CN217177003U - Control loop of traveling system of precision forging manipulator - Google Patents
Control loop of traveling system of precision forging manipulator Download PDFInfo
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- CN217177003U CN217177003U CN202122937035.6U CN202122937035U CN217177003U CN 217177003 U CN217177003 U CN 217177003U CN 202122937035 U CN202122937035 U CN 202122937035U CN 217177003 U CN217177003 U CN 217177003U
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Abstract
A control loop of a traveling system of a precision forging manipulator comprises a main oil cylinder of the precision forging manipulator and a hydraulic control loop system, wherein the hydraulic control loop system is provided with a first branch and a second branch and used for supplying oil to a rodless cavity, and a pressure reducing valve, a first servo proportional reversing valve and a stop valve are sequentially arranged on the first branch and in a direction pointing to the rodless cavity from a hydraulic source; and a second servo proportional reversing valve is arranged on the second branch. The utility model has the advantages as follows: 1. by adopting a plurality of oil paths and the differential control of a servo valve system, the high, medium and low speed three-section switching of the walking action can be realized reliably and stably, and the stepless speed adjustment can be realized; 2. pressure sensors are respectively designed in a rod cavity and a rodless cavity of the oil cylinder, so that pressure change can be fed back in real time; 3. an oil supplementing one-way valve is arranged on the oil supply pipeline and can be used for supplementing oil to the oil cylinder when the manipulator passively acts in the forging process; 4. an oil unloading pipe is arranged, and hydraulic oil pressure relief during maintenance can be achieved by controlling oil unloading of a ball valve on the oil unloading pipe.
Description
Technical Field
The utility model relates to a finish forge operation machine equipment technical field, more specifically say, in particular to finish forge operation machine traveling system control circuit.
Background
A forging manipulator, or a precision forging manipulator, refers to an auxiliary mechanical device in forging production, and can be used for clamping a steel ingot or a blank during free forging to enable the steel ingot or the blank to overturn, feed and move up and down to replace manual operation, so that heavy physical labor can be avoided, and the operating efficiency of a forging machine can be greatly improved.
In the prior art, the forging manipulator is only a clamping mechanical device, and a power system, such as a hydraulic system, needs to be additionally equipped for supplying power. The additionally equipped power system only provides power, and the high-precision control of the forging manipulator cannot be realized, so that the forging manipulator can only realize constant-speed movement and cannot realize speed regulation and control, and the operating requirements of different forging machines cannot be met.
SUMMERY OF THE UTILITY MODEL
Technical problem (I)
In summary, how to provide a control system for a precision forging manipulator to realize the control of the walking speed of the precision forging manipulator for clamping a steel ingot or a blank, so as to meet the operation requirements of various forging machines, becomes a problem to be solved by those skilled in the art.
(II) technical scheme
The utility model provides a finish forge operation machine traveling system control circuit, this finish forge operation machine traveling system control circuit includes:
The main oil cylinder of the precision forging operation comprises a rod cavity and a rodless cavity;
the hydraulic control loop system comprises a hydraulic source, a rod cavity oil way and a rodless cavity oil way, wherein the rod cavity oil way and the rodless cavity oil way are connected with the hydraulic source;
one end of the rod cavity oil way is connected with the hydraulic source, and the other end of the rod cavity oil way is directly connected with the rod cavity;
the rodless cavity oil way comprises a first branch and a second branch;
one end of the first branch is connected with the hydraulic source, and the other end of the first branch is connected with the rodless cavity;
one end of the second branch is connected with the hydraulic source, the other end of the second branch is connected with the rodless cavity, and the first branch and the second branch are in parallel connection;
a pressure reducing valve, a first servo proportional reversing valve and a stop valve are sequentially arranged on the first branch in the direction from the hydraulic source to the rodless cavity;
and a second servo proportional reversing valve is arranged on the second branch.
Preferably, in the utility model provides an among the finish forge manipulator traveling system control circuit, first branch road with the end-to-end connection of second branch road has the pipeline of converging, the pipeline of converging with no pole chamber is connected.
