CN102374283B - Gapless walking transmission system of manipulator - Google Patents
Gapless walking transmission system of manipulator Download PDFInfo
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- CN102374283B CN102374283B CN2011103558887A CN201110355888A CN102374283B CN 102374283 B CN102374283 B CN 102374283B CN 2011103558887 A CN2011103558887 A CN 2011103558887A CN 201110355888 A CN201110355888 A CN 201110355888A CN 102374283 B CN102374283 B CN 102374283B
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Abstract
The invention belongs to a hydraulic transmission device, and in particular relates to a walking transmission device of an all-hydraulic rail forging manipulator, or equivalently, a gapless walking transmission system of a manipulator. The gapless walking transmission system comprises racks, a front pin wheel and a rear pin wheel which are arranged in front of and back of the racks; a front drive hydraulic motor and a front detection encoder are connected to the front pin wheel; a rear drive hydraulic motor and a rear detection encoder are connected to the rear pin wheel; a hydraulic drive unit is respectively connected to the front drive hydraulic motor and the front detection encoder as well as the rear drive hydraulic motor and the rear detection encoder; and the hydraulic drive unit controls the manipulator to walk by monitoring signals of the front detection encoder and the rear detection encoder. The walking gapless transmission system of the manipulator, provided by the invention, has high position control precision and the capability of effectively improving the production efficiency of equipment.
Description
Technical field
The invention belongs to hydraulic transmission, particularly belong to a kind of all-hydraulic track forging manipulator walking transmission device manipulator walking in other words zero-clearance transmission system that has.
Background technique
The large vehicle walking of manipulator for forging is realized at the tooth bar upper driving by the fluid motor-driven pin wheel, there is back lash when the commutation due to pin wheel and tooth bar, make manipulator produce reversing impact, and make the signal of rotating coder collection error occur, and then affect the walking position control accuracy.Especially for the large operation machine, because the large inertia of its moving-mass is larger, during the motion conversion, impact greatlyr, stopping distance is long, and control accuracy is low, has a strong impact on the manufacturing efficiency of equipment.
Summary of the invention
The purpose of this invention is to provide a kind of position control accuracy high, effectively improved the manipulator walking zero-clearance transmission system of production efficiency of equipment.
The true technological scheme of the present invention is: manipulator walking zero-clearance transmission system, it is characterized in that: comprise tooth bar, front pin wheel and rear pin wheel before and after tooth bar, front pin wheel is connected with front wheel driving oil hydraulic motor and front detection encoder, and rear pin wheel is connected with rear driving oil hydraulic motor and rear detection encoder; Front wheel driving oil hydraulic motor and front detection encoder, rear driving oil hydraulic motor and rear detection encoder are connected with hydraulic drive unit, and hydraulic drive unit is by the front detection encoder of monitoring and rear detection code device signal, and the walking of control operation machine is moved; While moving forward and backward, hydraulic drive unit drives front wheel driving oil hydraulic motor and rear driving oil hydraulic motor to drive respectively front pin wheel and rear pin wheel to move on tooth bar, advancing while stopping, provide plugging moment by pin wheel after the rear driving fluid motor-driven, make manipulator stop steadily, and rear pin wheel has been eliminated reverse back lash; Otherwise retreating while stopping, drive unit drives front wheel driving oil hydraulic motor acts on front pin wheel, by front pin wheel, provides plugging moment, makes manipulator stop steadily.
Described hydraulic drive unit comprises forward unit and backward driver element, the forward unit is by the first accumulator, the forward direction proportional reversing valve, the forward direction proportional pressure control valve, the forward direction separating valve, the second accumulator connects and composes, backward driver element is by the 3rd accumulator, backward proportional reversing valve, backward proportional pressure control valve, backward separating valve, the second accumulator connects and composes, backward proportional pressure control valve is connected with the rear driving motor with the front wheel driving motor respectively with the forward direction proportional pressure control valve, backward proportional pressure control valve and forward direction proportional pressure control valve are the working pressures of setting up front wheel driving motor and rear driving motor, backward proportional pressure control valve is connected with backward proportional reversing valve with the forward direction proportional reversing valve with backward separating valve by the forward direction separating valve respectively with the forward direction proportional pressure control valve, forward direction separating valve and backward separating valve effect are by motor and proportional reversing valve isolation, the forward direction proportional reversing valve is connected the second accumulator with backward proportional reversing valve, separating valve before and after being connected with between forward direction separating valve and backward separating valve.
