1. The utility model provides a based on quick conveyor of static pressure air supporting formula heavy load work piece which characterized in that: the device comprises a load workpiece, a track arranged at the lower end of the load workpiece, a power system matched with the load workpiece, a suspension system and a detection system; the power system comprises a fixed table arranged on the side surface of the load workpiece and a gas actuating cylinder arranged on the fixed table, wherein the output end of the gas actuating cylinder is connected with the load workpiece and used for providing side pushing power for the load workpiece to horizontally move on the track; the suspension system comprises an air cushion assembly arranged on the lower end face of the load workpiece, an air bottle matched with the air cushion assembly and a level gauge arranged on the upper end face of the load workpiece; the main controller and the power supply device are arranged in cooperation with the power system, the suspension system and the detection system.

2. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 1, is characterized in that: the air cushion assembly comprises a plurality of air cushion modules which are arranged, a pressure reducing valve, a main pipeline, a main valve and a control box are sequentially arranged at an output port of the air bottle, and a branch pipeline is connected in a space between an input port of any one of the air cushion modules and an input port of the main valve control box.

3. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 2, is characterized in that: and any air cushion module comprises an aluminum alloy plate bearing body, a rubber air bag and an aluminum plate which are sequentially arranged from bottom to top.

4. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 1, is characterized in that: the detection system comprises a thrust sensor arranged at the output end of the gas actuating cylinder, a ten-axis digital attitude sensor arranged on the upper end face of a load workpiece, a displacement sensor matched with a power system and a pressure sensor matched with a suspension system.

5. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 4, wherein: the displacement sensor comprises a laser displacement sensor arranged on the side face of the load workpiece and a stay wire displacement sensor arranged at the end part of the slide rail.

6. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 1, is characterized in that: the detection system is matched with a digital signal collector, the output end of the digital signal collector is connected with a PC, and the output end of the PC is connected with the input end of the main controller.

7. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 1, is characterized in that: the gas actuating cylinder comprises an actuating cylinder body provided with an inner cavity, a combustion-supporting device arranged in the inner cavity and a pushing piston matched with the inner cavity.

8. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 1, is characterized in that: the gas actuator cylinder comprises an actuator cylinder shell, a high-pressure cabin shell and a pushing mechanism, wherein the space of the high-pressure cabin shell is communicated with one side part of the actuator cylinder shell, the pushing mechanism is matched with the other side part of the actuator cylinder shell, an end cover, high-energy fuel and a starting device are sequentially arranged in the high-pressure cabin shell, and the starting device is arranged in the high-pressure cabin shell and is communicated with an outlet end of the actuator cylinder shell.

9. The fast conveying device based on the static pressure air floating type heavy-load workpiece as claimed in claim 7, wherein: the pushing mechanism comprises a piston rod penetrating through the actuating cylinder shell and a piston arranged at the inner side part of the actuating cylinder shell and located on the push rod, the piston rod is located at the outer side end of the actuating cylinder shell and connected to a load workpiece, and a sealing rubber ring matched with the actuating cylinder shell is arranged on the outer wall of the piston.

10. A detection method based on a static pressure air-floating type rapid heavy-load workpiece conveying device is characterized by comprising the following steps: the method comprises the following steps:

(1) loading a workpiece into a load workpiece, adjusting the level gauge to a horizontal position, opening an air source valve of an air cylinder, stabilizing the pressure of the air source valve in a working pressure range through a pressure stabilizing valve, enabling air flow to flow into an air cushion assembly, slowly lifting the workpiece under the action of the pressure of air chambers, adjusting the level gauge to the horizontal position again by changing the pressure of each air chamber, and completing equipment debugging work;

(2) closing an air source valve of the air bottle and waiting for a transportation instruction;

(3) after the main controller sends an instruction, an air source valve of the air bottle is opened, the power system is started after the suspension system is stabilized, the gas actuator cylinder pushes the suspension system to move forwards under the action of high-pressure gas pressure, and when the gas actuator cylinder reaches the maximum stroke, the gas actuator cylinder is separated from a workpiece, and the workpiece slides freely to a designated position.

Background

Heavy-load workpieces are required to be transported in the fields of production assembly, oil drilling, automobiles, aerospace, shipbuilding, nuclear power stations and the like, at present, most of heavy equipment such as a crane and a crane are used for hoisting, not only is time consumption long and labor intensity of workers high, but also the transportation distance is limited by the crane and a track, long-distance transportation is difficult to realize, the workpieces are easy to collide to damage, safety accidents, economic losses and the like are caused. Therefore, it is necessary to develop a suspension experiment platform based on heavy-duty objects and a corresponding testing system to solve the problems.

Disclosure of Invention

In order to solve the problems, the invention aims to provide a static pressure air floating type heavy-load workpiece rapid conveying device and a detection method, and the displacement sensor has the advantages of low cost, simple structure, easiness in operation, high precision and strong linearity, and greatly improves the control precision of an experiment platform, so that the static pressure air floating type heavy-load workpiece rapid conveying device has better popularization value and application prospect.

