CN214331038U - Low-cost large-flow closed-loop servo pneumatic driver - Google Patents
Low-cost large-flow closed-loop servo pneumatic driver Download PDFInfo
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- CN214331038U CN214331038U CN202120217267.1U CN202120217267U CN214331038U CN 214331038 U CN214331038 U CN 214331038U CN 202120217267 U CN202120217267 U CN 202120217267U CN 214331038 U CN214331038 U CN 214331038U
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- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a large-traffic closed loop servo pneumatic driver of low-cost, the load simulator comprises an equipment body, fixedly connected with stiff end structure on the lateral wall of equipment body, the lower lateral wall fixedly connected with cylinder of stiff end structure, the cylinder includes two gas ports and flexible end, the lateral wall fixedly connected with load end structure of flexible end. This kind of large-traffic closed loop servo pneumatic driver of low-cost, through the parallelly connected gas circuit that uses tribit five-way solenoid valve and low discharge electric proportional valve, replace the large-traffic proportional valve among the prior art, make the cost lower, the volume is littleer, the quality is lighter, the advantage that two kinds of traditional pneumatic control schemes have simultaneously, and, the accurate control demand when can satisfying the low discharge and using, can satisfy the quick corresponding demand when large-traffic uses again, make position control more accurate, the flexibility is better, the action reaction is faster.
Description
Technical Field
The utility model belongs to the technical field of pneumatic drive ware, specifically speaking relates to a large-traffic closed loop servo pneumatic drive ware of low-cost.
Background
The traditional pneumatic open-loop control usually uses a two-position or three-position electromagnetic valve, has the advantages of low cost and action blocks, but has the problems of difficult accurate position control and poor flexibility. The traditional pneumatic closed-loop control usually uses an electric proportional valve, has the advantages of accurate and controllable position and pressure, but has the problems of high cost and slow large-stroke action.
Pneumatic servo actuators typically use an electric proportional valve with sufficient flow to perform real-time control of air pressure or flow. The scheme has better performance when the actuator does not have large stroke movement or a large electric proportional valve with higher flow is used. However, nowadays, many robots or mobile platforms need to realize accurate control in a small stroke interval and quick response in a large stroke interval, and at the moment, the original scheme has a high flow requirement on the electric proportional valve. While a higher flow rate electro-proportional valve means: high cost, large volume and heavy weight, which are contrary to the cost, volume and weight requirements of modern advanced robots.
In view of this, the present invention is provided.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in overcoming the not enough of prior art, provides a large-traffic closed loop servo pneumatic driver of low cost, for solving above-mentioned technical problem, the utility model discloses a technical scheme's basic design is:
the utility model provides a low-cost large-traffic closed loop servo pneumatic driver, includes the equipment body, fixedly connected with stiff end structure on the lateral wall of equipment body, the lower lateral wall fixedly connected with cylinder of stiff end structure, the cylinder includes two and connects gas port and flexible end, the lateral wall fixedly connected with load end structure of flexible end, and be provided with guiding mechanism between load end structure and the stiff end structure, be provided with on the stiff end structure and be used for carrying out pneumatic drive's actuating mechanism to the cylinder, be provided with on the equipment body.
The driving mechanism comprises an air source, a three-position five-way electromagnetic valve and two small-flow electric proportional valves, the two small-flow electric proportional valves are connected with the three-position five-way electromagnetic valve in parallel, the air source is fixedly connected with a four-way valve through a first air pipe, the three-position five-way electromagnetic valve is connected with the four-way valve through a second air pipe, the small-flow electric proportional valves are connected with the four-way valve through a third air pipe, an air receiving port is connected with two three-way valves through a fourth air pipe, the small-flow electric proportional valves are connected with the three-way valves through fifth air pipes, and the three-position five-way electromagnetic valve is connected with the three-way valves through a sixth air pipe.
The guiding mechanism comprises a guide rod fixedly connected to the side wall of the fixed end structural part, a sliding assembly is sleeved on the side wall of the guide rod, and the sliding assembly is fixed to the side wall of the load end structural part.
The measuring mechanism comprises a linear displacement sensor arranged on the side wall of the fixed end structural part, the linear displacement sensor comprises a measuring end, and the measuring end is fixed with the side wall of the load end structural part.
And the small-flow electric proportional valve and the three-position five-way electromagnetic valve are electrically connected with the linear displacement sensor.
The sliding assembly is a box type linear bearing, and the model of the box type linear bearing is SC40 UU.
After the technical scheme is adopted, compared with the prior art, the utility model following beneficial effect has.
The utility model discloses an use the parallelly connected gas circuit of tribit five-way solenoid valve and the electric proportional valve of low discharge, replace the large-traffic proportional valve among the prior art for the cost is lower, the volume is littleer, the quality is lighter, and has the advantage that two kinds of traditional pneumatic control schemes had.
