CN208898402U - A kind of straight-line motion mechanism - Google Patents
A kind of straight-line motion mechanism Download PDFInfo
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- CN208898402U CN208898402U CN201821872601.1U CN201821872601U CN208898402U CN 208898402 U CN208898402 U CN 208898402U CN 201821872601 U CN201821872601 U CN 201821872601U CN 208898402 U CN208898402 U CN 208898402U
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Abstract
The utility model discloses a kind of straight-line motion mechanisms, including sequentially connected big revolving platform assembly, lower arm assembly, flexible arm assembly, small revolving platform assembly, door frame mechanism, it is connected by lower arm link mechanism with lower arm jib lubbing mechanism between the big revolving platform assembly and lower arm assembly, is connected by telescopic arm link mechanism with telescopic arm jib lubbing mechanism between the lower arm assembly and flexible arm assembly.By four composite moves of control " revolution-flexible-revolution-luffing ", the linear motion of door frame mechanism is completed, realizes decontamination exhibition vehicle, idle stroke detection, decontamination operation, recovery, cantilever exhibition vehicle, cantilever operation, the automatic operation functions such as return the vehicle to the garage and knock off；Straight-line trajectory and precision needed for realizing decontamination operation using automatic leveling control technology and linear motion control technology.
Description
Technical field
The utility model relates to a kind of straight-line motion mechanisms.
Background technique
Currently, compound motion control technology at most controls two movements, control program is simple.It can not realize three or more
Multiple degrees of freedom compound motion control.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies of existing technologies, and provides a kind of linear motion machine
Structure completes the linear motion of door frame mechanism, realizes decontamination by four composite moves of control " turning round-flexible-revolution-luffing "
Exhibition vehicle, idle stroke detection, decontamination operation, recovery, cantilever exhibition vehicle, cantilever operation, the automatic operation functions such as return the vehicle to the garage and knock off；Realize that decontamination is made
Straight-line trajectory needed for industry and precision.
In order to solve the above technical problems, the utility model provides a kind of straight-line motion mechanism, characterized in that including successively connecting
Big revolving platform assembly, lower arm assembly, the flexible arm assembly, small revolving platform assembly, door frame mechanism connect, the big revolving platform
It is connected by lower arm link mechanism with lower arm jib lubbing mechanism between assembly and lower arm assembly, the lower arm assembly and flexible arm assembly
Between connected with telescopic arm jib lubbing mechanism by telescopic arm link mechanism.
Further, the gyratory directions of the big revolving platform assembly and small revolving platform assembly are opposite.
Further, the door frame mechanism includes installation frame, the left and right pillar that installation frame both ends are arranged in and sets
Set the crossbeam between two columns.
Further, the lower arm link mechanism is double connecting rod.
Further, the telescopic arm link mechanism is three-link mechanism.
Further, the lower arm jib lubbing mechanism is double jib lubbing mechanisms.
Further, the telescopic arm jib lubbing mechanism is double jib lubbing mechanisms.
Further, it is connected between the small revolving platform assembly and door frame mechanism by revolving support.
Further, the door frame mechanism passes through " turning round-flexible-revolution-luffing " four composite moves at work
Superposition take the air line movement.
