RU2113396C1 - Manipulator control device - Google Patents

Abstract

FIELD: timber industry; felling, skidding and packaging machines, floating logs and packaging the logs. SUBSTANCE: device has articulated turnable column, boom with operating mechanism is form of tongs and their hydraulic drive and hydraulic control system with hydraulic distributors and mechanical control system kinematically coupled with hydraulic system. Mechanical control system is made in form of two handles installed for three-coordinate movement, each being simultaneously coupled with hydraulic mechanisms, and two pedals, each coupling working spaces of hydraulic drive of corresponding mechanism of boom directly with drain, thus providing hydraulic cutoff from hydraulic distributors controlled by handles. EFFECT: enlarged operating capabilities. 3 dwg

Description

 The invention relates to lifting mechanisms, namely, manipulators for the forest industry, and can be used both on forestry machines when felling, baling and skidding, and on aggregates for rafting for lifting sunken, semi-sunken and floating wood and its baling.

 A known device is a crane on the author. N 484172 (class B 66 C 23/06, 13/42, prior. 08.07.69, publ. 15.09.75), containing a vertically rotating boom with a handle and a gripping working body, their hydraulic drives and a control system including a three-position hydrodistributor kinematically connected with three control levers.

 The known device provides the sequential execution of operations of raising and lowering the gripping working body by rotating the boom in a vertical plane and moving it along one coordinate, for example, moving logs horizontally for loading onto a flyover, conveyor, etc., i.e., it only works in active mode (at the hand of the operator) with a limited degree of mobility of the controlled mechanisms.

 A device for controlling a manipulator machine according to ed. St. N 701792 (CL B 25 J 13/00, E 02 F 9/22, B 66 C 13/48, A 01 G 23/08, prior. 21.06.78, publ. 05.12.79) - prototype. The known device comprises a pivotally articulated rotary column, an arrow with a pantographic mechanism mounted on it, a handle, their displacement drives in the form of hydraulic cylinders controlled from hydraulic distributors, namely two three-position spools connected with three control levers equipped with position locks kinematically connected with the cam as well mounted on a rotary column, which is also associated with a pantographic mechanism. Increase - decrease the boom extension, stop it, stop the rotation of the column, unloading operations are carried out by the operator using manual control of the levers associated with the corresponding valve. By setting a certain time overlap of the movements of the controlled mechanisms, the operator can achieve a smooth, without jerking, switching of the links of the working equipment, which, accordingly, requires a good qualification of the operator.

 The known device allows you to use all degrees of mobility of the controlled mechanisms (rotary columns, booms with a handle) using three control levers. However, such a mechanical control system has disadvantages. The presence of three control levers does not make it possible to relieve the operator’s attention and facilitate his work. In addition, the manipulator-type machine is controlled only in the active mode (at the operator’s hand), which under certain operating conditions, especially in difficult, unadapted to the conditions of limited degree of manipulation of objects - logs, whips located out of order, can lead to jamming, etc. item, i.e. reduces the reliability of the manipulator type machine as a whole.

 The aim of the invention is not only the possibility of an active control mode of the manipulator using all degrees of mobility of the controlled mechanisms, but also adaptation to the conditions of limited degrees of manipulation of objects, i.e. the ability to work the mechanisms of the arrow-shoulder, forearm in passive mode due to hydraulic shutdown from the corresponding valve.

 To achieve this goal, in a manipulator control device containing a pivotally articulated rotary column, an arrow with an actuator, their hydraulic actuators, as well as a hydraulic control system, including hydraulic control valves, and a mechanical control system kinematically connected with it, the latter is made in the form of two handles that carry out three-coordinate control due to simultaneous communication with hydraulic valves according to the number of degrees of mobility of the controlled mechanisms, and two pedals that guide avlicheskoe disconnection, t. e. a passive control, or floating, mode of operation, due to direct connection work chambers of controlled boom hydraulic drive mechanism (arm or forearm) with a drain.

 In FIG. 1 shows a device - a manipulator with an actuator in the form of a capture of tick-type; in FIG. 2 - kinematic diagram of the handle of a mechanical control system; in FIG. 3 is a hydraulic diagram of the device as a whole.

 The manipulator device shown in FIG. 1, contains a hingedly joined column 1, consisting of a shoulder 2 and a forearm 3 with a sliding part 4, a drive 5 for turning the column 1, a hydraulic actuator 6, providing lifting-lowering of the shoulder 2, a hydraulic actuator 7 with a lever mechanism 8, providing lifting-lowering of the forearm 3, the drive 9 of the rotation of the gripper 10. The hydraulic drive of the sliding part 4 of the forearm 3 and information-breeding tick-borne gripper 10 in FIG. 1 are not shown.

