CN102744345A - Hydraulic system of buffering cylinder of forging manipulator - Google Patents
Hydraulic system of buffering cylinder of forging manipulator Download PDFInfo
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- CN102744345A CN102744345A CN2012102508688A CN201210250868A CN102744345A CN 102744345 A CN102744345 A CN 102744345A CN 2012102508688 A CN2012102508688 A CN 2012102508688A CN 201210250868 A CN201210250868 A CN 201210250868A CN 102744345 A CN102744345 A CN 102744345A
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- valve
- mouth
- oil
- cushion dashpot
- buffering
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Abstract
The invention discloses a hydraulic system of a buffering cylinder of a forging manipulator. The hydraulic system comprises an oil source oil supply opening, a proportional direction valve, an overflow valve, a one-way valve, the buffering cylinder, a pilot overflow valve, an electromagnetic direction valve, an oil source oil return opening, a displacement sensor, a displacement set signal, a subtractor and a PID (proportion integration differentiation) controller. A combined type multi-cavity structure of the buffering cylinder of the forging manipulator is utilized, a passive buffering system with the pilot overflow valve and an active displacement closed-loop control system with the proportional direction valve are integrated on the buffering cylinder, a passive buffering function of a clamp of the manipulator can be realized, and furthermore, a required displacement closed-loop control function of the buffering system of the forging manipulator is also realized. The hydraulic system has the advantages of simplicity in control and multiple functions. By a multi-cavity buffering mode of the buffering cylinder of the system, higher buffering force can be provided by the buffering cylinder with the same diameter. Besides, because proportional control elements are fewer, the reliability of the system is high.
Description
Technical field
The present invention relates to a kind of cushion dashpot hydraulic system, particularly relate to a kind of forging manipulator cushion dashpot hydraulic system.
Background technology
Require the clamp of forging manipulator must possess two kinds of functions of passive buffering and ACTIVE CONTROL in the horizontal direction simultaneously with the special operation condition of forging press interlock; The most cushion dashpot hydraulic systems that exist at present all only possess passive pooling feature; And can't realize the ACTIVE CONTROL of cushion dashpot, limited the flexibility in the horizontal direction of manipulator clamp.Retrieval through to prior art is found; Application number is that 200910153528.1 Chinese invention patent has been put down in writing a kind of " hydraulic system of horizontal buffer cylinder of forging and pressing operating machine "; Hydraulic cylinder by the many piston rods of a kind of multi-cavity; Realized the function of passive buffering and ACTIVE CONTROL, but the described cushion dashpot structure of this patent more complicated, and power buffer system and displacement closed loop control system are coupling in the same oil circuit.
Summary of the invention
In order to simplify the cushion dashpot structure; Reduce the coupled characteristic between two kinds of function oil circuits of forging manipulator buffer system; The object of the present invention is to provide a kind of forging manipulator cushion dashpot hydraulic system, two kinds of functions of passive buffering and ACTIVE CONTROL are separated, control respectively by different oil circuits; When working in passive operating mode, be used to provide cushion effect, when working in the active operating mode, be used to control the displacement and the speed of cushion dashpot.
The technical scheme that the present invention adopted is:
The P mouth of proportion directional valve of the present invention is connected with the P mouth of oil sources oil-feed port, electromagnetic direction valve respectively; The A mouth of proportion directional valve is connected with inlet, the outlet of back cavity check valve, the cushion dashpot back cavity of back cavity overflow valve respectively; The B mouth of proportion directional valve is connected with inlet, the outlet of ante-chamber check valve, the cushion dashpot ante-chamber of ante-chamber overflow valve respectively; The T mouth of proportion directional valve is connected with outlet, the T mouth of electromagnetic direction valve, oil sources oil return opening, the outlet of back cavity overflow valve, the outlet of ante-chamber overflow valve, the inlet of back cavity check valve, the inlet of ante-chamber check valve, cushion dashpot rear slider chamber, the cushion dashpot front-slider chamber of pilot operated compound relief valve respectively; The cushion dashpot lumen is connected with the outlet of oil feed non-return valve, the inlet of pilot operated compound relief valve; The A mouth of electromagnetic direction valve is connected with the inlet of oil feed non-return valve; Displacement transducer is installed on the cushion dashpot piston rod of cushion dashpot; The displacement transducer signal delivery outlet is connected with the displacement controller signal input; The signal output of displacement controller is connected with the signal input of proportion directional valve.