In order to achieve the purpose, the invention provides the following technical scheme: a quick conveying device based on a static pressure air floating type heavy-load workpiece comprises a load workpiece, a track arranged at the lower end of the load workpiece, a power system matched with the load workpiece, a suspension system and a detection system; the power system comprises a fixed table arranged on the side surface of the load workpiece and a gas actuating cylinder arranged on the fixed table, wherein the output end of the gas actuating cylinder is connected with the load workpiece and used for providing side pushing power for the load workpiece to horizontally move on the track; the suspension system comprises an air cushion assembly arranged on the lower end face of the load workpiece, an air bottle matched with the air cushion assembly and a level gauge arranged on the upper end face of the load workpiece; the main controller and the power supply device are arranged in cooperation with the power system, the suspension system and the detection system.

Preferably, the air cushion assembly comprises a plurality of air cushion modules which are arranged in an array mode, a pressure reducing valve, a main pipeline, a main valve and a control box are sequentially arranged at an output port of the air bottle, and a branch pipeline is connected in a space between an input port of any one of the air cushion modules and an input port of the main valve control box.

Preferably, any air cushion module includes aluminium alloy plate that from the bottom up sets gradually bears body, rubber gasbag and aluminum plate.

Preferably, the detection system comprises a thrust sensor arranged at the output end of the gas actuating cylinder, a ten-axis digital attitude sensor arranged on the upper end face of the load workpiece, a displacement sensor matched with the power system and a pressure sensor matched with the suspension system.

Preferably, the displacement sensor comprises a laser displacement sensor arranged on the side surface of the load workpiece and a pull wire displacement sensor arranged at the end part of the slide rail.

Preferably, the detection system is provided with a digital signal collector, the output end of the digital signal collector is connected with a PC, and the output end of the PC is connected with the input end of the main controller.

Preferably, the gas actuating cylinder comprises an actuating cylinder body provided with an inner cavity, a combustion-supporting device arranged in the inner cavity and a pushing piston matched with the inner cavity.

Preferably, the gas actuator cylinder comprises an actuator cylinder shell, a high-pressure chamber shell and a pushing mechanism, the high-pressure chamber shell is spatially communicated with one side part of the actuator cylinder shell, the pushing mechanism is matched with the other side part of the actuator cylinder shell, an end cover, high-energy fuel and a starting device are sequentially arranged in the high-pressure chamber shell, and the starting device is arranged in the high-pressure chamber shell and communicated with an outlet end of the actuator cylinder shell.

Preferably, the pushing mechanism comprises a piston rod penetrating through the actuating cylinder shell and a piston arranged on the push rod and located at the inner side of the actuating cylinder shell, the piston rod is located at the outer side end of the actuating cylinder shell and connected to a load workpiece, and a sealing rubber ring matched with the actuating cylinder shell is arranged on the outer wall of the piston.

A detection method based on a static pressure air-floating type heavy-load workpiece rapid conveying device comprises the following steps: (1) loading a workpiece into a load workpiece, adjusting the level gauge to a horizontal position, opening an air source valve of an air cylinder, stabilizing the pressure of the air source valve in a working pressure range through a pressure stabilizing valve, enabling air flow to flow into an air cushion assembly, slowly lifting the workpiece under the action of the pressure of air chambers, adjusting the level gauge to the horizontal position again by changing the pressure of each air chamber, and completing equipment debugging work; (2) closing an air source valve of the air bottle and waiting for a transportation instruction; (3) after the main controller sends an instruction, an air source valve of the air bottle is opened, the power system is started after the suspension system is stabilized, the gas actuator cylinder pushes the suspension system to move forwards under the action of high-pressure gas pressure, and when the gas actuator cylinder reaches the maximum stroke, the gas actuator cylinder is separated from a workpiece, and the workpiece slides freely to a designated position.

The invention has the following advantages:

1. no electric and magnetic pollution is generated;

2. the friction force is small, and the comprehensive friction coefficient is between 0.1 and 0.5 percent. The traction force or the thrust force required during moving is very small, and the output power is less than one tenth of the transportation power of the wheel type carrying equipment;

3. the walking is flexible, the turning radius is small, the turning radius is only limited by the size of the workpiece, the device is particularly suitable for narrow passages or places which often need to turn, and the carrying process is stable;

4. the transportation capacity/self-weight ratio is large, and a mode of carrying large heavy objects with small volume is adopted. For example, an air cushion module device for carrying a 10-ton heavy workpiece has a dead weight of only about 40kg, and a forklift with the same tonnage is more than 5 tons;

5. the pressure to the ground is small, the load is uniform, the ground cannot be damaged, and the bearing capacity of structures such as floors, pavements, bridges and the like is improved;

6. the maintenance is simple, no movable part is arranged, the safety and the reliability are high, and the maintenance cost is low;

7. the method has no requirement on the overall dimension of the conveyed workpiece and has good adaptability.

