阅读说明：本技术 一种弧形动滑轨的俯仰配平装置 (Pitching balancing device of arc-shaped movable slide rail ) 是由 陈志平 汪传亮 张季平 寿建军 张巨勇 沈礼林 万永伟 孙哲杰 贾鹏 凌曦 于 2020-12-07 设计创作，主要内容包括：本发明公开了一种弧形动滑轨的俯仰配平装置。本发明包括拉绳、曳引轮和配平模块；一根或多根拉绳的一端均与被配平的动滑轨的一端固定,另一端均与动滑轨的另一端固定；曳引轮通过支承在机架上,且动滑轨的下方。拉绳的中部从下侧绕过曳引轮。所述的配平模块包括齿轮箱和重锤。重锤支承在机架上。曳引轮与重锤通过齿轮箱连接；曳引轮通过齿轮箱传递到曳引轮上的转矩与动滑轨通过拉绳传递到曳引轮上的转矩方向相反。本发明采用索牵引加曳引轮、齿轮箱、重锤机构结构的方式平稳配平了惯性力矩与摩擦力,减少对驱动装置的负荷,达到卸荷效果要求。(The invention discloses a pitching balancing device of an arc-shaped movable sliding rail. The invention comprises a pull rope, a traction wheel and a balancing module; one end of one or more pull ropes is fixed with one end of the balanced movable slide rail, and the other end of the pull ropes is fixed with the other end of the movable slide rail; the traction sheave is supported on the frame and is arranged below the movable sliding rail. The middle part of the rope passes around the traction sheave from the lower side. The balancing module comprises a gear box and a heavy hammer. The weight is supported on the frame. The traction sheave is connected with the heavy hammer through a gear box; the torque transmitted to the traction sheave by the traction sheave through the gear box is opposite to the torque transmitted to the traction sheave by the movable sliding rail through the pull rope. The invention adopts the structure of the cable traction sheave, the gear box and the heavy hammer mechanism to balance the inertia moment and the friction force stably, reduce the load on the driving device and achieve the unloading effect requirement.)

1. A pitching balancing device of an arc-shaped movable slide rail comprises a balancing module; the method is characterized in that: also comprises a pull rope and a traction wheel (5); one end of one or more pull ropes is/are fixed with one end of the balanced movable slide rail (1), and the other end of the pull ropes is/are fixed with the other end of the movable slide rail (1); the traction sheave (5) is supported on the frame and is arranged below the movable sliding rail (1); the middle part of the pull rope rounds the traction wheel (5) from the lower side; the balancing module comprises a gear box (10) and a heavy hammer; the heavy hammer is supported on the frame; the traction sheave (5) is connected with the heavy hammer through a gear box (10); the torque transmitted by the traction sheave (5) to the traction sheave (5) through the gear box (10) is opposite to the torque transmitted by the movable sliding rail (1) to the traction sheave (5) through the pull rope.

2. The pitch balancing apparatus for curved track of claim 1, wherein: the transmission ratio of the traction sheave (5) to the heavy hammerWherein R is_aThe radius of rotation of the movable slide rail (1); r is the radius of the traction sheave (5).

3. The pitch balancing apparatus for curved sliding rails according to claim 2, wherein: mass m of the weight (13)_pAnd an eccentricity l_pSatisfies the following formula (1):

η·m_al_a＝m_pl_pformula (1)

Wherein η is the balancing efficiency; m is_aThe mass sum of the movable sliding rail (1) and an object fixed on the movable sliding rail (1); l_aIs the eccentric quantity of the movable slide rail (1).

4. The pitch balancing apparatus for curved track of claim 1, wherein: the gearbox (10) is used for reducing the speed at even level; when the gravity center and the rotation center of the movable sliding rail (1) are in the same vertical plane, the gravity center of the heavy hammer is positioned right above the rotation center.

5. The pitch balancing apparatus for curved track of claim 1, wherein: the gearbox (10) is used for reducing the speed at odd number levels, and when the gravity center and the rotation center of the movable sliding rail (1) are in the same vertical plane, the gravity center of the heavy hammer is positioned right below the rotation center.