Described displacement controller comprises the given displacement setting signal of operating personnel, subtracter and PID controller; Displacement setting signal output signal is poor at the output signal of subtracter place and displacement transducer; The signal output of subtracter is connected with the signal input of PID controller; The signal output of PID controller is connected with the signal input of proportion directional valve.
The P mouth of described proportion directional valve is an oil-in, and the T mouth is an oil return opening, and the A mouth is oil-out or oil return opening, and the B mouth is oil return opening or oil-out; The P mouth of electromagnetic direction valve is an oil-in, and the T mouth is an oil return opening, and the A mouth is oil-out or oil return opening.
The beneficial effect that the present invention has is:
1) function is complete, integrated passive buffering and active control function.
2) hydraulic circuit of passive pooling feature and active control function is relatively independent, and control is simple.
3) buffering course provides cushion effect by cushion dashpot lumen and ante-chamber or two chambeies bufferings of back cavity, and bigger cushion effect can be provided.
4) except the proportion directional valve, system does not have other proportional control elements, and system reliability is higher.
Description of drawings
Accompanying drawing is the structural principle sketch map of forging manipulator cushion dashpot hydraulic system.
In the accompanying drawing: 1. oil sources oil-feed port, 2. proportion directional valve, 3. back cavity overflow valve, 4. ante-chamber overflow valve, 5. back cavity check valve; 6. ante-chamber check valve, 7. cushion dashpot, 7-1. cushion dashpot cylinder barrel, 7-2. cushion dashpot piston rod, 7-3. cushion dashpot rear slider; 7-4. the cushion dashpot front-slider, 7-5. cushion dashpot back cavity, 7-6. cushion dashpot rear slider chamber, 7-7. cushion dashpot lumen, 7-8. cushion dashpot front-slider chamber; 7-9. the cushion dashpot ante-chamber, 8. oil feed non-return valve, 9. pilot operated compound relief valve, 10. electromagnetic direction valve, 11. oil sources oil return openings; 12. displacement transducer, 13. displacement controllers, 14. displacement setting signals, 15. subtracters, 16.PID controller.
The specific embodiment
Below in conjunction with accompanying drawing and case study on implementation the present invention is done further description.
Shown in accompanying drawing, the present invention includes cushion dashpot 7; The P mouth of proportion directional valve 2 is connected with the P mouth of oil sources oil-feed port 1, electromagnetic direction valve 10 respectively; The A mouth of proportion directional valve 2 is connected with inlet, the outlet of back cavity check valve 5, the cushion dashpot back cavity 7-5 of back cavity overflow valve 3 respectively; The B mouth of proportion directional valve 2 is connected with inlet, the outlet of ante-chamber check valve 6, the cushion dashpot ante-chamber 7-9 of ante-chamber overflow valve 4 respectively; The T mouth of proportion directional valve 2 is connected with outlet, the T mouth of electromagnetic direction valve 10, oil sources oil return opening 11, the outlet of back cavity overflow valve 3, the outlet of ante-chamber overflow valve 4, the inlet of back cavity check valve 5, the inlet of ante-chamber check valve 6, cushion dashpot rear slider chamber 7-6, the cushion dashpot front-slider chamber 7-8 of pilot operated compound relief valve 9 respectively; Cushion dashpot lumen 7-7 is connected with the outlet of oil feed non-return valve 8, the inlet of pilot operated compound relief valve 9; The A mouth of electromagnetic direction valve 10 is connected with the inlet of oil feed non-return valve 8; Displacement transducer 12 is installed on the cushion dashpot piston rod 7-2 of cushion dashpot 7; Displacement transducer 12 signal outputs are connected with displacement controller 13 signal inputs; The signal output of displacement controller 13 is connected with the signal input of proportion directional valve 2.