8. Hardly generates heat, does not change viscosity, and does not need to add cooling measures.

The invention builds a set of suspension experiment platform and corresponding test system of heavy-load objects and completes the principle verification experiment of the suspension platform. By adjusting static experiments and dynamic experiments of different parameters under the condition of multiple working conditions, the change relation among the suspension height, the gas film thickness and the load mass is obtained, the concepts of critical pressure and critical mass are provided, and theoretical analysis and definition are carried out. The vibration frequency of the suspension platform exceeding the critical pressure is tested, the vibration curve of the suspension height and the inlet pressure is obtained, and a reference basis is provided for modal analysis of the suspension platform. By testing the suspension resistance coefficient under different materials, the optimized track material is selected. The adaptability to the roadbed is strong (namely the method is suitable for various ground conditions, and the requirement on the ground flatness is as low as possible); the running resistance is small; the air consumption is small, the operation is stable, and the air conditioner is not easy to be disturbed by external conditions (namely not easy to vibrate); the pressure is stable, the pressures of the air cushions are balanced, and the phenomenon of shaking is avoided; after being disturbed, the self-restoring torque is obtained.

Drawings

FIG. 1 is a schematic diagram of a sensor in accordance with the present invention;

FIG. 2 is a schematic diagram of the construction of the present invention with four cylinders;

FIG. 3 is a cross-sectional view of the gas ram of the present invention with a high bay housing;

FIG. 4 is a schematic view of the construction of the air cushion module of the present invention;

FIG. 5 is a table of parameters for the DYLF-102 thrust sensor technique of the present invention;

FIG. 6 is a table of HG-C1030 technical parameters in the present invention;

FIG. 7 is a table of parameters for the WXY60-L-20200A1 technique of the present invention;

FIG. 8 is a table of WT901C technical parameters in the present invention;

FIG. 9 shows the ram characteristics for different load masses in the present invention;

figure 10 is a graph showing the motion characteristics of the floating platform of the present invention.

In the figure: 1. a fixed table; 2. a gas actuator cylinder; 3. an air cushion module; 4. a gas cylinder; 5. loading a workpiece; 6. a level gauge; 7. a track; 8. an end cap; 9. a high pressure bin housing; 10. actuating the cylinder; 11. sealing the rubber ring; 12. a piston; 13. a piston rod; 14. an aluminum alloy plate bearing body; 15. a power supply device; 16. a high energy fuel; 17. starting the device; 18. a pressure sensor; 19. a pressure reducing valve; 20. a main valve; 21. a PC machine; 22. a thrust sensor; 23. a ten-axis digital attitude sensor; 24. an aluminum plate; 25. a rubber air bag; 26. a laser displacement sensor; 27. a pull wire displacement sensor; 28. a digital signal collector; 29. a main pipeline; 30. a control box; 31. a bronchial line.

Detailed Description

Referring to fig. 1 to 8, the fast transporting device for the static pressure air-floating heavy-load workpieces of the embodiment includes a load workpiece 5, a rail 7 arranged at the lower end of the load workpiece 5, a power system matched with the load workpiece 5, a suspension system and a detection system; the power system comprises a fixed table 1 arranged on the side surface of a load workpiece 5 and a gas actuating cylinder 2 arranged on the fixed table 1, wherein the output end of the gas actuating cylinder 2 is connected to the load workpiece 5 and is used for providing side pushing power for the load workpiece 5 to horizontally move on a track 7; the suspension system comprises an air cushion assembly arranged on the lower end face of the load workpiece 5, an air bottle 4 matched with the air cushion assembly and a level gauge 6 arranged on the upper end face of the load workpiece 5; the main controller and the power supply device 15 are arranged in cooperation with the power system, the suspension system and the detection system.

In the invention, the power system consists of a fixed platform 1 and a gas actuating cylinder 2 and provides lateral thrust for the system, the fixed platform 1 fixes the gas actuating cylinder 2 on the ground, and a suspended load workpiece 5 is pushed on a track 7 by using reaction force.

The air cushion assembly comprises a plurality of air cushion modules 3 which are arranged in an array mode, a pressure reducing valve 19, a main pipeline 29, a main valve 20 and a control box 30 are sequentially arranged at an output port of the air bottle 4, and a branch pipeline 31 is connected in a space between an input port of any one of the air cushion modules 3 and an input port of the control box 30 of the main valve 20.

