CN203685721U - Rotation control system of manipulator - Google Patents
Rotation control system of manipulator Download PDFInfo
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- CN203685721U CN203685721U CN201320871389.8U CN201320871389U CN203685721U CN 203685721 U CN203685721 U CN 203685721U CN 201320871389 U CN201320871389 U CN 201320871389U CN 203685721 U CN203685721 U CN 203685721U
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Abstract
The utility model relates to a rotation control system of a manipulator.The system at least comprises a three-position four-way proportional direction valve, isolating valves, oil feed one-way valves, high-pressure buffer energy accumulator isolating one-way valves, a high-pressure buffer energy accumulator, a rotation motor reducer device, a low-pressure oil feed energy accumulator and a proportional overflow valve, and is characterized in that an oil charging pipeline is directly communicated with a P end of an oil inlet of the three-position four-way proportional direction valve; an A end and a B end of an oil outlet of the three-position four-way proportional direction valve are communicated with oil inlets of the two isolating valves; the two isolating valves are communicated with a left cavity and a right cavity by the high-pressure energy accumulator isolating one-way valves respectively; the high-pressure buffer energy accumulator and the proportional overflow valve are communicated with each high-pressure energy accumulator isolating one-way valve; and the oil feed energy accumulator is communicated with the left cavity and the right cavity of the rotation motor reducer device by the oil feed one-way valves.The system achieves that the rotation pressure and speed are adjusted according to different sizes of forgings for the manipulator.
Description
Technical field
The utility model relates to manipulator fluid pressure actuator, is manipulator Rotable Control System.
Background technique
The hydraulic system that manipulator jaw rotary system adopts is high-pressure high-flow system, in actual using process because manipulator claw beam componental movement quality causes that inertia is large greatly, the unlatching of spinning movement with stop the impact that Shi Junyou is very large, this impact not only has very large noise pollution, and the working life that can reduce system valve, flexible pipe, the impact when how being reduced valve unlatching and to be closed by suitable technological means is a key technical problem of jaw whirligig.
In the process of practical application, the various forging that manipulator whirligig can rotate and vary in size, shape differs, can pressure and the speed that adjust in time manipulator whirligig according to the size of forging, will directly affect the manufacturing efficiency of forging and the utilization ratio of the energy.
Model utility content
The purpose of this utility model is to provide a kind of manipulator Rotable Control System, and realize manipulator and adjusted rotary pressure and speed according to forging different size, and running accuracy when reducing the hydraulic shock in operating process and reaching manipulator automatic rotation.
The technical solution of the utility model is manipulator Rotable Control System, which comprises at least 3-position 4-way proportional direction valve, two separating valves, two repairing one-way valves, two high-pressure buffer accumulators isolation one-way valves, high-pressure buffer accumulator, revolution motor speed reducer device, low pressure repairing accumulator, two proportional pressure control valves, it is characterized in that: in-line is directly communicated with the oil inlet P end of 3-position 4-way proportional direction valve, and the oil outlet side a and b of 3-position 4-way proportional direction valve is communicated with the filler opening of two separating valves; Two separating valves are communicated with respectively with the He You chamber, left chamber of revolution motor speed reducer device by a high pressure accumulator isolation one-way valve, and high-pressure buffer accumulator and proportional pressure control valve are communicated with each pressure accumulator isolation one-way valve respectively; Repairing accumulator is communicated with the He You chamber, left chamber of revolution motor speed reducer device by repairing one-way valve.
The filler opening end of described revolution motor speed reducer device is provided with safety overflow valve.
Being communicated with of described high-pressure buffer accumulator and high pressure accumulator isolation one-way valve is provided with pressure transducer on oil pipe.
The oil outlet T end of described 3-position 4-way proportional direction valve is communicated with fuel tank by back pressure return line.
Feature of the present utility model is:
1, control in real time pressure and the speed of revolution motor speed reducer device by the combination of 3-position 4-way proportional direction valve and proportional pressure control valve;
2, absorb the pressure peak in rotary system shutdown process by high-pressure buffer accumulator is set, reduce the compression shock of system;
3, realize in the passive rotation of revolution motor by low pressure repairing accumulator is set, inhale the repairing of cavity to motor, prevent motor suction;
4, can reduce that spinning movement is opened and hydraulic shock while closing by reasonably arranging than the keying curve of 3-position 4-way proportional direction valve.
Brief description of the drawings
Below in conjunction with specific embodiment, the utility model is further described.
Fig. 1 is the structural representation of manipulator Rotable Control System.
In figure: 1, in-line; 2,3-position 4-way proportional direction valve; 3, separating valve; 4, repairing one-way valve; 5, high-pressure buffer accumulator individual event separating valve; 6, pressure transducer; 7, high-pressure buffer accumulator; 8, revolution motor speed reducer device; 9, repairing accumulator; 10, safety overflow valve; 11, proportional pressure control valve.
Embodiment
As shown in Figure 1, manipulator Rotable Control System, which comprises at least 3-position 4-way proportional direction valve 2, two separating valves 3, two repairing one-way valves 4, two high-pressure buffer accumulator isolation one-way valves 5, high-pressure buffer accumulator 7, revolution motor speed reducer device 8, low pressure repairing accumulator 9, proportional pressure control valve 11.
The oil inlet P end of 3-position 4-way proportional direction valve 2 is communicated with in-line 1, and oil outlet T end is communicated with fuel tank by back pressure return line.