 In FIG. 2 shows a kinematic diagram of the handle of a mechanical control system mounted with the ability to move in three coordinates. The control handle comprises a base 11, a frame 12 mounted on the axles 13 on the base 11, a frame 14 mounted on the axles 15 in the frame 12, a guide 16 fixedly connected to the frame 14. A rod 17 with a handle 18 is placed with the possibility of translational movement having an eye at the free end, into which the roller of the lever 19 enters. The lever 19 is fixed on an axis on the frame 12 and is connected to the rod 20, which, in turn, is connected to the Z-shaped lever 21, mounted on the base 11, the latter by means of a rod 22 associated with control valves yayuschimi movement along Z axis while moving the handle up or down.

 The frame 12 by means of a thrust 23 is connected with control valves that control the movement along the Y axis when moving the handle 18 to the right or left.

 The frame 14 by means of a thrust 24 is connected with control valves that control the movement along the X axis when the handle 18 is moved forward or backward.

 The hydraulic circuit of the device shown in FIG. 3, contains hydraulic circuits of a drive 5 for turning a column 1, a hydraulic actuator (hydraulic cylinder) 6 of a shoulder 2, a hydraulic actuator (hydraulic cylinder) 7 of a forearm 3, a drive 9 of a gripper rotation 10, a hydraulic actuator (hydraulic cylinder) 25 of a sliding part 4 of a forearm 3, a hydraulic actuator (hydraulic cylinder) 26 information -dilution of the jaws of the capture 10, connected in parallel with the pressure line and the drain line to the drain tank (not shown in Fig.).

 The hydraulic circuit of the actuator 5 of the rotary column 1 contains a hydraulic motor 27 connected through safety valves 28 to a three-position spool valve 29 kinematically connected to the right handle 30 (Y axis in Fig. 2).

 A hydraulic valve 31 (three-position spool) for raising and lowering the shoulder 2 (along the Z axis - Fig. 2) is kinematically connected to the same right handle 30. In this hydraulic circuit, the working cavities of the hydraulic cylinder 6 are connected with a two-position spool valve 32 kinematically connected to the right pedal 33. In the piston part of the cylinder 6 there is a check valve 34 with an orifice 35 and a check and safety valve, respectively 36, 37. In the rod part of the hydraulic cylinder 6 shut-off valve 38 is installed.

 The control circuit of the hydraulic cylinder 7, controlling the movement of the forearm 3, kinematically connected with the same right handle 30 (X axis - Fig. 2), but with the left pedal 33 ', is made similarly.

 The hydraulic circuit of the hydraulic cylinder 25 of the retractable part 4 of the forearm 3 includes a three-position spool valve 39 installed through a safety valve, similar to valve 37, kinematically connected to the left handle 40 (X axis in Fig. 2).

 The hydraulic circuit of the drive 9 of the rotation of the gripper 10 is made similar to the hydraulic circuit of the drive 5 of the rotary column 1, the valve 29 'of which is connected to the left handle 40 (Y axis in Fig. 2).

 A hydraulic lock 41 and a three-position spool valve 42 kinematically connected to the left handle 40 (Z axis in Fig. 2) are installed in the hydraulic circuit of the hydraulic cylinder 26, controlling the mixing-breeding of the jaws of the gripper 10.

 Thus, the mechanical control system placed on the control panel (not shown in FIG.) Contains two handles 30, 40 mounted for movement along three coordinates X, Y, Z, and two pedals 33, 33 '. The right handle 30 is used to control the rotation of the column 1 (Y), the movement of the shoulder 2 (Z) and forearm 3 (X) raising and lowering; the left handle 40 is used to control the movement of the sliding part 4 of the forearm 3 (X), the rotation of the gripper 6 (Y), mixing-breeding the jaws of the gripper 6 (Z) in the active control mode.

 The right pedal 33 serves to control the shoulder 2, and the left pedal 33 '- to control the forearm 3 in passive mode.

 The manipulator control device operates as follows.

 In the absence of mechanical action on the handles and pedals of the mechanical control system, all drives are stationary.

 When shifting the right handle 30 (Fig. 3) to the right or left, i.e. when moving the handle 18 (Fig. 2) along the Y axis, the frame 12 swings on the axes 13 and by means of the thrust 23 moves the spool valve 29 (Fig. 3), and pressure is supplied to the hydraulic motor 27 of the actuator 5 (Fig. 1, 3) of rotation of the column 1 (Fig. 1), which accordingly rotates to the right or left. When the right arm 30 (Fig. 3) returns to the neutral position, the pressure supply to the hydraulic motor 27 is stopped and the column 1 is stopped. Safety valves 28 are used to equalize the pressure in the line when it rises above the nominal when the handle sharply returns to the neutral position or when exposed to external factors.