In the invention, the air cushion modules 3 are arranged below the suspension platform, 5 air cushion modules are respectively arranged on two sides of the suspension platform, the pressure reducing valve 19 is opened, the pressure of high-pressure air P0 in the air bottle 4 is reduced to about P1 (the pressure in the pressure reducing valve 19), and after the air cushion modules are stabilized, the test system starts to acquire data. When the control box 30 of the main valve 20 is opened, the air flow flows into the control box 30 of the main valve 20 through the main pipe, the control box 30 of the main valve 20 distributes the air flow into four branch air pipes, a pressure drop occurs at the moment, and the pressure in the main pipe is stabilized to be near P1 by adjusting the pressure reducing valve 19. After the suspension pressure is stabilized, it is observed whether the level gauge 6 is still at the horizontal position, and when the level gauge 6 is tilted, the four branch pressure reducing valves 19 on the control box 30 of the main valve 20 are adjusted to adjust the flow rate of each branch and further adjust the pressure of the branch, so that the level gauge 6 is returned to the horizontal position again.

A detection method based on a static pressure air-floating type heavy-load workpiece rapid conveying device comprises the following steps: firstly, the level gauge 6 is adjusted to a horizontal position, an air source valve of the air bottle 4 is opened, the pressure of the air source valve is stabilized in a working pressure range through a pressure stabilizing valve, an air chamber valve is opened, air flow flows into the air cushion assembly, a workpiece is slowly lifted under the action of the pressure of the air chamber, the level gauge 6 is adjusted to the horizontal position again by changing the pressure of each air chamber, and the equipment debugging work is completed. And then closing the air chamber valve and waiting for a transportation command. After a transport instruction is issued, a valve of the air chamber is opened, after the system is stabilized (about 1.2 s), a fire device of the gas actuating cylinder 2 is started, the gas actuating cylinder 2 pushes the suspension system to move forwards under the action of high-pressure gas pressure, the gas actuating cylinder is separated from a workpiece after reaching the maximum stroke, and the workpiece slides freely to a specified position.

Any air cushion module 3 includes aluminium alloy plate that sets gradually from bottom to top bears body 14, rubber air bag 25 and aluminum plate 24.

The air cushion module 3 is composed of an aluminum alloy plate bearing body 14 and an air cushion unit. The air cushion unit is composed of a flexible rubber air bag 25 and an intermediate aluminum plate 24. The rubber bladder 25 is a key component of the air suspension system and is a doughnut-shaped bladder made of urethane and woven mesh.

The rubber air bag 25 bears against the aluminium alloy plate carrier body 14 when the air cushion module 3 is not yet in operation. When the air source is opened, a part of the compressed air enters the special rubber air bag 25 to expand, and the other part of the compressed air enters the air chamber and flows out through the gap between the rubber air bag 25 and the ground as shown in a in fig. 4. When the pressure is gradually increased, the rubber air bag 25 is further inflated to reduce the thickness of the air film, the pressure in the air chamber is increased to increase the suspension height to increase the thickness of the air film, and a complex coupling relationship exists between the two, as shown in b in fig. 4. When the pressure in the chamber exceeds the load bearing mass, the platform reaches an equilibrium suspended state where the inlet flow rate and the outlet flow rate are substantially equal, as shown in c in fig. 4.

The detection system comprises a thrust sensor 22 arranged at the output end of the gas actuating cylinder 2, a ten-axis digital attitude sensor 23 arranged on the upper end face of the load workpiece 5, a displacement sensor matched with a power system and a pressure sensor 18 matched with a suspension system.

In the present invention, the detection operation of the test system mainly includes acceleration calibration and magnetic field calibration of the ten-axis digital attitude sensor 23, calibration of the displacement sensor (laser and pull wire), the thrust sensor 22, and the pressure sensor 18, and the like. The method specifically comprises the following steps: 1. a ten-axis digital attitude sensor 23, accelerometer calibration, magnetic field calibration, etc.; 2. the pressure sensor 18, the thrust sensor 22, the laser displacement sensor 26, and the stay wire displacement sensor 27 are cleared.

In the present invention, the thrust sensor 22 is of the type DYLF-102 with a range of-4980N to 4980N. Consisting of a sensor and an amplifier, as shown in fig. 4. The amplifier is a DY510 transmitter and is used for collecting a signal of the thrust sensor 22, amplifying and stabilizing voltage and converting the signal into a voltage signal of 0-10V. The sensor adopts a spoke type elastic pull type structure, and has the characteristics of low appearance, unbalance loading resistance, high strength, convenience in installation, good output pull pressure symmetry and the like. By adopting the universal pressure head, the automatic leveling can be realized, and the error influence caused by the radial direction can be effectively eliminated.

In the invention, the model of the ten-axis digital attitude sensor 23 is 3.1.5 WT901C, the module integrates a high-precision gyroscope, an accelerometer and a geomagnetic field sensor, and adopts a high-performance microprocessor and an advanced dynamics calculation and Kalman dynamic filtering algorithm, so that the measurement noise can be effectively reduced, the measurement precision is improved, and the current real-time motion attitude of the module can be quickly solved. The attitude measurement precision is static 0.05 degree and dynamic 0.1 degree.