Described front and back separating valve is opened for front and back separating valve when manipulator advances fast or retreats, the flow of backward proportional reversing valve or forward direction proportional reversing valve is offered to front wheel driving motor or rear driving motor, backward proportional pressure control valve or forward direction proportional pressure control valve are adjusted to a lower pressure value simultaneously, make rear driving oil hydraulic motor or front wheel driving motor in passive following state, advance fast or retreat realizing.
Described the second accumulator is for offering the outer governor pressure of backward proportional pressure control valve and forward direction proportional pressure control valve.
Advantage of the present invention is: by proportional reversing valve, proportional pressure control valve, separating valve, oil hydraulic motor, pin wheel and tooth bar etc., form the zero-clearance traveling control system.The front and back walking of manipulator for forging is realized at the tooth bar upper driving by the fluid motor-driven pin wheel, while walking before and after manipulator, by the front and back pin wheel, is jointly driven.Advancing while stopping, providing plugging moment by rear pin wheel, make manipulator stop steadily, now after pin wheel eliminated reverse back lash, can realize the zero-clearance walking while retreating; Otherwise retreating while stopping, by front pin wheel, provide plugging moment, make manipulator stop steadily, and front pin wheel has been eliminated reverse back lash.
Manipulator is larger because of the displacement mass ratio, and motional inertia is larger, adopts the pin wheel rack-driving, can meet the kinetic characteristic demand to manipulator.Utilize Two-wheeled, when stopping, by a wheel, provide plugging moment, eliminate the characteristics of backlass simultaneously and carry out work, improved manipulator walking position control accuracy, thereby enhanced productivity; During manipulator motion simultaneously, the passing ratio valve is controlled, and excessive pressure is steady, has greatly reduced compression shock and vibration, has improved life of equipment.
The accompanying drawing explanation
Below in conjunction with example figure, inventive embodiments is described further:
Fig. 1 is the principle schematic of manipulator walking gapless transmission device of the present invention;
Fig. 2 is the pin wheel pin tooth transmission intention of manipulator walking gapless transmission device of the present invention.
In figure, 1. front wheel driving oil hydraulic motor; 2. front detection encoder; 3. the first accumulator; 4. rear driving oil hydraulic motor; 5. detect afterwards encoder; 6. backward proportional pressure control valve; 7. front separating valve; 8. pump; 9. backward proportional reversing valve; 10. front and back separating valve; 11. the second accumulator; 12. forward direction proportional reversing valve; 13. forward direction proportional pressure control valve; 14. front pin wheel; 15. rear pin wheel; 16. tooth bar; 17. the 3rd accumulator; 18. backward separating valve.
Embodiment
As shown in Figure 2, a kind of manipulator walking zero-clearance transmission system: comprise and be laid on ground bearing pin tooth bar 16, the front pin wheel 14 of tooth bar 16 front and back and rear pin wheel 15, the front wheel driving oil hydraulic motor 1 be connected with front pin wheel 14 and front detection encoder 2, rear pin wheel 15 connects rear driving oil hydraulic motor 4 and rear detection encoder 5.Front wheel driving oil hydraulic motor 1 and front detection encoder 2, rear driving oil hydraulic motor 4 and rear detection encoder 5 are connected with hydraulic drive unit, hydraulic drive unit, by detecting front detection encoder 2 and rear detection encoder 5 input, determines that by computer control the manipulator cart advances, retreats or stops.While moving forward and backward, by hydraulic drive unit, drive front wheel driving oil hydraulic motor 1 and rear driving oil hydraulic motor 4 to drive respectively front pin wheel 14 and rear pin wheel 15 to move on tooth bar 16.Advancing while stopping, after being driven by rear driving oil hydraulic motor 4, pin wheel 15 provides plugging moment, manipulator is stopped steadily, and the plugging of pin wheel 15 has been eliminated reverse back lash afterwards; Otherwise retreating while stopping, drive unit drives front wheel driving oil hydraulic motor 1 acts on front pin wheel 14, by front pin wheel 14, provides plugging moment, make manipulator walking commutation realize the zero-clearance transmission, reduced impact, can realize the accurate control of travel distance.