Described displacement controller 13 comprises the given displacement setting signal 14 of operating personnel, subtracter 15 and PID controller 16; Displacement setting signal 14 output signals are poor at the output signal of subtracter 15 places and displacement transducer 12; The signal output of subtracter 15 is connected with the signal input of PID controller 16; The signal output of PID controller 16 is connected with the signal input of proportion directional valve 2.
The P mouth of described proportion directional valve 2 is an oil-in, and the T mouth is an oil return opening, and the A mouth is oil-out or oil return opening, and the B mouth is oil return opening or oil-out; When proportion directional valve 2 worked in position, a left side, the A mouth was communicated with the P mouth, is oil-out, and the B mouth is communicated with the T mouth; Be oil return opening, when proportion directional valve 2 worked in right position, the A mouth was communicated with the T mouth; Be oil return opening, the B mouth is communicated with the P mouth, is oil-out; The P mouth of electromagnetic direction valve 10 is an oil-in, and the T mouth is an oil return opening, and the A mouth is an oil-out when electromagnetic direction valve 10 outages, when it is switched on, is oil return opening; The signal input of pilot operated compound relief valve 9 and electromagnetic direction valve 10 is connected with the PLC controller of manipulator, by the operating position and the state of its control hydraulic valve.
Cushion dashpot 7 is made up of cushion dashpot cylinder barrel 7-1, cushion dashpot piston rod 7-2, cushion dashpot rear slider 7-3, cushion dashpot front-slider 7-4; Wherein cushion dashpot cylinder barrel 7-1 is a stiff end; Cushion dashpot piston rod 7-2 is the mobile terminal, and the relative motion between the two realizes the buffering and the displacement control of forging manipulator cushion dashpot; Cushion dashpot front-slider 7-3 and cushion dashpot rear slider 7-4 cushion dashpot cylinder barrel 7-1 motion all relatively.The cushion dashpot cavity volume comprises five chambers such as cushion dashpot back cavity 7-5, cushion dashpot rear slider chamber 7-6, cushion dashpot lumen 7-7, cushion dashpot front-slider chamber 7-8, cushion dashpot ante-chamber 7-9, and wherein cushion dashpot rear slider chamber 7-6 and cushion dashpot front-slider chamber 7-8 directly connect oil sources oil return opening 10; The piston effective active area of cushion dashpot back cavity 7-5 and cushion dashpot ante-chamber 7-9 equates, is equivalent to a symmetrical expression hydraulic cylinder for the effect of 2, two cavity volumes of proportion directional valve.
Buffer system is default to work in passive buffer mode, sees shown in the accompanying drawing, at this moment; Pilot operated compound relief valve 9 and electromagnetic direction valve 10 be no power all; Displacement controller 13 output signals are zero, and proportion directional valve 2 is in meta, is realized the kicking motion of cushion dashpot 7 by pilot operated compound relief valve 9.When cushion dashpot piston rod 7-2 is under pressure; Oil liquid pressure in cushion dashpot lumen 7-7 and the cushion dashpot back cavity 7-5 raises, and when the oil liquid pressure of two cavity volumes exceeded the oil pressure relief of pilot operated compound relief valve 9 and back cavity overflow valve 3, then fluid was respectively through two overflow valve overflows; Cushion dashpot piston rod 7-2 and cushion dashpot front-slider 7-4 retreat; The thrust of realization manipulator is complied with, and this moment, cushion dashpot ante-chamber 7-9 replenished hydraulic oil liquids by ante-chamber check valve 6, prevented that emptying phenomenon from appearring in cavity volume.Because effective lifting surface area of cushion dashpot lumen 7-7 is bigger, therefore main cushion effect is provided, the cushion dashpot back cavity 7-5 provide auxiliary cushion effect.After action of giving is accomplished; Extraneous pressure disappears, and the fluid of oil sources oil-feed port 1 is opened oil feed non-return valve 8 through electromagnetic direction valve 10 at this moment, flows into cushion dashpot lumen 7-7; Force the fluid of cushion dashpot ante-chamber 7-9 to flow into oil sources oil return opening 11, realize resetting of cushion dashpot 7 through ante-chamber overflow valve 4.Same; If it is excessive that cushion dashpot piston rod 7-2 bears pulling force; Piston rod and cushion dashpot rear slider 7-3 travel forward; The fluid that forces cushion dashpot lumen 7-7 and cushion dashpot ante-chamber 7-9 has realized that respectively through pilot operated compound relief valve 9 and 4 overflows of ante-chamber overflow valve the pulling force of cushion dashpot is complied with, and its reseting procedure is also similar with the pressure buffer reseting procedure.
When buffer system works in Active Control Mode, pilot operated compound relief valve 9 energising off-loads, electromagnetic direction valve 10 energising switching-overs.At this moment, the fluid off-load of cushion dashpot lumen 7-7, its hydraulic coupling that acts on cushion dashpot 7 is less, and the fluid of cushion dashpot back cavity 7-5 and cushion dashpot ante-chamber 7-9 flows to by displacement controller 13 and 2 controls of proportion directional valve.
Claims (3)
1. a forging manipulator cushion dashpot hydraulic system comprises cushion dashpot (7); It is characterized in that: the P mouth of proportion directional valve (2) is connected with the P mouth of oil sources oil-feed port (1), electromagnetic direction valve (10) respectively; The A mouth of proportion directional valve (2) is connected with inlet, the outlet of back cavity check valve (5), the cushion dashpot back cavity (7-5) of back cavity overflow valve (3) respectively; The B mouth of proportion directional valve (2) is connected with inlet, the outlet of ante-chamber check valve (6), the cushion dashpot ante-chamber (7-9) of ante-chamber overflow valve (4) respectively; The T mouth of proportion directional valve (2) is connected with outlet, the T mouth of electromagnetic direction valve (10), oil sources oil return opening (11), the outlet of back cavity overflow valve (3), the outlet of ante-chamber overflow valve (4), the inlet of back cavity check valve (5), the inlet of ante-chamber check valve (6), cushion dashpot rear slider chamber (7-6), the cushion dashpot front-slider chamber (7-8) of pilot operated compound relief valve (9) respectively; Cushion dashpot lumen (7-7) is connected with the outlet of oil feed non-return valve (8), the inlet of pilot operated compound relief valve (9); The A mouth of electromagnetic direction valve (10) is connected with the inlet of oil feed non-return valve (8); Displacement transducer (12) is installed on the cushion dashpot piston rod (7-2) of cushion dashpot (7); Displacement transducer (12) signal output is connected with displacement controller (13) signal input; The signal output of displacement controller (13) is connected with the signal input of proportion directional valve (2).
2. a kind of forging manipulator cushion dashpot hydraulic system according to claim 1 is characterized in that: described displacement controller (13) comprises the given displacement setting signal (14) of operating personnel, subtracter (15) and PID controller (16); It is poor that displacement setting signal (14) output signal is located with the output signal of displacement transducer (12) at subtracter (15); The signal output of subtracter (15) is connected with the signal input of PID controller (16); The signal output of PID controller (16) is connected with the signal input of proportion directional valve (2).