The utility model discloses set up tribit five-way solenoid valve and low discharge electric proportional valve etc. when the required stroke that changes of cylinder is less or speed is slower, the state difference is little, and the flow demand that calculates is little, and at this moment, tribit five-way solenoid valve is in well seal state, and the cylinder is controlled by low discharge electric proportional valve completely. When the stroke that the cylinder needs to change is great or speed is very fast, the state difference is big, and the flow demand of calculating is big, and at this moment, the cylinder is controlled by tribit five-way solenoid valve and little flow electric proportional valve jointly, can satisfy the accurate control demand when little flow uses, can satisfy the quick corresponding demand when big flow uses again for position control is more accurate, the flexibility is better, and the action reaction is faster.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic structural diagram of the middle driving mechanism of the present invention.
In the figure: 1. an apparatus body; 2. a fixed end structural member; 3. a load end structure; 401. a guide bar; 402. a sliding assembly; 5. a cylinder; 501. an air receiving port; 502. a telescopic end; 6. a gas source; 7. a four-way valve; 8. a small flow electric proportional valve; 9. a three-position five-way electromagnetic valve; 10. a second air pipe; 11. a first air pipe; 12. a third tube gas; 13. a fifth gas pipe; 14. a three-way valve; 15. a fourth gas pipe; 16. a linear displacement sensor; 1601. a measuring end; 17. and a sixth air pipe.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept by those skilled in the art with reference to specific embodiments.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments, and the following embodiments are used for illustrating the present invention, but do not limit the scope of the present invention.
As shown in fig. 1 to 2, a low-cost large-flow closed-loop servo pneumatic driver comprises an equipment body 1, a fixed end structural member 2 is fixedly connected to the side wall of the equipment body 1, a cylinder 5 is fixedly connected to the lower side wall of the fixed end structural member 2, the cylinder 5 comprises two air receiving ports 501 and a telescopic end 502, a load end structural member 3 is fixedly connected to the side wall of the telescopic end 502, a guide mechanism is arranged between the load end structural member 3 and the fixed end structural member 2, a measuring mechanism for moving and displacing the load end structural member 3 is arranged on the fixed end structural member 2, a driving mechanism for pneumatically driving the cylinder 5 is arranged on the equipment body 1, and a large-flow proportional valve in the prior art is replaced by using a three-position five-way electromagnetic valve 9 and a small-flow electric proportional valve 8 which are connected in parallel, so that the cost is lower, the volume is smaller, and the weight is lighter, the pneumatic control system has the advantages of two traditional pneumatic control schemes, and can meet the requirements of accurate control during small-flow use and quick corresponding requirements during large-flow use, so that the position control is more accurate, the flexibility is better, and the action response is quicker.
The driving mechanism comprises an air source 6, a three-position five-way electromagnetic valve 9 and two small-flow electric proportional valves 8, the two small-flow electric proportional valves 8 are connected with the three-position five-way electromagnetic valve 9 in parallel, the air source 6 is fixedly connected with a four-way valve 7 through a first air pipe 11, the three-position five-way electromagnetic valve 9 is connected with the four-way valve 7 through a second air pipe 10, the small-flow electric proportional valve 8 is connected with the four-way valve 7 through a third air pipe 12, an air receiving port 501 is connected with two three-way valves 14 through a fourth air pipe 15, the small-flow electric proportional valve 8 is connected with the three-way valves 14 through a fifth air pipe 13, the three-position five-way electromagnetic valve 9 is connected with the three-way valves 14 through a sixth air pipe 17, when a controller of the equipment body 1 gives a target value to the pneumatic driver, the pneumatic driver continuously collects the current state value of the driver according to the control frequency by using a linear displacement sensor 16, the control algorithm calculates the flow demand according to the difference value between the current value and the target value of the state of the driver in real time, when the stroke of the cylinder 5 needing to be changed is small or the speed is slow, the state difference value is small, the calculated flow demand is small, at the moment, the three-position five-way electromagnetic valve 9 is in a middle sealing state, and the cylinder 5 is completely controlled by the small-flow electric proportional valve 8. When the stroke of the cylinder 5 needing to be changed is large or the speed is high, the state difference value is large, the calculated flow demand is large, at the moment, the cylinder 5 is controlled by the three-position five-way electromagnetic valve 9 and the small-flow electric proportional valve 8 together, the accurate control demand during small-flow use can be met, the quick corresponding demand during large-flow use can be met, the position control is more accurate, the flexibility is better, and the action response is faster.
The guide mechanism comprises a guide rod 401 fixedly connected to the side wall of the fixed end structural member 2, a sliding assembly 402 is sleeved on the side wall of the guide rod 401, and the sliding assembly 402 is fixed to the side wall of the load end structural member 3 to guide and limit the movement of the load end structural member 3.
The measuring mechanism comprises a linear displacement sensor 16 arranged on the side wall of the fixed end structural part 2, the linear displacement sensor 16 comprises a measuring end 1601, and the measuring end 1601 is fixed with the side wall of the load end structural part 3, so that the displacement of the load end structural part 3 can be measured conveniently.
The small-flow electric proportional valve 8 and the three-position five-way electromagnetic valve 9 are both electrically connected with the linear displacement sensor 16, so that the small-flow electric proportional valve 8 and the three-position five-way electromagnetic valve 9 can be conveniently adjusted in real time according to the linear displacement sensor 16.