As shown in Figure 1, described hydraulic drive unit comprises forward unit and backward driver element.The forward unit is to be connected and composed by the first accumulator 3, forward direction proportional reversing valve 12, forward direction proportional pressure control valve 13, forward direction separating valve 7, the second accumulator 11 etc., and backward driver element is to be connected and composed by the 3rd accumulator 17, backward proportional reversing valve 9, backward proportional pressure control valve 6, backward separating valve 18, the second accumulator 11 etc.
The Shi Youqian that advances detects encoder 2 the electrical system signal is provided, and while retreating, by rear detection encoder 5, provides the electrical system signal, can make the manipulator positioning control accurate, prevents the manipulator involuntary maneuver; Forward direction proportional pressure control valve 13 is connected with rear driving motor 4 with front wheel driving motor 1 respectively with backward proportional pressure control valve 6, and forward direction proportional pressure control valve 13 and backward proportional pressure control valve 6 are set up respectively the working pressure pressure of front wheel driving motor 1 and rear driving motor 4; Forward direction proportional pressure control valve 13 is connected with backward proportional reversing valve 9 with forward direction proportional reversing valve 12 with backward separating valve 18 by forward direction separating valve 7 respectively with backward proportional pressure control valve 6, forward direction separating valve 7 and 18 effects of backward separating valve are by motor and proportional reversing valve isolation, separating valve 10 before and after front wheel driving motor 1 and rear driving motor 4 are connected with between importing and exporting.When advancing (or retreating) fast at manipulator, opens by front and back separating valve 10, by backward proportional reversing valve 9(or forward direction proportional reversing valve 12) flow offer front wheel driving motor 1(or rear driving motor 4), simultaneously backward proportional pressure control valve 6(or forward direction proportional pressure control valve 13) be transferred to a lower value, make rear driving oil hydraulic motor 4(or front wheel driving motor 1) in passive following state, to realize advance fast (or retreating).The second accumulator 11 provides outer governor pressure to backward proportional pressure control valve 6 and forward direction proportional pressure control valve 13.
No matter manipulator advances or retreats, and has a pin wheel to be close to tooth bar 16 all the time, makes manipulator operate steadily, and impact shock is little, improves the manipulator traveling comfort, thereby improves production efficiency of equipment and working life.The Shi Youqian that advances detects encoder 2 the electrical system signal is provided, and while retreating, by rear detection encoder 5, provides the electrical system signal, can make the manipulator positioning control accurate.