6. The pitch balancing apparatus for curved track of claim 1, wherein: n balancing modules are provided, wherein n is more than or equal to 2; mass m of weight 13 in n balancing modules_p,iAnd an eccentricity l_p,iThe following conditions are satisfied:

7. the pitch balancing apparatus for curved track of claim 1, wherein: n counter weights are arranged in the balancing module, and n is more than or equal to 2; mass m of n weights (13)_p,iAnd an eccentricity l_p,iThe following conditions are satisfied:

8. the pitch balancing apparatus for curved track of claim 1, wherein: two direction-changing pulleys (4) are arranged in the middle of the rack side by side at intervals; the two direction-changing pulleys (4) are close to the movable sliding rail (1); the two direction-changing pulleys (4) are positioned on two sides right above the traction sheave (5); the pull ropes led out from the two sides of the traction sheave (5) are wound above the direction-changing pulley (4).

9. The pitch balancing apparatus for curved track of claim 1, wherein: the traction sheave (5), the gear box or the heavy hammer are provided with an emergency braking device.

10. The pitch balancing apparatus for curved track of claim 1, wherein: the pull rope is a steel wire rope or a synchronous belt.

Technical Field

The invention belongs to the technical field of pitching balancing, and particularly relates to a pitching balancing device of an arc-shaped movable slide rail.

Background

The balancing of the rotating member is mainly to reduce the load of the device, realize partial moment balance and realize the ideal motion state of the device. For example, conventional antennas achieve counterweight moment with a rotating shaft centered on the elevation axis of rotation on which the counterweight is mounted. However, in the case of a large arc-shaped movable slide rail, since the rotation center of the movable slide rail is located at the center of the circle of the movable slide rail, it is impossible to mount a weight on the rotation shaft at the center of the pitching rotation shaft to balance the gravity torque. The conventional solution of the counterweight moment mainly uses a counterweight and a fixed pulley combination, for example, in an elevator, a traction sheave device is installed according to the above principle to balance the counterweight and a cage, so as to counteract the gravity of the cage and achieve the smooth running of the elevator. However, only one-side balancing can be achieved by using the balancing weight and the fixed pulley, the movable slide rail rotating device usually needs to rotate at two sides of a forward position and a reverse position, if the fixed pulley and the balancing weight are also arranged at the other side, one side of the counterweight rises and the other side of the counterweight falls in the rotating process, the potential energy of the counterweight and the potential energy of the counterweight are mutually offset, the original effect of the balancing weight is lost, only one-side pitching balancing can be achieved, and therefore improvement is still needed.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, a counterweight can not be arranged at the rotating center of an arc slide rail transmission mechanism to balance gravity torque, and pitching balancing on the two sides in the forward direction and the reverse direction is difficult to realize.

The invention comprises a pull rope, a traction wheel and a balancing module; one end of one or more pull ropes is fixed with one end of the balanced movable slide rail, and the other end of the pull ropes is fixed with the other end of the movable slide rail; the traction sheave is supported on the frame and is arranged below the movable sliding rail. The middle part of the rope passes around the traction sheave from the lower side. The balancing module comprises a gear box and a heavy hammer. The weight is supported on the frame. The traction sheave is connected with the heavy hammer through a gear box; the torque transmitted to the traction sheave by the traction sheave through the gear box is opposite to the torque transmitted to the traction sheave by the movable sliding rail through the pull rope.

Preferably, the transmission ratio of the traction sheave to the weightWherein R is_aThe radius of rotation of the movable slide rail; r is the radius of the traction sheave.

Preferably, the mass m of the weight_pAnd an eccentricity l_pSatisfies the following formula:

η·m_al_a＝m_pl_p

wherein η is the balancing efficiency; m is_aThe mass sum of the movable slide rail and an object fixed on the movable slide rail is obtained; l_aThe eccentric quantity of the movable slide rail is adopted.

Preferably, the gearbox is used for reducing the speed of an even number of stages; when the gravity center and the rotation center of the movable slide rail are in the same vertical plane, the gravity center of the heavy hammer is positioned right above the rotation center.

Preferably, the gear box is used for odd-level speed reduction, and when the gravity center of the movable slide rail and the rotation center are in the same vertical plane, the gravity center of the heavy hammer is positioned right below the rotation center.

Preferably, the number of the balancing modules is n, and n is more than or equal to 2; mass m of weight in n balancing modules_p,iAnd an eccentricity l_p,iThe following conditions are satisfied:

preferably, n weights are arranged in the balancing module, and n is more than or equal to 2. Mass m of n weights_p,iAnd an eccentricity l_p,iThe following conditions are satisfied:

preferably, the middle part of the rack is provided with two direction-changing pulleys in parallel at intervals; two diversion pulleys all are close to the movable slide rail. The two direction-changing pulleys are positioned on two sides right above the traction sheave. The pull ropes led out from the two sides of the traction sheave are wound above the direction-changing pulley.