In the invention, 4 paths of pressure sensors 18 are adopted to test the pressure of the air chambers in 4 air cushion modules 3, a pull wire sensor is used for testing the real-time displacement data of a workpiece, a laser sensor is used for testing the suspension height of the workpiece, a thrust sensor 22 is used for testing the acting force of an air cylinder on the workpiece, and a ten-axis data attitude sensor is used for testing the real-time attitude and acceleration of the workpiece. The pressure sensor 18 is a MIK-P300 diffused silicon pressure transmitter, adopts an aviation plug type, adopts an SS304 stainless steel shell, and has the measuring range of 0-0.6MPa, 24V direct current input and 0-10V direct current output.

The displacement sensor comprises a laser displacement sensor 26 arranged on the side surface of the load workpiece 5 and a pull wire displacement sensor 27 arranged at the end part of the slide rail.

In the present invention, the laser displacement sensor 26 is a sensor that uses laser diffuse reflection technology to perform non-contact measurement, with model number HG-C1030. It consists of laser, laser detector and measuring circuit. The laser sensor is a novel measuring instrument. The device can accurately measure the changes of the position, the displacement and the like of the measured object in a non-contact way. The sensor adopts CMOS image technology, the light projecting element emits laser, the laser generates diffuse reflection after meeting a target, and the position information is calculated by receiving the diffuse reflection laser. Compared with other displacement sensors, the laser displacement sensor 26 has the advantages of no contact, high precision and small volume, and is widely applied to industrial automatic production.

In the present invention, the pull cord displacement sensor 27 is of the type WXY60-L-2020-A1, and converts the amount of workpiece displacement into a quantifiable, linearly proportional electrical signal. When the object to be measured moves, the steel rope connected with the object to be measured is pulled, and the steel rope drives the sensor transmission mechanism and the sensor element to synchronously move; when the displacement is reversed, the gyroscope inside the sensor automatically retracts the rope, so that an electric signal which is proportional to the movement of the rope is output. Compared with the laser displacement sensor 26, the stay wire type sensor is connected with the workpiece to be measured through the stay wire, so that acting force is applied to the workpiece to be measured to a certain extent, and certain influence is generated on the motion characteristic of the workpiece to be measured. Meanwhile, the stay wire type displacement sensor adopts physical contact, and when the acceleration of the workpiece to be detected is overlarge, the stay wire can be damaged to a certain extent, so that the movement speed, the acceleration and the reciprocating frequency of the workpiece to be detected cannot be too high.

The cooperation detecting system is equipped with digital signal collector 28, digital signal collector 28's output is connected with PC 21, the input in the master controller is connected to PC 21's output.

In the invention, the number of sensors used in the experiment is large, and the parameters to be acquired are four-way pressure sensors 18, stay wire displacement sensors 27, laser displacement sensors 26, thrust sensors 22 and ten-axis digital attitude sensors 23. The DHDAS dynamic signal acquisition and analysis system can acquire 16 paths of signals simultaneously, and meets experimental requirements.

The system has wide application range and can complete the test and analysis of various physical quantities such as stress strain, vibration, pressure, force and the like. The DHDAS dynamic signal acquisition and analysis system is mainly characterized in that: (1) the system has strong anti-interference capability, can realize multi-channel parallel sampling, and has the highest sampling frequency of 256 kHz/channel; (2) the advanced DDS digital frequency synthesis technology is adopted, the sampling pulse has high precision and high stability, and the synchronism, accuracy and stability of the multichannel sampling rate are ensured; (3) the functions of real-time acquisition, real-time storage, real-time display, real-time analysis and the like can be realized for signal acquisition; (4) the interface is flexible, the USB3.0 interface is adopted, so that the communication between a computer and an instrument is convenient, and the interface is friendly and is biased to operation and use. The acquisition work of signals can be conveniently realized by carrying out operations such as parameter setting (measuring range, sensor sensitivity, sampling rate and the like), zero clearing, sampling, stopping and the like on the acquisition device.

The main technical indexes of the system are as follows: the uncertainty of the system is less than or equal to 0.5 percent (FS), the linearity of the system is 0.05 percent, and the distortion degree is less than or equal to 0.5 percent.

The gas actuating cylinder 2 comprises an actuating cylinder body 10 provided with an inner cavity, a combustion-supporting device arranged in the inner cavity and a pushing piston 12 matched with the inner cavity.

In the invention, the combustion-supporting device is a starting device 17, the starting device 17 is placed in the actuating cylinder and directly combusted through the starting device 17, so that high-pressure gas is generated, and the piston 12 is pushed to push the load to do work under the action of the gas. The structure is simple and compact, the inner trajectory is convenient to calculate, and the device can be used in occasions with small thrust.