Claims (2)
1. manipulator walking zero-clearance transmission system, it is characterized in that: comprise tooth bar (16), front pin wheel (14) and rear pin wheel (15) before and after tooth bar (16), front pin wheel (14) is connected with front wheel driving oil hydraulic motor (1) and front detection encoder (2), and rear pin wheel (15) is connected with rear driving oil hydraulic motor (4) and rear detection encoder (5), front wheel driving oil hydraulic motor (1) and front detection encoder (2), rear driving oil hydraulic motor (4) and rear detection encoder (5) are connected with hydraulic drive unit, hydraulic drive unit is by monitoring front detection encoder (2) and rear detection encoder (5) signal, and the walking of control operation machine is moved, while moving forward and backward, hydraulic drive unit drives front wheel driving oil hydraulic motor (1) and rear driving oil hydraulic motor (4) to drive respectively front pin wheel (14) and rear pin wheel (15) in the upper motion of tooth bar (16), advancing while stopping, after being driven by rear driving oil hydraulic motor (4), pin wheel (15) provides plugging moment, make manipulator stop steadily, and rear pin wheel (15) has been eliminated reverse back lash, otherwise retreating while stopping, drive unit drives front wheel driving oil hydraulic motor (1) acts on front pin wheel (14), by front pin wheel (14), provides plugging moment, makes manipulator stop steadily, described hydraulic drive unit comprises forward unit and backward driver element, the forward unit is by the first accumulator (3), forward direction proportional reversing valve (12), forward direction proportional pressure control valve (13), forward direction separating valve (7), the second accumulator (11) connects and composes, backward driver element is by the 3rd accumulator (17), backward proportional reversing valve (9), backward proportional pressure control valve (6), backward separating valve (18), the second accumulator (11) connects and composes, forward direction proportional pressure control valve (13) is connected with rear driving oil hydraulic motor (4) with front wheel driving oil hydraulic motor (1) respectively with backward proportional pressure control valve (6), the working pressure that forward direction proportional pressure control valve (13) and backward proportional pressure control valve (6) are set up respectively front wheel driving oil hydraulic motor (1) and rear driving oil hydraulic motor (4), forward direction proportional pressure control valve (13) is connected with backward proportional reversing valve (9) with forward direction proportional reversing valve (12) with backward separating valve (18) by forward direction separating valve (7) respectively with backward proportional pressure control valve (6), forward direction separating valve (7) effect is by front wheel driving oil hydraulic motor (1) and forward direction proportional reversing valve (12) isolation, backward separating valve (18) effect is by rear driving oil hydraulic motor (4) and backward proportional reversing valve (9) isolation, forward direction proportional reversing valve (12) is connected the second accumulator (11) with backward proportional reversing valve (9), separating valve (10) before and after being connected with between forward direction separating valve (7) and backward separating valve (18).
2. manipulator according to claim 1 walking zero-clearance transmission system, it is characterized in that: described the second accumulator (11) is for offering backward proportional pressure control valve (6) and the outer governor pressure of forward direction proportional pressure control valve (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103558887A CN102374283B (en) | 2011-11-11 | 2011-11-11 | Gapless walking transmission system of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103558887A CN102374283B (en) | 2011-11-11 | 2011-11-11 | Gapless walking transmission system of manipulator |
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| Publication Number | Publication Date |
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| CN102374283A CN102374283A (en) | 2012-03-14 |
| CN102374283B true CN102374283B (en) | 2013-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011103558887A Active CN102374283B (en) | 2011-11-11 | 2011-11-11 | Gapless walking transmission system of manipulator |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106274922B (en) * | 2016-09-19 | 2018-10-23 | 南通铁军机械有限公司 | A kind of hydraulic traveling mechanism and control method for working jumbo for tunnel lining |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1154325A (en) * | 1965-09-07 | 1969-06-04 | Davy & United Eng Co Ltd | Forging |
| US3398595A (en) * | 1966-07-21 | 1968-08-27 | Binns Jack N | Saddle feed mechanism and method of operation |
| US5546826A (en) * | 1994-01-13 | 1996-08-20 | Yanagisawa; Ken | Drive system |
| JPH0874972A (en) * | 1994-09-05 | 1996-03-19 | Sigma Eng Kk | Backlashless device |
| JP5371494B2 (en) * | 2009-03-09 | 2013-12-18 | 三菱重工業株式会社 | Linear movement device |
| CN201953972U (en) * | 2010-12-23 | 2011-08-31 | 江苏新瑞重工科技有限公司 | Dual-motor electrical anti-backlash mechanism |
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Address after: 710032 Dongyuan Road 209, Weiyang District, Xi'an City, Shaanxi Province Patentee after: China National Heavy Machinery Research Institute Co., Ltd. Address before: 710032 Dongyuan Road 209, Weiyang District, Xi'an City, Shaanxi Province Patentee before: China National Heavy Machinery Research Institute Co., Ltd. |
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