absorption depending on a position of the movable structure.
• All the described variants of the arrangement of ropes can be combined one with another.
• the number of ropes can vary.
• Particular control elements of the device are preferably controlled by a computer.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• General Physics & Mathematics (AREA)
• Acoustics & Sound (AREA)
• Aviation & Aerospace Engineering (AREA)
• Automation & Control Theory (AREA)
• Electromagnetism (AREA)
• Combustion & Propulsion (AREA)
• Chemical & Material Sciences (AREA)
• Robotics (AREA)
• Vibration Prevention Devices (AREA)
• Auxiliary Devices For Machine Tools (AREA)

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Citations (5)

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• 2019
  • 2019-06-19 CZ CZ2019-387A patent/CZ308208B6/cs not_active IP Right Cessation
• 2020
  • 2020-06-02 EP EP20756746.2A patent/EP3986674A1/en active Pending
  • 2020-06-02 WO PCT/CZ2020/000022 patent/WO2020253892A1/en unknown

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