Preferably, in the control circuit of the walking system of the precision forging manipulator provided by the utility model, in the rod cavity oil circuit and the collecting pipeline are provided with a communicating pipe, and a first plate-type high-pressure ball valve is arranged on the communicating pipe.
Preferably, in the control loop of the walking system of the precision forging manipulator provided by the utility model, the oil way of the rod cavity is connected with an oil-supplementing one-way valve.
Preferably, in the utility model provides a finish forge manipulator traveling system control circuit, with the hydraulic pressure source is connected with the fuel feeding house steward, the fuel feeding house steward with have the pole chamber oil circuit and no pole chamber oil circuit is connected.
Preferably, in the utility model provides a finish forge manipulator traveling system control circuit, with the fuel feeding house steward is connected with oil discharge pipe, in be provided with the board-like high-pressure ball valve of second on the oil discharge pipe.
Preferably, in the control loop of the traveling system of the precision forging manipulator provided by the present invention, a first pressure sensor is disposed on the second branch; and a second pressure sensor is arranged on the collecting pipeline.
Preferably, in the traveling system control circuit of the precision forging manipulator provided by the present invention, the pressure reducing valve is a pilot type pressure reducing valve.
Preferably, in the utility model provides a finish forge manipulator traveling system control circuit, the stop valve is two-position four-way stop valve.
(III) advantageous effects
Through the structure design, the utility model provides a finish forge manipulator traveling system control circuit has following structural feature: 1. by adopting a plurality of oil paths and the differential control of a servo valve system, the high, medium and low speed three-section switching of the walking action can be realized reliably and stably, and the stepless speed adjustment can be realized; 2. pressure sensors are respectively designed in the rod cavity 1a and the rodless cavity 1b of the oil cylinder, so that pressure change can be fed back in real time; 3. an oil supplementing one-way valve is arranged on the oil supply pipeline and can be used for supplementing oil to the oil cylinder when the manipulator passively acts in the forging process; 4. an oil unloading pipe is arranged, and hydraulic oil pressure relief during maintenance can be achieved by controlling oil unloading of a ball valve on the oil unloading pipe.
Drawings
Fig. 1 is a schematic structural diagram of a control loop of a traveling system of a precision forging manipulator according to an embodiment of the present invention.
In fig. 1, the correspondence between the component names and the reference numbers is:
the main oil cylinder 1 of the precision forging operation, a rod cavity 1a, a rodless cavity 1b, a hydraulic source 2, a pressure reducing valve 3, a first servo proportional directional valve 4, a stop valve 5, a second servo proportional directional valve 6, a collecting pipeline 7, a communicating pipe 8, a first plate type high-pressure ball valve 9, an oil supplementing one-way valve 10, an oil supply main pipe 11, an oil unloading pipe 12, a first pressure sensor 13 and a second pressure sensor 14.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the drawings and examples. The following examples are provided to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control loop of a walking system of a precision forging manipulator according to an embodiment of the present invention.
The utility model provides a finish forge operation machine traveling system control circuit is applied to on the finish forge operation machine to realize finish forge operation machine walking speed's control.
The utility model discloses in, this finish forge manipulator traveling system control circuit includes following component parts:
1. main oil cylinder 1 of precision forging operation machine
The main oil cylinder 1 of the precision forging operation machine is an execution unit of a traveling system of the precision forging operation machine, the main oil cylinder 1 of the precision forging operation machine comprises a rod cavity 1a and a rodless cavity 1b, and hydraulic oil is injected into the rod cavity 1a and the rodless cavity 1b, so that the extension and retraction of a piston rod on the main oil cylinder 1 of the precision forging operation machine can be realized.