The sliding assembly 402 is a box type linear bearing, and the model number of the box type linear bearing is SC40UU, so that the friction force during sliding is reduced, and the response speed is higher.
When the pneumatic control valve is used, the parallel gas circuit of the three-position five-way electromagnetic valve 9 and the low-flow electric proportional valve 8 is used for replacing a high-flow proportional valve in the prior art, so that the pneumatic control valve has the advantages of lower cost, smaller volume and lighter weight and has two traditional pneumatic control schemes;
through setting up linear displacement sensor 16, be convenient for measure the displacement volume of load end structure 3 to, little flow electric proportional valve 8 and three-position five-way solenoid valve 9 all with linear displacement sensor 16 electric connection, when the stroke that cylinder 5 needs to change is less or speed is slower, the state difference is little, and the flow demand of calculating is little, and at this moment, three-position five-way solenoid valve 9 is in well seal state, and cylinder 5 is controlled by little flow electric proportional valve 8 completely. When the stroke of the cylinder 5 needing to be changed is large or the speed is high, the state difference value is large, the calculated flow demand is large, at the moment, the cylinder 5 is controlled by the three-position five-way electromagnetic valve 9 and the small-flow electric proportional valve 8 together, the accurate control demand during small-flow use can be met, the quick corresponding demand during large-flow use can be met, the position control is more accurate, the flexibility is better, and the action response is faster.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and although the present invention has been disclosed with reference to the above preferred embodiment, but not to limit the present invention, any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, and any simple modification, equivalent change and modification made to the above embodiments by the technical spirit of the present invention still fall within the scope of the present invention.
Claims (6)
1. The utility model provides a low-cost large-traffic closed loop servo pneumatic driver, includes equipment body (1), its characterized in that, fixedly connected with stiff end structure (2) on the lateral wall of equipment body (1), lower lateral wall fixedly connected with cylinder (5) of stiff end structure (2), cylinder (5) are including two gas ports (501) and flexible end (502), the lateral wall fixedly connected with load end structure (3) of flexible end (502), and be provided with guiding mechanism between load end structure (3) and stiff end structure (2), be provided with on stiff end structure (2) and be used for carrying out pneumatic drive's actuating mechanism to load end structure (3), be provided with on equipment body (1) and be used for carrying out pneumatic drive to cylinder (5).
2. The low-cost high-flow closed-loop servo pneumatic driver as claimed in claim 1, wherein the driving mechanism comprises a gas source (6), a three-position five-way solenoid valve (9) and two small-flow electric proportional valves (8), the two small-flow electric proportional valves (8) are connected in parallel with the three-position five-way solenoid valve (9), the gas source (6) is fixedly connected with a four-way valve (7) through a first gas pipe (11), the three-position five-way solenoid valve (9) is connected with the four-way valve (7) through a second gas pipe (10), the small-flow electric proportional valve (8) is connected with the four-way valve (7) through a third gas pipe (12), the gas receiving port (501) is connected with two three-way valves (14) through a fourth gas pipe (15), and the small-flow electric proportional valve (8) is connected with the three-way valve (14) through a fifth gas pipe (13), the three-position five-way electromagnetic valve (9) is connected with the three-way valve (14) through a sixth air pipe (17).
3. A low cost high flow closed loop servo pneumatic actuator as claimed in claim 1, wherein the guiding mechanism comprises a guide rod (401) fixedly connected to the side wall of the fixed end structural member (2), the side wall of the guide rod (401) is sleeved with a sliding assembly (402), and the sliding assembly (402) is fixed to the side wall of the load end structural member (3).
4. A low cost high flow closed loop servo pneumatic actuator as claimed in claim 2 wherein the measuring mechanism comprises a linear displacement sensor (16) disposed on the side wall of the fixed end structure (2), the linear displacement sensor (16) comprising a measuring end (1601) and the measuring end (1601) being fixed to the side wall of the load end structure (3).
5. A low cost high flow closed loop servo pneumatic driver as claimed in claim 2 or 4, characterized in that the small flow electro-proportional valve (8) and the three-position five-way solenoid valve (9) are both electrically connected to a linear displacement sensor (16).
6. A low cost high flow closed loop servo pneumatic actuator as claimed in claim 3 wherein the slide assembly (402) is a box type linear bearing and the box type linear bearing is model SC40 UU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120217267.1U CN214331038U (en) | 2021-01-27 | 2021-01-27 | Low-cost large-flow closed-loop servo pneumatic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120217267.1U CN214331038U (en) | 2021-01-27 | 2021-01-27 | Low-cost large-flow closed-loop servo pneumatic driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214331038U true CN214331038U (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120217267.1U Expired - Fee Related CN214331038U (en) | 2021-01-27 | 2021-01-27 | Low-cost large-flow closed-loop servo pneumatic driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214331038U (en) |
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2021
- 2021-01-27 CN CN202120217267.1U patent/CN214331038U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211001 |
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| CF01 | Termination of patent right due to non-payment of annual fee |