The oil outlet side a and b of 3-position 4-way proportional direction valve 2 is communicated with the filler opening of a separating valve 3 respectively, separating valve 3 is communicated with the He You chamber, left chamber of revolution motor speed reducer device 8 respectively, and the filler opening front end in He You chamber, the left chamber of revolution motor speed reducer device 8 is all provided with safety overflow valve 10.
Each separating valve 3 is communicated with a high-pressure buffer accumulator isolation one-way valve 5, and two high-pressure buffer accumulators are isolated one- way valve 5 and 7 conductings of high-pressure buffer accumulator, and pressure transducer 6 is set; Each high-pressure buffer accumulator isolation one-way valve 5 also with proportional pressure control valve 11 conductings.
Repairing accumulator 9 is communicated with the He You chamber, left chamber of revolution motor speed reducer device 8 by repairing one-way valve 4.
When work, in the time of manipulator for forging dextrorotation, the b electromagnet invocation point of 3-position 4-way proportional direction valve 2, system pressure oil flows into 3-position 4-way proportional direction valve 2 by main oil pipe road 1, and flow out the filler opening of the separating valve 3 that enters A end from the A mouth of 3-position 4-way proportional direction valve 2, separating valve 3 obtains electric, system pressure oil enters the right chamber of revolution motor speed reducer device 8 through separating valve 3, promote motor dextrorotation, in this process, the left chamber of motor fluid enters the B mouth of 3-position 4-way proportional direction valve 2 through the separating valve 3 of B end, then flow out and get back to fuel tank through back pressure oil returning tube from T mouth.
In the time that manipulator for forging is left-handed, situation is identical with dextrorotation, and system pressure oil is flowed out and entered the left chamber of motor by the B end of 3-position 4-way proportional direction valve 2, and motor is left-handed, and the fluid in the right chamber of motor is got back in fuel tank by the A end of 3-position 4-way proportional direction valve 2.
In press forging process, the passive stressed rotation of manipulator whirligig, can cause motor one chamber to inhale empty, now in repairing accumulator 7 fluid through repairing one-way valve 4 to inhaling cavity repairing.
Proportional pressure control valve 11 is used for the pressure of timely adjust system, high-pressure buffer accumulator one-way valve 5 is used for isolation buffer accumulator 7 and working connection, and pressure transducer 6 is used for the pressure of measuring system surge pressure when this pressure value is fed back to upper-position unit, high-pressure buffer accumulator 7 and is used for absorption system overflow.
In manipulator for forging rotary course, the large I of rotational speed by electrical signal control ratio directional control valve 2 opening degree realize easily.The restriction size that the size of rotary pressure can be controlled proportional pressure control valve 7 realizes, the proportional flow pressure control of passing ratio directional control valve 2 and proportional pressure control valve 7, speed and pressure that can real time stepless regulation and control manipulator for forging rotary system; On the basis of proportional flow control, the hydraulic shock when can reducing spinning movement unlatching and close by rational Set scale valve keying curve.
The parts that the present embodiment does not describe in detail and structure belong to well-known components and common structure or the conventional means of the industry, here not narration one by one.
Claims (4)
1. manipulator Rotable Control System, which comprises at least 3-position 4-way proportional direction valve, two separating valves, two repairing one-way valves, two high-pressure buffer accumulators isolation one-way valves, high-pressure buffer accumulator, revolution motor speed reducer device, low pressure repairing accumulator, two proportional pressure control valves, it is characterized in that: in-line is directly communicated with the oil inlet P end of 3-position 4-way proportional direction valve, and the oil outlet side a and b of 3-position 4-way proportional direction valve is communicated with the filler opening of two separating valves; Two separating valves are communicated with respectively with the He You chamber, left chamber of revolution motor speed reducer device by a high pressure accumulator isolation one-way valve, and high-pressure buffer accumulator and proportional pressure control valve are communicated with each pressure accumulator isolation one-way valve respectively; Repairing accumulator is communicated with the He You chamber, left chamber of revolution motor speed reducer device by repairing one-way valve.
2. according to the manipulator Rotable Control System described in claim 1, it is characterized in that: the filler opening end of described revolution motor speed reducer device is provided with safety overflow valve.
3. according to the manipulator Rotable Control System described in claim 1, it is characterized in that: being communicated with of described high-pressure buffer accumulator and high pressure accumulator isolation one-way valve is provided with pressure transducer on oil pipe.
4. according to the manipulator Rotable Control System described in claim 1, it is characterized in that: the oil outlet T end of described 3-position 4-way proportional direction valve is communicated with fuel tank by back pressure return line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320871389.8U CN203685721U (en) | 2013-12-27 | 2013-12-27 | Rotation control system of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320871389.8U CN203685721U (en) | 2013-12-27 | 2013-12-27 | Rotation control system of manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN203685721U true CN203685721U (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320871389.8U Expired - Fee Related CN203685721U (en) | 2013-12-27 | 2013-12-27 | Rotation control system of manipulator |
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| Country | Link |
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| CN (1) | CN203685721U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107061428A (en) * | 2017-01-24 | 2017-08-18 | 王安基 | Energy regenerating reuse means and energy recycling system |
-
2013
- 2013-12-27 CN CN201320871389.8U patent/CN203685721U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107061428A (en) * | 2017-01-24 | 2017-08-18 | 王安基 | Energy regenerating reuse means and energy recycling system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 Termination date: 20191227 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |