CN102744345B - Hydraulic system of buffering cylinder of forging manipulator - Google Patents
Hydraulic system of buffering cylinder of forging manipulator Download PDFInfo
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- CN102744345B CN102744345B CN201210250868.8A CN201210250868A CN102744345B CN 102744345 B CN102744345 B CN 102744345B CN 201210250868 A CN201210250868 A CN 201210250868A CN 102744345 B CN102744345 B CN 102744345B
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- valve
- mouth
- oil
- cushion dashpot
- direction valve
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- 238000005242 forging Methods 0.000 title claims abstract description 14
- 230000003139 buffering effect Effects 0.000 title abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 36
- 150000001875 compounds Chemical class 0.000 claims description 13
- 230000004069 differentiation Effects 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 38
- 230000000694 effects Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 6
- 239000007853 buffer solution Substances 0.000 description 4
- 239000000872 buffer Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011176 pooling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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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 in the horizontal direction two kinds of functions of passive buffering and ACTIVE CONTROL with the special operation condition of forging press interlock simultaneously, the most cushion dashpot hydraulic systems that exist at present all only possess passive pooling feature, and cannot realize the ACTIVE CONTROL of cushion dashpot, limit the flexibility in the horizontal direction of manipulator clamp.Through the retrieval of prior art is found, application number is that 200910153528.1 Chinese invention patent has been recorded a kind of " hydraulic system of horizontal buffer cylinder of forging and pressing operating machine ", by the hydraulic cylinder of the many piston rods of a kind of multi-cavity, realize the function of passive buffering and ACTIVE CONTROL, but the cushion dashpot complicated structure described in this patent, and power buffer system and displacement closed loop control system are coupling in same oil circuit.
Summary of the invention
In order to simplify 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, controlled respectively by different oil circuits, in the time working in passive operating mode for cushion effect is provided, in the time working in initiatively operating mode for controlling displacement and the speed of cushion dashpot.
The technical solution adopted in the present invention is:
The P mouth of proportional direction 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 proportional direction valve is connected with entrance, the outlet of back cavity check valve, the cushion dashpot back cavity of back cavity overflow valve respectively; The B mouth of proportional direction valve is connected with entrance, the outlet of ante-chamber check valve, the cushion dashpot ante-chamber of ante-chamber overflow valve respectively; The T mouth of proportional direction 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 entrance of back cavity check valve, the entrance of ante-chamber check valve, cushion dashpot rear slider chamber, the cushion dashpot front-slider chamber of pilot operated compound relief valve respectively; Cushion dashpot lumen is connected with the outlet of oil feed non-return valve, the entrance of pilot operated compound relief valve; The A mouth of electromagnetic direction valve is connected with the entrance of oil feed non-return valve; Displacement transducer is arranged on the cushion dashpot piston rod of cushion dashpot; Displacement transducer signal delivery outlet is connected with displacement controller signal input; The signal output of displacement controller is connected with the signal input of proportional direction valve.
Described displacement controller comprises the given displacement setting signal of operating personnel, subtracter and PID controller; Displacement setting signal output signal is poor in 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 proportional direction valve.
The P mouth of described proportional direction valve is oil-in, and T mouth is oil return opening, and A mouth is oil-out or oil return opening, and B mouth is oil return opening or oil-out; The P mouth of electromagnetic direction valve is oil-in, and T mouth is oil return opening, and 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, controls simple.
3) buffering course provides cushion effect by cushion dashpot lumen and ante-chamber or two chambeies bufferings of back cavity, and larger cushion effect can be provided.
4) except proportional direction valve, system does not have other proportional control elements, and system reliability is higher.
Brief description of the drawings
Accompanying drawing is the structural principle schematic diagram of forging manipulator cushion dashpot hydraulic system.
In accompanying drawing: 1. oil sources oil-feed port, 2. proportional direction 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. 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. 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 transducers, 13. displacement controllers, 14. displacement setting signals, 15. subtracters, 16.PID controller.
Detailed description of the invention
Below in conjunction with accompanying drawing and case study on implementation, the present invention will be further described.
As shown in drawings, the present invention includes cushion dashpot 7; The P mouth of proportional direction valve 2 is connected with the P mouth of oil sources oil-feed port 1, electromagnetic direction valve 10 respectively; The A mouth of proportional direction valve 2 is connected with entrance, 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 proportional direction valve 2 is connected with entrance, 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 proportional direction 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 entrance of back cavity check valve 5, the entrance 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 entrance of pilot operated compound relief valve 9; The A mouth of electromagnetic direction valve 10 is connected with the entrance of oil feed non-return valve 8; Displacement transducer 12 is arranged 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 proportional direction 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 in 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 proportional direction valve 2.
The P mouth of described proportional direction valve 2 is oil-in, and T mouth is oil return opening, and A mouth is oil-out or oil return opening, B mouth is oil return opening or oil-out, and in the time that proportional direction valve 2 works in left position, A mouth is communicated with P mouth, for oil-out, B mouth is communicated with T mouth, is oil return opening, in the time that proportional direction valve 2 works in right position, A mouth is communicated with T mouth, for oil return opening, B mouth is communicated with P mouth, is oil-out; The P mouth of electromagnetic direction valve 10 is oil-in, and T mouth is oil return opening, and A mouth is oil-out in the time of electromagnetic direction valve 10 power-off, in the time that 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 operating position and the state of its control hydraulic valve.
Buffer system is default works in passive buffer mode, sees shown in accompanying drawing, now, pilot operated compound relief valve 9 and all no powers of electromagnetic direction valve 10, displacement controller 13 output signals are zero, and proportional direction valve 2, in meta, is realized the kicking motion of cushion dashpot 7 by pilot operated compound relief valve 9.In the time that cushion dashpot piston rod 7-2 is under pressure, oil liquid pressure in cushion dashpot lumen 7-7 and cushion dashpot back cavity 7-5 raises, when the oil liquid pressure of two cavity volumes exceeds the oil pressure relief of pilot operated compound relief valve 9 and back cavity overflow valve 3, fluid is respectively by two overflow valve overflows, cushion dashpot piston rod 7-2 and cushion dashpot front-slider 7-4 retreat, realize the thrust of manipulator and comply with, now cushion dashpot ante-chamber 7-9 supplements hydraulic oil liquid by ante-chamber check valve 6, prevents that emptying phenomenon from appearring in cavity volume.Because effective lifting surface area of cushion dashpot lumen 7-7 is larger, therefore main cushion effect is provided, cushion dashpot back cavity 7-5 provide auxiliary cushion effect.After action of giving completes, extraneous pressure disappears, and now the fluid of oil sources oil-feed port 1 is opened oil feed non-return valve 8 through electromagnetic direction valve 10, 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 through ante-chamber overflow valve 4, realize the reset of cushion dashpot 7.Same, if cushion dashpot piston rod 7-2 bearing tension is excessive, piston rod and cushion dashpot rear slider 7-3 travel forward, force the fluid of cushion dashpot lumen 7-7 and cushion dashpot ante-chamber 7-9 respectively by pilot operated compound relief valve 9 and 4 overflows of ante-chamber overflow valve, realized the pulling force of cushion dashpot and complied with, its reseting procedure is also similar to pressure buffer reseting procedure.
In the time that buffer system works in Active Control Mode, pilot operated compound relief valve 9 off-load of switching on, electromagnetic direction valve 10 energising commutations.Now, 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 the cushion dashpot ante-chamber 7-9 flow direction is controlled by displacement controller 13 and proportional direction valve 2.
Claims (1)
1. a forging manipulator cushion dashpot hydraulic system, comprises cushion dashpot (7); It is characterized in that: the P mouth of proportional direction valve (2) is connected with the P mouth of oil sources oil-feed port (1), electromagnetic direction valve (10) respectively; The A mouth of proportional direction valve (2) is connected with entrance, 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 proportional direction valve (2) is connected with entrance, 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 proportional direction 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 entrance of back cavity check valve (5), the entrance 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 entrance of pilot operated compound relief valve (9); The A mouth of electromagnetic direction valve (10) is connected with the entrance of oil feed non-return valve (8); Displacement transducer (12) is arranged 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 proportional direction valve (2);
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 proportional direction valve (2);
The P mouth of described proportional direction valve (2) is oil-in, and T mouth is oil return opening, and A mouth is oil-out or oil return opening, and B mouth is oil return opening or oil-out; The P mouth of electromagnetic direction valve (10) is oil-in, and T mouth is oil return opening, and 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 |
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| Publication Number | Publication Date |
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| CN102744345A CN102744345A (en) | 2012-10-24 |
| CN102744345B true CN102744345B (en) | 2014-06-11 |
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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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Families Citing this family (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 |
| FI124684B (en) * | 2012-12-03 | 2014-12-15 | Ponsse Oyj | Crane |
| CN104259292B (en) * | 2014-08-01 | 2016-06-01 | 浙江大学 | The blanking buffer unit of quick backhaul and stamping and blanking hydropress |
| CN105945192B (en) * | 2016-06-24 | 2018-04-03 | 燕山大学 | A kind of difunctional cushion dashpot of forging manipulator |
| 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 |
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 |
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| CN102744345A (en) | 2012-10-24 |
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