SU1349999A1 - Drive for industrial robot cell - Google Patents

Abstract

The invention relates to the field of mechanical engineering and can be used in industrial robots with hydraulic or pneumatic actuators. The purpose of the invention is to increase speed and reliability. The device contains a power cylinder 72 I, connected by lines to a control valve 3, which is three-positioned and connected to a source of pressure of the working medium through a check valve 13, with a capacity of 6 working medium and through check valves 7 and 8 with batteries 9 and 10 respectively. In addition, the power cylinder cavities are communicated through check valves 4 and 5 with a working capacity 6 and through check valves 7 and 8 with accumulators 9 and 10. When braking the actuator associated with the power cylinder 1 and the corresponding moving object, their kinetic energy is converted into potential energy stored in batteries 9 and 10, which is then used to overcome the inertia forces during acceleration of the actuator in the opposite direction. 1 il. o (L co 4: o co x

Description

The invention relates to the field of mechanical engineering and can be used in industrial robots with a hydraulic or non-automatic drive.

The purpose of the invention is to increase the speed and reliability.

The drawing shows a diagram of the drive.

The device includes an actuating actuator, made in the form of a strong cylinder 1 and a wingless motion actuator, for example, in the form of a hydraulic or air motor 2, a distributor 3, first check valves 4 and, 6, the working medium capacity, second check valves 7 and 8, accumulators 9 and 10, three non-return valves 11 and 12. The distribution valve is made three-fold, connected to the medium 6 of the working medium and through the fourth non-return valve 13 to the pressure source of the working medium. The distributor 3 is controlled, for example, by means of electromagnets, the windings of which are connected to the contacts of the program device or the trip switches (not shown).

The drive module of the robot robot works as follows.

In the initial position, the spool of distributor 3 occupies a neutral position, cutting off all highways. Por- HjeHb of the power cylinder 1 is fixed, and one of the battery actuators, for example battery 10, is charged during the previous braking of the actuator.

To move the actuator, for example, a command from the programmed device or the end switch is sent to the winding of the corresponding electromagnet and the spool from the neutral position moves to the right, connecting the piston cavity of the power cylinder 1 with the capacitance 6, and the thrust cavity with the pressure line of the pressure source through the check valve 13 and with the battery 10 through the check valve 12. The gun and the actuator connected to it through the rod begin to move to the right, thus overcoming the inertia of rest gon occur due to the pressure of the working fluid from the torus 10 akku.mul flowing through the check valve 12 in schtokovuyu cavity until it okazhets pressure equal to the pressure in the pressure line.

The further movement of the piston occurs due to the flow of the working medium from the pressure line of the pressure source through the non-return valve 13. The working medium is displaced from the piston cavity through the distributor 3 into the container 6. At steady motion, the energy is expended to overcome the friction forces. To stop the actuator, the program device or the end switch sends the command to the winding of the electromagnet, under the action of which the valve of the distributor 3 occupies the neutral position shown in the drawing and blocks all the lines. nopHjeHb and the executive body continue to move to the right under the influence of inertial forces. During this movement, the rod cavity of the power cylinder I is filled with working medium from the tank 6 through the check valve 5, and the working medium from the piston cavity is forced out through the check valve 7 into the accumulator 9 to charge it. As a result of compressing the elastic element of the battery 9 (gas or spring), the pressure in the piston cavity and, accordingly, the resistance to movement of the piston increase, which leads to the suspension of the piston and the associated actuator

body.

When a command is sent to move the actuator to the left, the spool of the distributor 3 moves to the left and connects the current cavity of the power cylinder 1 with capacity, and the piston cavity to the pressure line of the pressure source through the check valve 13 and to the battery 9 through the check valve 1 1. Now the piston and the actuator accelerate due to the use of potential energy stored

in the accumulator 9. The working medium from the accumulator 9 flows through the check valve I 1 into the piston cavity of the power cylinder 1 until the pressure in the accumulator 9 and in the pressure line is compared. Further movement of the executive body occurs at the expense of the working medium coming from the pressure line of the pressure source. The working medium is displaced from the rod cavity through the distributor into the tank 6.

The stop of the actuator is made by issuing an appropriate command, as a result of which the valve of the distributor 3 returns to the neutral position and blocks all the lines. The piston and the executive body, continuing to move under the action of inertial forces,

displace the working medium from the rod cavity through the non-return valve 8 into the accumulator 10, charging it to a certain pressure value, and stop going a certain way after a braking command. The path and braking time are set by the corresponding ratio of the cross-sectional area of the cavities of the ram cylinder and the capacitance of the battery m / s, taking into account the allowable accelerations of the acceleration and deceleration of the actuator, limiting the magnitude of inertial forces.

The drive is altered, for example, in connection with a change in the mass of the displaced mass of a robot object, by a corresponding change in the moment of the braking command (movement of

switches), which increases or decreases depending on the need for a braking path and ensures that the actuator stops in a predetermined position, the drive also works in a similar way

rotational motion, in which, instead of piston and rod cavities, there may be two identical cavities of a rotary engine.

Claims (1)

Invention Formula The drive of an industrial robot module containing a power cylinder connected by lines to a controllable distributor which is connected to a source of pressure of the working medium, characterized in that in order to increase speed and reliability, it is equipped with two batteries, the capacity of the working medium and non-return valves , each of the cavities of the power cylinder is connected by one line to the capacity of the working medium through the first check valve installed with the possibility of filling the cavity, and the second line connected to a corresponding battery via a second check valve installed with the possibility of filling the battery; each of the batteries is connected to a control valve via a third check valve installed with the possibility of expiration of the working medium from the battery, the control valve is three-way the possibility of shutting off all the lines connected to it in the neutral position, and in the other two positions - with the possibility of alternately connecting one cavity of the power cylinder with a corresponding battery and with a source of pressure of the working medium through the fourth check valve installed with the possibility of outflow of the working medium from this source and the other cavity - with the capacity of the working environment.