The gas actuator cylinder 2 comprises an actuator cylinder shell, a high-pressure cabin shell 9 and a pushing mechanism, wherein the space of the high-pressure cabin shell 9 is communicated with one side part of the actuator cylinder shell, the pushing mechanism is matched with the other side part of the actuator cylinder shell, an end cover 8, high-energy fuel 16 and a starting device 17 are sequentially arranged in the high-pressure cabin shell 9, and the starting device 17 is arranged at the outlet end of the high-pressure cabin shell 9, which is communicated with the actuator cylinder shell.

The pushing mechanism comprises a piston rod 13 penetrating through the actuating cylinder shell and a piston 12 arranged on the push rod and located on the inner side of the actuating cylinder shell, the piston rod 13 is located on the outer side end of the actuating cylinder shell and connected to the load workpiece 5, and a sealing rubber ring 11 matched with the actuating cylinder shell is arranged on the outer wall of the piston 12.

In the invention, a high-pressure cabin nozzle actuating cylinder structure is adopted, high-energy fuel 16 and an actuating device 17 in a high-pressure cabin shell 9 form a high-pressure chamber, and an actuating cylinder shell and a pushing mechanism form an actuating cylinder. The high-pressure chamber is essentially a semi-closed combustion chamber taking gas of the starting device 17 as a power source, and the change rule of the gas pressure directly influences the gas quantity flowing into the actuating cylinder, so that the change rule of the gas pressure in the actuating cylinder is influenced, and the motion rule of the load of the actuating cylinder is finally influenced. When the ratio of the pressure intensity of the actuating cylinder to the pressure intensity of the high-pressure chamber is smaller than the critical pressure intensity ratio, the flow characteristic of the spray pipe is not influenced by the pressure intensity in the actuating cylinder, and the gas flow keeps sonic flow at the throat part; when the ratio of the pressure intensity of the actuating cylinder to the pressure intensity of the high-pressure chamber is increased to reach the critical pressure intensity ratio, the gas flow at the throat part of the spray pipe has a subsonic flow phenomenon. In the subcritical state, the pressure of the actuator cylinder is relatively high, so that the gas flow of the high-pressure chamber is not only influenced by the high pressure of the high-pressure chamber but also influenced by the high pressure of the low-pressure chamber. Thus, in this state, the high chamber pressure is affected by the magnitude of the ram pressure.

As indexes require that the transportation time of the suspension platform is short, a power system is required to have strong thrust, the suspension system is simple as possible and free of maintenance, and the gas actuating cylinder 2 is selected as a power source. The gas cylinder 2 is a driving device using the starting device 17 as a power source, has a high energy-to-weight ratio, and is mainly used for completing the deployment and load release of various mechanisms. The method has the advantages of small input energy, high response speed, high reliability and the like, and is widely applied to the missile wing unfolding and launching processes of missiles, satellites and rockets. The gas-fired power source can be divided into a pure gas-fired type and a mixed gas-fired type. The mixed gas type is generally a gas-steam type, and is formed by adding a coolant on the basis of a gas power source. The coolant may be water or other liquid, or may be solid. Water is generally used as the coolant. The power source is widely used for the power source of the external power launching strategic missile. In consideration of the simple structure, the scheme adopts a gas-type power source.

The working principle of the power system is as follows: the point starting device 17 ignites and ignites the high-energy fuel 16, the high-energy fuel 16 is combusted on the end face of the parallel layer in the high-pressure bin according to the combustion rule, high-pressure fuel gas is generated and flows into the actuating cylinder through the spray pipe, the pressure of the actuating cylinder is increased, and the piston 12 pushes the load to slide rightwards under the action of the high-temperature high-pressure fuel gas. For the high-pressure bin, on one hand, the pressure of the high-pressure bin is continuously increased by high-pressure gas generated by combustion of the main explosive columns, and meanwhile, the high-pressure bin is discharged by the spray pipe, when the high-pressure bin and the high-pressure bin are balanced, the pressure in the high-pressure bin is relatively stable, and at the moment, the combustion of the explosive columns is relatively stable. For the pressure in the actuating cylinder, on one hand, the pressure in the actuating cylinder is increased due to high-pressure gas flowing in from the spray pipe; on the other hand, the pressure drop is indirectly caused by the increase of the free volume in the ram due to the movement of the piston 12 to the right. When the two reach equilibrium at a certain moment, the pressure in the actuating cylinder does not rise any more, but gradually decreases. When the piston 12 moves to the stroke limit position, the push rod is separated from the load, the load makes free sliding movement, the pressure in the actuating cylinder is equal to the atmospheric pressure under the action of the pressure relief opening, and the pressure in the high-pressure cabin is gradually reduced to the atmospheric pressure after the burning of the explosive column is finished.

In the present invention: the suspended workpiece is a high-quality high-strength cement product with the density of 3720kg/m 3.

