SU1317406A1 - Pressure regulator with electric control - Google Patents

Abstract

This invention relates to pneumatic automation. The invention improves the dynamic properties of the controller. In case 1 there is a cylindrical spool valve 2 of self-lubricating material with three axes forming four cavities: two intermediate cavities - pressure 3 and exhaust 4 - and two end cavities 5 and 6. Extreme dispensers 2 cover windows 7 and 8, so what is obtained is a double-gap balanced circuit. Windows 7 and 8 are connected to the outlet 9, as well as to the right end cavity 5, in which the spring 10 is placed, loading the distributor 2. The housing 1 also has an output 11 and an exhaust 12 outlet. The left cavity 6 is connected to the output of the source of the driving force. The latter contains two successively connected controlled magneto-rheted throttles, each of co- / L X; “00 o a -. / / & S 7 th

Description

They have an inductor consisting of unipolar magnetic circuits 13 and 1A with axial channels 15 and 16, which pass into annular gaps 17 and 18. The latter are in the radial magnetic field of magnetic circuits 13 and 14. The annular gaps 17 and 18 of both chokes are connected between an annular chamber 19 in the intermediate body

one

The invention relates to pneumatic automation and can be applied in drives of industrial robots and in experimental techniques.

The purpose of the invention is to improve the dynamic characteristics of the controller;

In the drawing, a pressure regulator is illustrated.

In case 1 there is a cylindrical spool valve 2 (spool) of self-lubricating material with three flows forming four cavities: two intermediate cavities - pressure 3 and exhaust 4 - and double front cavities 5 and 6. Extreme by-valve of spool 2 cover windows 7 and 8 so that a double-slit balanced circuit is obtained. Windows 7 and 8 are connected to the outlet pipe 9, as well as to the right end cavity 5, the spring of which is located 10, the loading spool 2. The case also has an inlet 11 and a waste 12 pipe.

The left cavity 6 is connected to the output of the source of the driving force. The latter contains two series-connected controlled magnetorheological throttles, each of which has an inductor consisting of a unipolar magnetodrive (13 and 14) with an axial channel (15 and 16), and a junction into an annular channel (17 and 18). The latter are located in the radial magnetic field of the magnetic cores 13 and 14. The annular channels 17 and 18 of both throttles are interconnected by an annular channel 19 in the intermediate body 20 of non-magnetic material. The annular channel 19 is connected; with end cavity 6, Magnetic cores 13 and 14

20 of non-magnetic material. The annular chamber 19 is connected to the end cavity 6. The magnetic conductors I3 and 14 of the chokes have control windings

21 and 22 connected to the control system. All channels in the magnetic conductors 13 and 14 and cavity 6 are filled with a magnetorheological fluid. 1 sludge;

The throttles have control windings 21 and 22 connected to the control system. All channels in the magnetic conductors 13 and 14 and cavity 6 are filled with a magnetorheological fluid.

For the regulator to operate, it is necessary to ensure the flow of ferromagnetic liquid with constant pressure through the magneto-rheological device. This can be accomplished using a pneumatic-hydraulic device containing containers 23 and 24 connected to axial channels 15 and 16 of a magneto-rheological device and to pneumatic valve 25.

The regulator works as follows.

In the initial state, the spring 10 pushes the spool 2 to the left, connecting the output line 9 through the window 8 to the exhaust CAVITY 4. When constant pressure is applied through the valve 25, for example, into the container 23, the ferromagnetic liquid flows into the container 24 through the magnetorheological device through the channels 15,17,18,19,16. The hydraulic resistance of the channels 17 and 18 depends on the currents flowing through the control windings 21 and 22. Thus, the pressure in the channel 19 connected to the end cavity 6, and therefore the driving force acting on the left end of the spool 2, is a function of the difference

coils in the control windings.

With an increase in the current in the winding 22 and a decrease in the current in the winding 21, the driving force increases to a maximum when the channel 18 is completely locked.

Channel 18 decreases, and channel 17 resistance increases. When channel 17 is completely locked, the driving force vanishes.

When the pressure in chamber 2 is increased, the spool .2 is displaced to the right by opening the window 7 and connecting the outlet 9 and the cavity 5 to the pressure cavity 3. The outlet pressure increases as long as the force from the outlet pressure acting on the right side of the spool 2 does not balance the setting force, acting on the left end.

With a command to reduce the pressure, the current in the winding 21 increases, and in the winding 22 decreases, changing the resistance of channels 17 and 18, respectively. The pressure in chamber 6 decreases, the spool 2 moves to the left and occupies a new position corresponding to the new set value of the output pressure.

When the magnetorheological fluid is completely expelled from the tank 23 into the tank 24, the pneumatic valve 25 switches, changing the direction of the fluid movement, and the control windings are reversed. In order to avoid pushing the output pressure, at the moment of switching, the channels 17 and 18 are closed for a short time by an electrical signal, fixing the pressure in cavity 6. .

The regulator is intended mainly for use in a pneumatic tracking drive of manipulators with loop control. In this case, switching the direction of movement of the ferromagnetic fluid can be associated with the end of the operating cycle of the manipulator. In case of using several regulators in one system (for example, for the next drive of the manipulator, 6-8 such regulators are necessary. T. Parfenova Editor

Compiled by N. Gondaksazova

Tehred L.Olninyk Proofreader L.Pilipenko

Order 2422/42 Circulation 863 Subscription

. VNISHI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, st. Project, 4

five

4064

A device for circulating ferromagnetic fluid may be common.

The regulator has a high speed, determined mainly by the time constant of electromagnetic processes in magnetic circuits. The regulator has a linear characteristic of the output pressure on the magnitude of the control current, which facilitates the construction of the control system. The presence of fluid in one of the cavities of the regulator determines the good damping properties of the system, which ensures the rapid decay of transients and improves the quality of regulation.

The regulator spool valve is statically balanced and requires little shifting effort. This allows the construction of a high throughput control loop with good dynamic properties.

Claims (1)

Formula invented and A pressure regulator with a CMM electrical control, comprising a housing with inlet, outlet and discharge nozzles, in which a spool valve is located, characterized in that 30 improve the dynamic characteristics of the regulator, one of the end chambers of the spool distributor is connected to the outlet nozzle, the second end chamber is connected to the cavity, 35 located between two series-connected magnetorheological chokes, made in the form of channels in inductors, having control windings, and the channels The 40 throttles, the cavity and the second end chamber communicating with it are filled with a magnetorheological fluid, and the throttles are connected to the circulation unit of the magnetorheological fluid.