SU1418511A1 - Position pneumatic drive - Google Patents

Abstract

Invention b. used in automatic equipment and industrial robots. The purpose of the invention is to imitate the pneumatic actuator and to increase the speed and accuracy of positioning. Porn1 and n current chambers 6 and 7 of the pneumocystryn 3 are connected to a dosing device configured as a three-line pneumatic valve (PR) 8 with a capacity of 9 adjustable working volume, with the possibility of alternate communication with the container. The cavity 6 is connected to the PR 8 directly, and the cavity 7 through a three-way linear PR 15 connected to the pressure and drain mains 1, 1, 2, while the cavity 7 is directly connected to the line I. In the case of overrun 5 For the donut zone, control signals are simultaneously received to switch off the electromagnets 21 and 22 of the PR 8 and 15, which causes the piston to reverse and quickly oscillate due to the absence of a delay in blocking the working cavity. (The speed of transfer of the rod 5 and its speed are regulated by the change in the volume of the tank 9. 1 з. Ф. F., 4 H. i.

Description

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The invention relates to pneumatics, in particular, to pneumatic actuators for moving organs from one position B to another, and can find application in various automatic equipment and industrial robots.

The purpose of the invention is to simplify the pneumatic drive and to increase the speed and accuracy of positioning.

FIG. 1 shows the principle pneumatic drive circuit; in fig. 2 - the same, with an autonomous capacity; in fig. 3 is a schematic diagram of a pneumatic distributor of a metering device; in fig. 4 - constructive performance capacity.

The position pneumatic actuator (Fig. 1 and 3) contains a pressure 1 and a drain 2 line, an air cylinder 3, a piston 4 with a rod 5 installed in it with the formation of a piston 6 and a rod 7 cavities, a metering device that includes a three-line pneumatic valve 8 with a capacity of 9 (Fig. 2-4).

The valve 8 is made in the form of a locking element 10 (FIG. 2), interacting it with nozzles 11 and 12, which are connected to the inlet 13 and outlet 14 lines, respectively. The locking element 10 is installed with the possibility of alternately communicating the tank 9 with the cavity 6 and the input line 13. The metering device also includes a directional control valve 15, which is connected to the pressure line 1 by the input line 16 and output lines 17 and 18 to the line 13 and drain line 2, correspondingly, the rod cavity 7 is directly connected to pressure line 1. Output line 19 of the pneumatic distributor 8 is connected to an independent tank 9 (Fig. 3), which can be made adjustable working volume 2 0. The directional valves 8 and 15 are controlled by electromagnets 21 and 22 and springs 23 and 24.

Positional pneumatic actuator works as follows.

When the piston 4 moves with the rod 5 to the right (Figs. 1 and 3), the control signal is fed to the electromagnet 22, switching the pneumatic distributor 15. In this case, the lines 13 and 17 communicate with the pressure line 1. Next, the control pulses are supplied to the electromagnet 21, As a result, the locking element 10 successively overlaps the nozzles 11 and 12. The container 9 communicates either with the input line 13 or with the piston cavity 6, which leads to movement of the piston 4. When the piston 4 reaches the tolerance zone for a given position, the flow of control pulses on the electric motor tromagnit 21 and .prakticheski lag without overlapping in the working medium supply po0

bore 6, since the pneumatic valve 8 is normally closed in both its positions. If the inertia forces acting at the moment of stopping the piston 4 are not large and do not lead to the output of the rod 5 from the tolerance zone for a given position, then the piston 4, without oscillation, stops at a predetermined position within the tolerance zone.

In the case of overrun of the chuck 5, beyond the tolerance zone, a control signal is simultaneously received to switch off the electromagnet 22 and control pulses to the electromagnet 21. This leads to removal of the working medium from cavity 6 and reversal of piston n 4, which again enters the zone of the specified position. Due to the fact that the delay in the overlap of the cavity 6 is practically absent, there is a rapid damping of the inertia of the piston 4, and, having made a small number of damped oscillations, it

0 occupies a position within the tolerance zone, while its self-oscillations are not renewed and this provides an increase in speed and positioning accuracy.

By changing the working volume 20 of the container 9, an increase or decrease in the flow pulses of the working medium supplied or removed from the cavity 6 is achieved. In this case, the speed of movement of the rod 5 can be adjusted and the optimum speed can be achieved.

Technical and economic efficiency from the use of the proposed drive is to simplify the design and increase the productivity of automatic equipment and robots.

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Claims (2)

1. A positional pneumatic actuator containing a pressure and discharge lines, a pneumatic cylinder, a piston with a rod, installed in it with the formation of a piston and rod cavities, a metering device including a three-line pneumatic valve with a container, and a guide pneumatic valve connected to pressure and discharge pipelines; the three-line pneumatic distributor is arranged to alternately communicate the container with one of the cavities and its input line, characterized in that, in order to simplify the pneumatic actuator and increase the speed and accuracy of positioning, the rod cavity is permanently connected to the pressure pipeline The guide valve is trilinear and connected to the inlet line of the pneumatic distributor of the metering device. 2. A pneumatic actuator according to claim 1, characterized in that the container is of adjustable displacement. 1 JZ / 2J 20