1. Suspension mass: 20 tons;

2. transport distance: not less than 10 m;

3. effective length of actuator piston rod 13: 1 m;

4. working time: less than or equal to 10 s;

5. the overall dimension length, width and height of the workpiece are as follows: 3 meters × 0.6 meters;

6. after the transportation action is finished, the transportation device can be repeatedly used through simple treatment;

7. the preparation time is short, and the maintenance is avoided as much as possible.

In the present invention: 1) the workpiece is loaded into the box, the level 6 is mounted on the box, and the level 6 is adjusted to the horizontal position. 2) Checking whether the pressure of the gas cylinder 4 meets the requirement of working pressure, generally reaching more than 10MPa, connecting the pressure reducing valve 19 and each gas circuit, checking whether gas leakage occurs in the gas circuit pipeline, and closing the main valve 20 after the checking is normal. 3) It is checked whether the power system, which generates power by relying on the movement of the piston 12 in the cylinder, is normal. 4) And installing and debugging the test system, calibrating each sensor, and starting the air suspension system after the debugging system is normal. 5) And (3) opening the pressure reducing valve 19, reducing the pressure P0 of the high-pressure gas in the gas cylinder 4 to about P1 (the pressure in the pressure reducing valve 19), and starting to collect data by the test system after the pressure is stabilized. 6) When the main valve 20 is opened, the air flow flows into the control box 30 through the main pipe, the control box 30 distributes the air flow into four branch pipes, a pressure drop occurs, and the pressure in the main pipe is stabilized near P1 by the adjusting and reducing valve 19. 7) And observing whether the level meter 6 still keeps the horizontal position after the suspension pressure is stable, and adjusting the flow of each branch by adjusting four branch valve regulators on the control box 30 when the position of the level meter 6 is inclined so as to adjust the pressure of the branch, so that the level meter 6 returns to the horizontal position again. 8) The power system is turned on, and a thrust sensor 22 arranged on the piston rod 13 records the real-time acting force of the piston 12 on the suspension system. The suspension platform starts to move forwards under the action of thrust, the suspension platform and the piston 12 are separated after the stroke of the piston is finished, the suspension platform does free sliding movement, the stay wire displacement sensor 27 records real-time position information of the suspension platform, and the ten-axis digital attitude sensor 23 records real-time movement parameter information of the suspension platform. 9) The suspension platform performs approximately uniform deceleration movement under the action of air floatation friction resistance until the final speed is zero and the suspension platform is stationary. 10) The suspension platform was pulled back to the initial position for repeated experiments. 11) And after the experiment is finished, closing the air source main valve 20, taking out the air cushion module 3, and finishing the transportation of the heavy-load workpiece. Note that the line of action of the thrust is as close to the centroid as possible, although the suspension system will slide sideways.

In view of minimizing the friction coefficient, it is desirable that the rail 7 be as smooth as possible, and glass fiber reinforced plastics are selected.

The high-pressure chamber is a semi-closed starting device 17 combustion chamber in essence, and has two characteristics: firstly, the volume of the high-pressure chamber is not changed; secondly, gas outflow occurs. The lower pressure in the ram (typically much lower than the high pressure chamber) is also referred to as the low pressure chamber. The volume of the low pressure chamber is continuously enlarged along with the movement of the load. In order to simplify the calculation, neglecting the temperature change, the ballistic mathematical models in the high-pressure chamber and the actuating cylinder are obtained as follows:

in the above formula: the pressure of the gas in a certain instantaneous high-pressure chamber; is the gas constant of the fuel gas; is the gas temperature; is the free volume in the high-pressure cabin; is the initial free volume of the high-pressure cabin; the charging quality of the high-pressure chamber is measured; the mass of the burnt gas part filled with the medicine in the time, namely the gas generation amount; the total output of the gas in the high-pressure chamber in time; is the rate of gas generation; the rate of gas flow out of the nozzle; burning out mass percent of the charged powder; the charge density is; the area of the charging end face; the charge burning rate is set; is a constant related to the adiabatic exponent; is the area of the throat part of the spray pipe; is the outlet area of the nozzle of the spray pipe; is the thickness of the meat burned off by the powder charge; the burning rate coefficient of the charge is taken as the coefficient; the charge burning rate index; the pressure of the gas in a certain instantaneous actuating cylinder; is the initial free volume of the ram; is the inner diameter of the actuating cylinder; is the stroke limit of the actuator cylinder; is the secondary work coefficient; is the load mass; v is the speed of movement of the load.