Preferably, the traction sheave, the gear box or the heavy hammer is provided with an emergency braking device.

Preferably, the pull rope is a steel wire rope or a synchronous belt.

Preferably, one or more rope grooves are formed in the bottom surface of the movable sliding rail. The stay cord part gets into the grooving, avoids the stay cord aversion.

Preferably, each of the pulling ropes is provided with a tension sensor.

The invention has the beneficial effects that:

1. the invention adopts the structure of the cable traction sheave, the gear box and the heavy hammer mechanism to balance the inertia moment and the friction force stably, reduce the load on the driving device and achieve the unloading effect requirement.

2. The invention realizes the balancing of the positive and reverse sides of the movable slide rail, and the balancing does not need a motor, thereby reducing the control difficulty and the energy loss.

3. The invention has simple structure, adopts the common traction mechanism on the market at present, carries out refitting design according to requirements on the basis of the original mechanism, has low manufacturing and installation difficulty and low manufacturing cost, and is suitable for popularization.

4. The pitching balancing device provided by the invention is provided with the emergency braking device on the heavy hammer mechanism shaft system, so that the safety of the system is improved.

Drawings

FIG. 1 is a schematic side view of the overall structure of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is an enlarged view of the layout of portion B of FIG. 1;

FIG. 4 is a schematic view of a gearbox according to the present invention;

FIG. 5 is a simplified schematic illustration of the present invention in an initial state;

FIG. 6 is a schematic diagram of the present invention in a forward rotating state;

fig. 7 is a schematic diagram of the present invention in a reverse rotation state.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Example 1

As shown in figure 1, the pitching balancing device of the arc-shaped movable slide rail is used for a large-scale arc-shaped slide rail mechanism. The arc slide rail mechanism comprises a frame, a movable slide rail and a driving mechanism. The movable sliding rail 1 is arc-shaped, is supported on the frame in a sliding manner, and can slide along the circumferential direction of the movable sliding rail. The movable slide rail can slide under the driving of the driving mechanism. The driving mechanism can adopt a structure of a gear rack and a motor.

In an initial state, the concave edge of the movable slide rail 1 faces to the right upper side, the upward supporting force and the downward gravity are equal in magnitude and opposite in direction, the upward supporting force and the downward gravity are balanced with each other, and torque needing to be balanced cannot be generated. When the movable sliding rail 1 moves to deviate from the initial state, the direction, the size and the position of the stress point of the supporting force and the position of the stress point of the gravity are changed, so that the movable sliding rail 1 generates extra torque and needs to be balanced.

As shown in fig. 2 and 3, the pitching balancing device of the arc-shaped movable sliding rail comprises a pull rope group 3, a direction-changing pulley 4, a traction sheave 5 and a balancing module; rope clamp mounting grooves are formed in two ends of the bottom surface of the movable sliding rail 1. All be fixed with n rope clip 2 side by side in two rope clip mounting grooves, in this embodiment, n equals 3. N rope grooves are arranged on the bottom surface of the movable sliding rail 1 side by side. Two ends of the rope groove are connected to the two rope clamp mounting grooves. The rope groove may be disconnected or not.

Two direction-changing pulleys 4 which are arranged side by side at intervals are supported in the middle of the frame and are close to the bottom surface of the movable sliding rail 1. The traction sheave 5 is supported on the frame by a first bearing block 6 and a first transmission shaft 7, below the middle of the two diverting pulleys 4. N annular rope grooves are arranged on the circumferences of the two direction-changing pulleys 4 and the traction sheave 5. The pull rope group 3 comprises n pull ropes. The pull rope is a steel wire rope. The n pull ropes are respectively arranged in n rope grooves on the bottom surface of the movable slide rail 1. One end of the n pull ropes is respectively fixed with the n pull rope clamps 2 at one end of the movable slide rail 1. The other ends of the n pull ropes are respectively fixed with the n pull rope clamps 2 at the other end of the movable slide rail 1. The n pull ropes are wound around the upper side of the direction-changing pulley 4 and wound around the lower side of the traction sheave 5, so that the torque of the movable sliding rail 1 can be transmitted to the traction sheave 5; at the moment, the balancing of the movable sliding rail can be realized only by offsetting the torque of the movable sliding rail 1 to the traction sheave 5.