2. Hydraulic control circuit system
The hydraulic control loop system is a system for supplying hydraulic oil to the main oil cylinder 1 of the precision forging operation, and comprises a hydraulic source 2 (a hydraulic oil tank), a rod cavity oil path (an oil path for supplying hydraulic oil to the rod cavity 1 a) and a rodless cavity oil path (an oil path for supplying hydraulic oil to the rodless cavity 1 b) which are connected with the hydraulic source 2. One end of the oil circuit with the rod cavity is connected with the hydraulic source 2, the other end of the oil circuit with the rod cavity is directly connected with the rod cavity 1a, the oil circuit without the rod cavity comprises a first branch and a second branch, one end of the first branch is connected with the hydraulic source 2, the other end of the first branch is connected with the rod cavity 1b, one end of the second branch is connected with the hydraulic source 2, the other end of the second branch is connected with the rod cavity 1b, the first branch and the second branch are in parallel connection, a pressure reducing valve 3, a first servo proportional reversing valve 4 and a stop valve 5 are sequentially arranged on the first branch in the direction from the hydraulic source 2 to the rod cavity 1b, and a second servo proportional reversing valve 6 is arranged on the second branch.
In the above structural design, the connections between the components, between the components and the pipelines, and between the pipelines may refer to the connection manner of the existing hydraulic components, which is not described herein again. Additionally, the utility model discloses the various valves that use (for example relief pressure valve 3, switching-over valve or stop valve 5) also all adopt current finished product valve, the utility model discloses not optimize the improvement to the concrete structure of valve, but designed new oil circuit project organization, realize the multistage (or stepless) regulation and control of precision forging operation owner hydro-cylinder 1 motion.
Rodless chamber oil circuit is including first branch road and second branch road, and the rodless chamber 1b of finish forge operation owner hydro-cylinder 1 only is provided with an interface, so, the utility model provides a manifold pipeline 7 is connected with rodless chamber 1b by manifold pipeline 7, and the end of first branch road and second branch road is then connected to on the manifold pipeline 7 through tee bend structure.
Further, a communicating pipe 8 is arranged between the rod cavity oil way and the collecting pipeline 7, a first plate type high-pressure ball valve 9 is arranged on the communicating pipe 8, the communicating pipe 8 is communicated and cut off through the first plate type high-pressure ball valve 9, in a use state, the first plate type high-pressure ball valve 9 is in a cut-off state, and therefore circuit breaking between the rod cavity oil way and the collecting pipeline 7 is achieved, when the system breaks down, when an operator needs to manually return the piston rod, the system is stopped, the first plate type high-pressure ball valve 9 is opened, the rod cavity oil way is communicated with the collecting pipeline 7, and therefore the piston rod can be pushed to achieve manual return of the piston rod.
Specifically, an oil-replenishing check valve 10 is connected to the rod-chamber oil passage.
The utility model discloses still provide an oil supply house steward 11 of being connected with hydraulic pressure source 2, oil supply house steward 11 with have pole chamber oil circuit and no pole chamber oil circuit to be connected. Further, an oil discharge pipe 12 is connected to the oil supply main pipe 11, and a second plate type high pressure ball valve is arranged on the oil discharge pipe 12.
In order to improve the security of system operation, need examine the monitoring to system operating pressure, consequently, the utility model discloses set up first pressure sensor 13 on the second is branched, set up second pressure sensor 14 on collection pipeline 7.
Specifically, the pressure reducing valve 3 is a pilot type pressure reducing valve 3.
Specifically, the stop valve 5 is a two-position four-way stop valve 5.
The utility model provides a finish forge manipulator traveling system control circuit, its oil circuit structure is as follows with concrete control operation: the high-pressure oil supplied by the pump set of the operating machine (from the hydraulic source 1) enters the traveling valve set through the P port (the oil outlet of the hydraulic source 1), the oil is divided into three paths, one path is supplied to the rod cavity 1a of the traveling oil cylinder, the other two paths respectively reach the P ports of the pressure reducing valve and the servo proportional reversing valve, and due to the fact that rated flows controlled by the two oil paths are different, switching of different action speeds of the oil cylinders can be achieved.
1. Realize high-speed walking
The first servo proportional reversing valve 4 and the second servo proportional reversing valve 6 are powered on simultaneously, enabling signals to be input, the two main valve cores move to the right side position, the oil path P → A, B → T is connected, the electromagnet YA01 is powered on, the two branches are connected, the oil supply amount of the rodless cavity 1b reaches the maximum, the piston rod stretches out, and the manipulator is in a feeding and transporting stage. When the enabling signals of the first servo proportional reversing valve 4 and the second servo proportional reversing valve 6 are switched to input, the main valve core moves to the left position, the oil path P → B, A → T is connected, the piston rod retracts, and the manipulator is in the material returning and transporting stage.