The actuator cylinder characteristics were simulated as follows:

and (4) constructing an inner trajectory simulation program by using a Sinmulink module in a computer Matlab. The diameter of the actuating cylinder is 0.2 meter, the diameter of the high-pressure chamber is 0.2 meter, the diameter of the throat part of the spray pipe is 0.018 meter, the diameter of the outlet of the spray pipe is 0.04 meter, the stroke of the piston 12 is 1 meter, the main explosive column adopts double-base explosive column double cobalt-2, the explosive quantity is 0.91kg, the end surface combustion is carried out, the combustion speed accords with an exponential combustion speed law, wherein a =0.003, the pressure coefficient p =0.2, the secondary work coefficient =1, the load is 480kg, 640kg, 800kg, 960kg, 1120kg, 1280kg, 1440kg and 1600 kg. The piston rod 13 pushes the load to move in parallel without friction, and the simulation result is shown in fig. 9.

The curves represented by data 1-data 8 have loads of 480kg, 640kg, 800kg, 960kg, 1120kg, 1280kg, 1440kg and 1600kg in sequence. It can be seen from figure a that the operating pressure curve in the high-pressure chamber hardly changes, although the load mass increases from 480kg to 1600 kg. The only difference is that the tail section after firing differs due to the difference in the time the load is separated from the ram. As can be seen from the graph b, as the load mass increases, the pressure in the ram also increases gradually, with the pressure peak increasing from 7.05MPa to 11.2MPa, but the overall trend is consistent. The operating time of the actuator cylinder is gradually increased from 0.22s to about 0.33 s. This is because as the mass of the load increases, the piston 12 pushes the load through its entire strokeWith the result that the time of the operation is increased. Graph c has a similarity to graph b, and as the load mass increases, the thrust of the piston 12 increases (the thrust peak increases from 2.22 × 105N to 3.52 × 105N) and the acting time also increases. The graph d is the time-dependent load acceleration, from which it can be seen that the load acceleration gradually decreases with the increase of the load mass, and the acceleration peak thereof is from 461m/s²Down to 220 m/s². The graph e is a plot of load velocity versus time, and it can be seen that as the mass of the load increases, the instantaneous velocity of the load away from the pushrods gradually decreases, from 28.4m/s to 19.5 m/s. The graph f is a load displacement curve with time, and it can be seen that the displacement curve shows a more gradual trend as the load mass increases, which shows that the displacement gradually decreases with the mass at a certain time.

The kinematic simulation of the static pressure gas suspension platform is as follows:

the computer Matlab is programmed by a Sinmulink module. The length of the track 7 is 10 meters, the diameter of the actuating cylinder is 0.2 meters, the stroke of the piston 12 is 1 meter, the main explosive column adopts double-base explosive columns, the explosive quantity is 1.52kg, the end surface is combusted in an equal-surface mode, the combustion speed accords with an exponential combustion law, wherein a =0.003, and the pressure coefficient p = 0.2. The diameter of the high-pressure cabin is 0.2 meter, and the length of the high-pressure cabin is 0.1 meter. The simulation results are shown in fig. 10.

The graph a is the pressure change curve of the high pressure chamber and the low pressure chamber, and the burning time of the explosive column is 0.29 s. The pressure of the high-pressure cabin is gradually increased to 60MPa and starts to be reduced after 0.29 s; the pressure of the low-pressure chamber reaches the peak value of 29.5MPa in 0.14s, then gradually decreases, the stroke of the piston 12 of the actuating cylinder reaches 1m after 0.27s, and the pressure sharply decreases under the action of the pressure relief hole.

The graphs b and c are respectively thrust and acceleration curves, which are similar in their behavior, and at time 0.14s, the thrust and acceleration reach simultaneously maximum values of 925kN and 46m/s2, after which they start to decrease. After 0.27s, the cylinder piston 12 is separated from the suspension platform and no thrust or acceleration is generated.

In graph d, the speed is increased to 8.95m/s at 0.27s, and is kept unchanged until the movement is completed; the displacement reached 10m at 1.28 s. Then according to the starting time of 1.2s, the method can be obtained: the whole system movement time meets the requirement of the overall design index.

The overall scheme of the static pressure type suspension transportation platform is designed by taking numerical simulation of a static pressure suspension mechanism and experimental principle verification as the basis and taking specific design indexes as the criteria.

The system adopts a gas type high-pressure chamber type actuator cylinder scheme, a suspension system adopts 10 standard air cushions, and devices such as a stable platform, an air source and the like are added on the basis. In order to reduce the suspension friction coefficient, the track 7 made of glass fiber reinforced plastic is selected. A hydrostatic suspension system with a load mass of 20 tons is designed.

A high-pressure cabin gas generator and a charging structure are designed, a high-pressure cabin gas internal trajectory mathematical model is established, the load quality is used as an independent variable, a Simulink module in Matlab is adopted to perform numerical simulation calculation on the internal trajectory characteristic and the thrust characteristic of the gas type high-pressure cabin actuator cylinder, and the general law and the thrust characteristic curve of the internal trajectory of the high-pressure cabin gas actuator cylinder 2 are obtained.

After a power system is loaded on the suspension system, the result shows that the overall design requirement is met through Simulink numerical simulation.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.