As shown in fig. 3, the trim module includes a gear box 10 and a weight mechanism. The weight mechanism comprises a second bearing seat 15, a weight 13 and a second transmission shaft 14. The second transmission shaft 14 is supported on the frame by a second bearing block 15. The weight 13 is eccentrically fixed to the second transmission shaft 14. In the initial state, the center of gravity of the weight 13 is directly above the center of rotation.

As shown in fig. 4, the gear case 10 includes a first gear 16, a second gear 18, a third gear 20, a fourth gear 19, a first gear shaft 9, a second gear shaft 17, a third gear shaft 11, and a case. The first gear shaft 9, the second gear shaft 17 and the third gear shaft 11 are all supported within the gear box 10. The first gear 16 is fixed to the first gear shaft 9. The second gear 18 and the third gear 20 are both fixed on the second gear shaft 17; the fourth gear 19 is fixed to the third gear shaft 11. The first gear 16 meshes with the second gear 18. The third gear 20 meshes with the fourth gear 19. The first gear shaft 9 and the first transmission shaft 7 are fixed through a first coupler 8. The third gear shaft 11 and the second transmission shaft 15 are fixed by a second coupling 12.

In the gear box 10, a first gear shaft 9 and a second gear shaftGear ratio of gear shaft 17At this time, the rotating angles of the weight 13 and the movable slide rail 1 are equal and opposite. The weight 13 transmits a torque for balancing through the traction sheave 5 by gravity, so that the traction sheave 5 can be kept in balance. After the balance is realized by the invention, the driving force required by the movable slide rail 1 can be obviously reduced.

As shown in FIGS. 5, 6 and 7, the mass m of the weight 13_pAnd an eccentricity l_p(i.e. the distance between the center of gravity of the weight 13 and the axis of the second transmission shaft 15) satisfies the following formula:

η·m_al_a＝m_pl_pformula (1)

Wherein eta is the balancing efficiency, and the value in the embodiment is 50%; m is_aThe mass sum of the movable slide rail 1 and an object fixed on the movable slide rail 1 is obtained; l_aThe distance between the rotation center (i.e. the center of a circle) of the movable slide rail 1 and the gravity center of the movable slide rail 1 and the object thereon is shown.

The derivation of this equation is as follows:

η·m_agl_a cosθ＝F_{steel wire rope}R_aFormula (2)

η·m_agl_a cosθ＝m_pgl_pcos theta' type (4)

Wherein, theta is a rotation angle of the movable slide rail 1 relative to the initial position; g is the acceleration of gravity; f_{Steel wire rope}Is the pulling force of the pulling rope; r_aThe radius of rotation of the movable slide rail 1; theta 'is the rotation angle of the weight 13 relative to the initial position, and the value of theta' is equal to theta; r is the radius of the traction sheave;

the left and right formulas of the formula are gravity moments of the movable slide rail 1; the formula is a ratio of the torque of the movable sliding rail 1 to the traction sheave to the gravity torque of the heavy hammer, and when the formula is satisfied, the torque of the movable sliding rail 1 to the traction sheave is offset (i.e. the balancing of the movable sliding rail 1 is realized). The combined type and the push-out type can be realized.

As a preferred technical scheme, each pull rope is provided with a tension sensor. An emergency braking device corresponding to the second transmission shaft 14 is arranged on the gear box; when the movable sliding rail 1 rotates in a pitching mode, the tension sensors monitor tension of the corresponding ropes in real time, difference is obtained between tension values measured by the tension sensors on two sides, if a threshold value appears in the tension difference value, the situation that a transmission mechanism breaks down is indicated, a transmission shaft in the emergency braking assembly is clamped, and the device stops operating.

Example 2

This example differs from example 1 in that: n balancing modules are provided; n is more than or equal to 2; the first gear shafts 9 of the gear boxes 10 in the n balancing modules are all fixed with the first transmission shaft 7. Mass m of weight 13 in n balancing modules_p,iAnd an eccentricity l_p,iThe following conditions are satisfied:

example 3

This example differs from example 1 in that: n weights are arranged in the balancing module. Mass m of n weights 13_p,iAnd an eccentricity l_p,iThe following conditions are satisfied:

example 4

This example differs from example 1 in that: the pull rope is replaced by a synchronous belt; the change pulley 4 and the traction sheave 5 are provided with synchronous gear teeth, so that the torque can be transmitted more reliably.

Example 5

This example differs from example 1 in that: the gear box is a single-stage reduction gear box; in the initial state, the center of gravity of the weight 13 is directly below the center of rotation.