2. Realize the medium-speed walking
The first servo proportional directional valve 4 is powered off, and the main valve core is in a middle safety position. When the proportional electromagnet YS02 is electrified, an enable signal is input, the main valve core moves to the right position, the oil passages P → A and B → T are communicated, and high-pressure oil reaches the rodless cavity 1B of the walking oil cylinder. Because the area difference of the two cavities of the oil cylinder makes the piston rod of the oil cylinder extend out, the manipulator clamps materials and travels at a medium speed, and the manipulator is cooperated with a precision forging machine to feed and forge a forge piece. When the second servo proportional directional valve 6 is powered off and the main valve core moves to the left safety position, the oil path P → B, A → T is connected, the rodless cavity 1b of the oil cylinder is communicated with oil, the piston rod retracts under the action of high-pressure oil in the rod cavity 1a, the manipulator clamps materials and runs at a low speed, and the manipulator is cooperated with a precision forging machine to perform material returning and forging on a forged piece.
3. Realize low-speed walking
The second servo proportional reversing valve 6 is electrified to enable a signal to be input, the main valve core moves to the middle position, and at the moment, oil can only reach a port P of the servo proportional reversing valve 4 through the reducing valve 3. When the proportional electromagnet YS01 is electrified, an enable signal is input, the main valve core moves to the right position, the oil passages P → A and B → T are communicated, the electromagnet YA01 is electrified, and high-pressure oil reaches the rodless cavity 1B of the walking oil cylinder. Because the area difference of the two cavities of the oil cylinder makes the piston rod of the oil cylinder extend out, the manipulator clamps materials and walks at a low speed, and the manipulator is cooperated with a precision forging machine to carry out feeding and finishing on the forged piece. When the input of an enabling signal of the first servo proportional reversing valve 4 is switched to move the main valve core to the left position, the oil path P → B, A → T is connected, the rodless cavity 1B of the oil cylinder is communicated with oil, the piston rod of the rod cavity 1a retracts under the action of high-pressure oil, the manipulator clamps materials and travels at low speed, and the manipulator cooperates with the precision forging machine to perform material returning and finishing on the forged piece. When equipment fails, the ball valve is opened, the two cavities of the oil cylinder are communicated, the proportional electromagnet YS02 is powered off, the main valve core of the servo valve is in a left safety position, the oil passages P → B and A → T are communicated, and the two cavities of the oil cylinder are communicated with return oil. The oil cylinder can be manually dragged to any position by external force to carry out equipment maintenance.
Through the structure design, the utility model provides a finish forge manipulator traveling system control circuit has following structural feature: 1. by adopting a plurality of oil paths and the differential control of a servo valve system, the high, medium and low speed three-section switching of the walking action can be realized reliably and stably, and the stepless speed adjustment can be realized; 2. pressure sensors are respectively designed in the rod cavity 1a and the rodless cavity 1b of the oil cylinder, so that pressure change can be fed back in real time; 3. an oil supplementing one-way valve is arranged on the oil supply pipeline and can be used for supplementing oil to the oil cylinder when the manipulator passively acts in the forging process; 4. an oil unloading pipe is arranged, and hydraulic oil pressure relief during maintenance can be achieved by controlling oil unloading of a ball valve on the oil unloading pipe.