The utility model is achieved to control " turning round-flexible-revolution-luffing " four composite moves the utility model has the advantages that passing through,
The linear motion of door frame mechanism is completed, realizes that decontamination exhibition vehicle, idle stroke detection, decontamination operation, recovery, cantilever exhibition vehicle, cantilever are made
Industry, return the vehicle to the garage and knock off etc. operation functions automatically；It is realized needed for decontamination operation using automatic leveling control technology and linear motion control technology
Straight-line trajectory and precision.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating this
The technical solution of utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
As shown in Figure 1, a kind of straight-line motion mechanism, including sequentially connected big revolving platform assembly 1, lower arm assembly 3, stretch
Contracting arm assembly 7, small revolving platform assembly 8, door frame mechanism 9, under passing through between the big revolving platform assembly 1 and lower arm assembly 3
Arm link mechanism 2 and lower arm jib lubbing mechanism 4 connect, and the lower arm link mechanism 2 is double connecting rod, the lower arm jib lubbing mechanism
4 be double jib lubbing mechanisms.Pass through telescopic arm link mechanism 6 and telescopic arm luffing machine between the lower arm assembly 3 and flexible arm assembly 7
Structure 5 connects, and the telescopic arm link mechanism 6 is three-link mechanism, and the telescopic arm jib lubbing mechanism 6 is double jib lubbing mechanisms.It is described
It is connected between small revolving platform assembly 8 and door frame mechanism 9 by revolving support.The straight-line motion mechanism is driven by hydraulic system
It is dynamic, and controlled by control system.The hydraulic system is by proportional multi-way valve, hydraulic cylinder, hydraulic motor, hydraulically balanced valve, liquid
The composition such as pressure pipe road, the control system are made of controller, sensor, Electric Wires & Cables, program software etc..The big revolution is flat
Platform assembly 1 is opposite with the gyratory directions of small revolving platform assembly 8.The door frame mechanism 9 includes installation frame 91, is arranged and is installing
The left and right pillar 93 at 91 both ends of frame and the crossbeam 92 being arranged between left and right pillar 93.The door frame mechanism leads at work
The superposition for crossing " revolution-flexible-revolution-luffing " four composite moves takes the air line movement.
The utility model also provides a kind of control method of straight-line motion mechanism, comprising the following steps:
According to the center of size revolution away from and decontamination length, calculate big angle of revolution, small angle of revolution, flexible arm lengths
Motion range；
Estimate big angle of revolution, calculate as unit of 1o it is big revolution, it is small revolution, telescopic arm stretch this three in straight line
Speed ratio in movement；
According to point-to-point speed, the maximum/minimum movement speed of three mechanisms is limited；
Proportion magnetic valve is opened, the speed of one big revolution, flexible, the small revolution of telescopic arm is given；
According to the center of size revolution away from and big angle of revolution, small angle of revolution in real time, calculate the current reason of telescopic arm
Think position；
On straight-line trajectory, amendment is compared in actual measurement location and theoretical calculation position；
On the basis of the correct position of theoretical calculation, the deviation of physical location and theoretical correct position is calculated, using PID
It adjusts, is gradually reduced physical location and the deviation of theoretical correct position.
In a program, it is also added into deviation process compensation adjustment, i.e., in idle stroke linear motion, if deviation is
Negative value, then with regard to amendment with big angle of revolution to control benchmark, per the speed of once flexible, the small revolution of a given telescopic arm,
That is the percentage of the opening degree of proportion magnetic valve or current value.
Since door frame mechanism is in linear running, the amount of deflection of telescopic arm constantly changes, influence column verticality and
The decontamination height at gantry, needs to be added telescopic arm automatic flat-adjustable function.Simultaneously as telescopic arm scratching in linear motion
Degree variation has intrinsic regular characteristic, so simplifying leveling logic, when contracting arm decontamination, telescopic arm only does luffing and transports downwards
It is dynamic；When semi-girder decontamination, telescopic arm only does luffing and moves upwards.Since in turning course, the variation of telescopic arm amount of deflection slowly, is used
PID adjusting+feedforward preconditioning can realize automatic leveling at a slow speed.
Telescopic arm is self-leveling method particularly includes:
When move along a straight line the decontamination of contracting arm when, telescopic arm levels downwards；When move along a straight line semi-girder decontamination when, telescopic arm is to up-regulation
It is flat；
When leveling angle>0.1o or<-0.1o, start levelling function；
Compare calculating deviation；
Given regulating system in advance, continues 100 controller periods；
It is adjusted using PID, opens proportion magnetic valve, the movement of telescopic arm jib lubbing mechanism；
De-jitter is filtered to telescopic arm leveling angle.