 When the right handle 30 is shifted up, i.e. when the handle 18 (Fig. 2) is moved upward along the Z axis, the rod 17 also moves in the guide 16, causing movement through the lever 19, the rod 20, the Z-shaped lever 21 of the rod 22, which moves the spool valve 31 (Fig. 3). The control valve 31 supplies pressure to the rod cavity of the hydraulic cylinder 6 (Fig. 1, 3). The working fluid from the piston cavity of the hydraulic cylinder 6 through the check valve 34 (Fig. 3) and the valve spool 31 will go into the drain. In this case, the shoulder 2 (Fig. 1) will begin to rise.

 When the right handle 30 is shifted down, correspondingly, a reverse movement occurs, while the pressure through the throttle valve 35 of the check valve 34, which limits the flow of working fluid, is supplied to the piston cavity of the hydraulic cylinder 6, the shoulder 2 (Fig. 1) is lowered. The safety valve 37 (Fig. 3), installed in the piston chain of the hydraulic cylinder 6, opens when the load exceeds the permissible limit, i.e. serves to protect the shoulder 2 from accidental exposure to external loads. In the stem part of the hydraulic circuit of the hydraulic cylinder 6, a shut-off valve 38 is installed, overlapping the rod cavity of the hydraulic cylinder 6 when the fluid flow exceeds the established one, i.e. serves to prevent the fall of the shoulder 2, for example, when the line breaks.

 When you press the right pedal 33 (not shown in Fig. 1, 2), the valve spool 32 (on-off) is shifted, connecting both working cavities of the hydraulic cylinder 6 directly to the drain. The shoulder 2 thus moves under the action of its own weight or external load.

 When the right handle 30 is moved forward or backward, which corresponds to the movement of the handle 18 (Fig. 2), along the X axis, the frame 14 swings on the axes 15 and transfers the movement to the corresponding valve (31 '), forearm 3 by means of the traction 24 (Fig. 1) ) using the hydraulic cylinder 7 (Fig. 1, 3) is rotated forward or backward, respectively. The hydraulic circuit and its operation are completely similar to the hydraulic circuit of the hydraulic cylinder 6. However, passive control is performed by pressing the left pedal 33 '(Fig. 3). When you press the left pedal 33 'similarly, the working cavity of the hydraulic cylinder 7 (Fig. 1, 3) are connected to the drain, while the forearm 3 (Fig. 1) also moves under the influence of its own weight or external load.

 The hydraulic cylinder 25 for extending the extension part 4 of the forearm 3 is controlled from the directional control valve 39 (three-position valve) through the safety valves 37 ', similar valves 37 in the control circuit of the hydraulic actuators 6, 7 kinematically connected with the left handle 40, and switches when the left handle 40 is moved forward or backward (moving the handle 18 along the X axis of FIG. 2).

 The shift of the left handle 40 to the right or left (respectively, the movement of the handle 18 along the Y axis - Fig. 2) causes the rotation of the hydraulic motor 27 ', similar to 27 of the control circuit of the drive 5 of the rotation of the column 1. The operation is performed in the same way. The shift of the left handle 40 up or down (moving the handle 18 along the Z axis - Fig. 2) moves the three-position spool valve 42, which through the hydraulic lock 41 supplies pressure to the hydraulic cylinder 26, which actuates the jaw of the gripper 10 (Fig. 1). The hydraulic lock 41 serves to prevent spontaneous opening (breeding) of the jaws of the capture 10 in the presence of leaks through the control valve 42.

 Moving along one of the degrees of mobility of the handles, right 30 and left 40, does not cause movement to other degrees, the speed of movement controlled by the mechanism is proportional to the amount of displacement of the handles. The operator has the ability to change the speed from zero to nominal, while he can control all drives, i.e. displacements over all degrees of mobility of the controlled mechanisms simultaneously, alternately or in any combination, because all chains are kinematically and hydraulically isolated from each other.

 Thus, the control device is in active mode.

 However, in difficult working conditions, for example, with logs, whips, etc. items stacked out of order, i.e. when, when gripping with a clamping body, for example, with a tick grab 10, jamming of controlled mechanisms and their stopping can occur, the operator is able to work in a passive or floating control mode. For this, two pedals of a mechanical control system are used. When you press the right (left) pedal, the working cavities of the corresponding hydraulic cylinder are connected directly to the drain line through a two-position spool and, accordingly, the shoulder (or forearm) moves under its own weight or external load. Thus, adaptation to the conditions of limitation of degrees of freedom occurs.

Claims (1)

 A manipulator control device comprising a pivotally articulated rotary column, an arrow with an actuator, their hydraulic actuators, as well as a hydraulic control system including hydraulic distributors, and a mechanical control system kinematically connected with it, characterized in that the mechanical control system is made in the form of two handles installed with the ability to move along three coordinates, each of which is simultaneously associated with hydraulic valves according to the number of degrees of mobility corresponding controlled mechanisms, and two pedals, through which the working cavity of the hydraulic actuator of the corresponding boom mechanism is communicated directly with the drain.

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