3. a kind of forging manipulator cushion dashpot hydraulic system according to claim 1, it is characterized in that: the P mouth of described proportion directional valve (2) is an oil-in, and the T mouth is an oil return opening, and the A mouth is oil-out or oil return opening, and the B mouth is oil return opening or oil-out; The P mouth of electromagnetic direction valve (10) is an oil-in, and the T mouth is an oil return opening, and the A mouth is oil-out or oil return opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210250868.8A CN102744345B (en) | 2012-07-19 | 2012-07-19 | Hydraulic system of buffering cylinder of forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210250868.8A CN102744345B (en) | 2012-07-19 | 2012-07-19 | Hydraulic system of buffering cylinder of forging manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN102744345A true CN102744345A (en) | 2012-10-24 |
| CN102744345B CN102744345B (en) | 2014-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210250868.8A Expired - Fee Related CN102744345B (en) | 2012-07-19 | 2012-07-19 | Hydraulic system of buffering cylinder of forging manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102966626A (en) * | 2012-11-18 | 2013-03-13 | 苏州蓝王机床工具科技有限公司 | Two-gear buffer system |
| CN104259292A (en) * | 2014-08-01 | 2015-01-07 | 浙江大学 | Quick return type blanking buffer device and hydropress for blanking |
| CN105050934A (en) * | 2012-12-03 | 2015-11-11 | 蓬塞有限公司 | Crane |
| CN105945192A (en) * | 2016-06-24 | 2016-09-21 | 燕山大学 | Double-function buffering cylinder for forging manipulator and hydraulic system thereof |
| CN108150482A (en) * | 2017-12-14 | 2018-06-12 | 陕西昆仑机械装备制造有限责任公司 | Self-adapting type reciprocating movement oil cylinder control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0339247A1 (en) * | 1988-04-29 | 1989-11-02 | Eckehart Schulze | Hydraulic steering device for the drive control of a double-acting hydraulic cylinder |
| CN101392771A (en) * | 2008-10-13 | 2009-03-25 | 江苏武进液压启闭机有限公司 | Hydraulic double cylinder or multi-cylinder synchronous control system |
| CN201433949Y (en) * | 2009-01-19 | 2010-03-31 | 杭州鑫高科技有限公司 | Speed and pressure regulation hydraulic system |
| CN102116332A (en) * | 2010-07-30 | 2011-07-06 | 伊卡露斯(苏州)车辆系统有限公司 | Pressurizing and locking hydraulic buffer system |
-
2012
- 2012-07-19 CN CN201210250868.8A patent/CN102744345B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0339247A1 (en) * | 1988-04-29 | 1989-11-02 | Eckehart Schulze | Hydraulic steering device for the drive control of a double-acting hydraulic cylinder |
| CN101392771A (en) * | 2008-10-13 | 2009-03-25 | 江苏武进液压启闭机有限公司 | Hydraulic double cylinder or multi-cylinder synchronous control system |
| CN201433949Y (en) * | 2009-01-19 | 2010-03-31 | 杭州鑫高科技有限公司 | Speed and pressure regulation hydraulic system |
| CN102116332A (en) * | 2010-07-30 | 2011-07-06 | 伊卡露斯(苏州)车辆系统有限公司 | Pressurizing and locking hydraulic buffer system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102966626A (en) * | 2012-11-18 | 2013-03-13 | 苏州蓝王机床工具科技有限公司 | Two-gear buffer system |
| CN105050934A (en) * | 2012-12-03 | 2015-11-11 | 蓬塞有限公司 | Crane |
| CN104259292A (en) * | 2014-08-01 | 2015-01-07 | 浙江大学 | Quick return type blanking buffer device and hydropress for blanking |
| CN105945192A (en) * | 2016-06-24 | 2016-09-21 | 燕山大学 | Double-function buffering cylinder for forging manipulator and hydraulic system thereof |
| CN108150482A (en) * | 2017-12-14 | 2018-06-12 | 陕西昆仑机械装备制造有限责任公司 | Self-adapting type reciprocating movement oil cylinder control method |
| CN108150482B (en) * | 2017-12-14 | 2019-08-23 | 陕西昆仑机械装备制造有限责任公司 | Self-adapting type reciprocating movement oil cylinder control method |
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| Publication number | Publication date |
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| CN102744345B (en) | 2014-06-11 |
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Granted publication date: 20140611 Termination date: 20180719 |