The utility model completes the straight of door frame mechanism by four composite moves of control " turning round-flexible-revolution-luffing "
The operations such as line moves, and realization decontamination exhibition vehicle, idle stroke detection, decontamination operation, recovery, cantilever open up vehicle, cantilever operation, return the vehicle to the garage and knock off automatically
Function；Straight-line trajectory and essence needed for realizing decontamination operation using automatic leveling control technology and linear motion control technology
Degree.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change
It also should be regarded as the protection scope of the utility model into deformation.
Claims (9)
1. a kind of straight-line motion mechanism, characterized in that including sequentially connected big revolving platform assembly, lower arm assembly, telescopic arm
Assembly, small revolving platform assembly, door frame mechanism pass through lower arm link mechanism between the big revolving platform assembly and lower arm assembly
It is connected with lower arm jib lubbing mechanism, passes through telescopic arm link mechanism and telescopic arm luffing between the lower arm assembly and flexible arm assembly
Mechanism connection.
2. a kind of straight-line motion mechanism according to claim 1, characterized in that the big revolving platform assembly and small revolution
The gyratory directions of platform assembly are opposite.
3. a kind of straight-line motion mechanism according to claim 1, characterized in that the door frame mechanism include installation frame,
The crossbeam that the column at installation frame both ends is set and is arranged between two columns.
4. a kind of straight-line motion mechanism according to claim 1, characterized in that the lower arm link mechanism is double link machine
Structure.
5. a kind of straight-line motion mechanism according to claim 1, characterized in that the telescopic arm link mechanism is three-link
Mechanism.
6. a kind of straight-line motion mechanism according to claim 1, characterized in that the lower arm jib lubbing mechanism is double luffing machines
Structure.
7. a kind of straight-line motion mechanism according to claim 1, characterized in that the telescopic arm jib lubbing mechanism is double luffings
Mechanism.
8. a kind of straight-line motion mechanism according to claim 1, characterized in that the small revolving platform assembly and door frame machine
It is connected between structure by revolving support.
9. a kind of straight-line motion mechanism according to claim 1, characterized in that the door frame mechanism passes through at work
The superposition of " revolution-flexible-revolution-luffing " four composite moves takes the air line movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821872601.1U CN208898402U (en) | 2018-11-14 | 2018-11-14 | A kind of straight-line motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821872601.1U CN208898402U (en) | 2018-11-14 | 2018-11-14 | A kind of straight-line motion mechanism |
Publications (1)
| Publication Number | Publication Date |
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| CN208898402U true CN208898402U (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821872601.1U Active CN208898402U (en) | 2018-11-14 | 2018-11-14 | A kind of straight-line motion mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250632A (en) * | 2018-11-14 | 2019-01-22 | 徐州徐工随车起重机有限公司 | A kind of straight-line motion mechanism and its control method |
| CN112158784A (en) * | 2020-10-30 | 2021-01-01 | 徐州徐工随车起重机有限公司 | Multi-platform foldable tunnel maintenance operation device |
-
2018
- 2018-11-14 CN CN201821872601.1U patent/CN208898402U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250632A (en) * | 2018-11-14 | 2019-01-22 | 徐州徐工随车起重机有限公司 | A kind of straight-line motion mechanism and its control method |
| CN109250632B (en) * | 2018-11-14 | 2024-04-09 | 徐州徐工随车起重机有限公司 | Linear motion mechanism and control method thereof |
| CN112158784A (en) * | 2020-10-30 | 2021-01-01 | 徐州徐工随车起重机有限公司 | Multi-platform foldable tunnel maintenance operation device |
| CN112158784B (en) * | 2020-10-30 | 2021-11-23 | 徐州徐工随车起重机有限公司 | Multi-platform foldable tunnel maintenance operation device |
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