The utility model provides a finish forge manipulator walking action control principle is brand-new design, can realize the electrodeless control of manipulator walking action height, well, low three-speed segmentation, and it is nimble reliable to switch, has filled the blank of this aspect of technology in China. The pilot type pressure reducing valve 3 adopts the opening degree of an opening and closing part in a control valve body to adjust the flow rate of a medium, reduces the pressure of the medium, adjusts the opening degree of the opening and closing part by means of the action of the pressure behind the valve, keeps the pressure behind the valve in a certain range, keeps the pressure behind the valve in a set range under the condition that the pressure at an inlet is continuously changed, and protects the subsequent life production appliances. A self-sealing valve is arranged in the pressure measuring joint, and the self-sealing valve is closed under the action of a spring when the pressure measuring joint is used alone; after the self-sealing valve is butted with a measuring hose or a measuring joint with a thimble, the self-sealing valve can be opened for sampling of a high-pressure or low-pressure fluid system and system pressure detection.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (9)
1. A finish forge manipulator traveling system control circuit, characterized in that includes:
the precision forging operation machine comprises a precision forging operation machine main oil cylinder (1), wherein the precision forging operation machine main oil cylinder comprises a rod cavity (1a) and a rodless cavity (1 b);
the hydraulic control system comprises a hydraulic control loop system, a hydraulic control system and a control system, wherein the hydraulic control loop system comprises a hydraulic source (2), and a rod cavity oil way and a rodless cavity oil way which are connected with the hydraulic source;
one end of the oil circuit with the rod cavity is connected with the hydraulic source, and the other end of the oil circuit with the rod cavity is directly connected with the rod cavity;
the rodless cavity oil way comprises a first branch and a second branch;
one end of the first branch is connected with the hydraulic source, and the other end of the first branch is connected with the rodless cavity;
One end of the second branch is connected with the hydraulic source, the other end of the second branch is connected with the rodless cavity, and the first branch and the second branch are in parallel connection;
a pressure reducing valve (3), a first servo proportional reversing valve (4) and a stop valve (5) are sequentially arranged on the first branch in the direction from the hydraulic source to the rodless cavity;
and a second servo proportional reversing valve (6) is arranged on the second branch.
2. The finish forging manipulator traveling system control circuit according to claim 1,
the tail ends of the first branch and the second branch are connected with a collecting pipeline (7), and the collecting pipeline is connected with the rodless cavity.
3. The finish forging manipulator traveling system control circuit according to claim 2,
a communicating pipe (8) is arranged between the oil way with the rod cavity and the collecting pipeline, and a first plate type high-pressure ball valve (9) is arranged on the communicating pipe.
4. The finish forging manipulator traveling system control circuit according to claim 1,
and an oil supplementing one-way valve (10) is connected with the oil way of the rod cavity.
5. The finish forging manipulator traveling system control circuit according to claim 1,
And an oil supply main pipe (11) is connected with the hydraulic source, and the oil supply main pipe is connected with the rod cavity oil way and the rodless cavity oil way.
6. The finish forging manipulator traveling system control circuit according to claim 5,
an oil unloading pipe (12) is connected with the oil supply main pipe, and a second plate type high-pressure ball valve is arranged on the oil unloading pipe.
7. The finish forging manipulator traveling system control circuit according to claim 2,
a first pressure sensor (13) is arranged on the second branch;
and a second pressure sensor (14) is arranged on the collecting pipeline.
8. The finish forging manipulator traveling system control circuit according to any one of claims 1 to 7,
the pressure reducing valve is a pilot type pressure reducing valve.
9. The finish forging manipulator traveling system control circuit according to any one of claims 1 to 7,
the stop valve is a two-position four-way stop valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122937035.6U CN217177003U (en) | 2021-11-29 | 2021-11-29 | Control loop of traveling system of precision forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122937035.6U CN217177003U (en) | 2021-11-29 | 2021-11-29 | Control loop of traveling system of precision forging manipulator |
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| CN217177003U true CN217177003U (en) | 2022-08-12 |
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| CN202122937035.6U Active CN217177003U (en) | 2021-11-29 | 2021-11-29 | Control loop of traveling system of precision forging manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116967386A (en) * | 2023-09-25 | 2023-10-31 | 太原理工大学 | Material taking robot for large shaft forgings |
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2021
- 2021-11-29 CN CN202122937035.6U patent/CN217177003U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116967386A (en) * | 2023-09-25 | 2023-10-31 | 太原理工大学 | Material taking robot for large shaft forgings |
| CN116967386B (en) * | 2023-09-25 | 2023-12-08 | 太原理工大学 | Material taking robot for large shaft forgings |
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