SU1521935A1 - Positioning pneumohydraulic actuator - Google Patents

Abstract

The invention can be used in industrial robots, manipulators and machine tools. The purpose of the invention is to simplify the design and expand the range of speed control. The position pneumohydraulic actuator includes an actuating pneumatic cylinder 1, the rod 3 of which is rigidly connected to the rod 6 of the hydraulic cylinder 7. The cavities 9, 10 of the hydraulic cylinder 7 are connected to each other through an adjustable throttling device 11, which includes a housing 12 with channels 13, 14, a cylindrical core 15 and threaded sleeve 18 made of permanent magnet. The sleeve 18 interacts with the inner threaded surface 17 of the housing 12 and the electromagnetic windings 19, covering the latter. The conductivity of the throttling device 11 is determined by the mutual position of the sleeve 18 and the core 15. At the initial moment, the sleeve 18 closes channel 13 with its end. To accelerate the drive, the windings 19 are energized at the required frequency from the control device. Under the effect of the resulting torque, the sleeve 18 begins to rotate and moves away from the channel 13. As the sleeve advances, the length of the gap between the sleeve 18 and the core 15 decreases and the drive accelerates. By varying the conductivity of device 11, it is possible to vary the drive speed from zero to the maximum value. 1 il.

Description

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Btynica 18 interacts with the internal thread of the surface 8 of the casing 12 and the electromagnetic winding Mi: 19 covering the latter. The conductivity of the throttling device 11 is determined by the mutual position of the sleeve 18 and the core 15, At the initial moment the sleeve 18 with its torzm overlaps channel 13 For the acceleration of the drive, the windings 19 are energized with an increase in demand.

My law is the frequency from the control device. Under the effect of the resulting torque, the sleeve 18 begins to rotate and moves away from the channel 13 "As the sleeve advances, the length of the gap between the sleeve 8 and the serotropod 15 decreases and the drive accelerates. By changing the conductivity of the device I1, the speed of the drive can be changed from zero to maximum value of 1 sludge

. I The invention relates to machine-building swamping, in particular to pneumo-hydraulic 4powered drives, and can be used in industrial robo-, manipulators and machine tools,

i The purpose of the invention is to simplify the design and expand the speed control range.

The drawing shows the principle electro-hydraulic drive circuit.

; The pneumatic hydraulic pneumatic hydraulic valve contains actuator pneumatic cylinder 1 with the piston 2 installed with rod 3 with formation of working cavities 4 and 5. DiTOK 3 is connected with hydraulic cylinder rod 6

in which a piston 8 is installed forming control cavities 9 | and 10, connected through an adjustable throttling device;

: The device 11 includes a housing 12 d with channels 13 and 14 for supplying and discharging working fluid and a throttling element made in the form of a cylindrical core 15 rigidly connected to the end face 16 of the housing 12. A threaded hub 18, made of a constant magnet. Drive throttling device is made in the form of electromagnetic windings 19, covering icopnyc 12 "

The control unit includes a program control monitoring unit 20 of a memory unit 21, a feedback unit 22, a control unit 23, a generator 24 and feedback sensors 25 and 26 in terms of skrosti and position.

Position pneumohydraulic actuator operates as follows.

0

five

0

five

40

45

50

When air is supplied to one of the working cavities, for example 4, of the actuating pneumatic cylinder 1, the piston 2 acts on the rod 3. The rod 3 and the rod 6 of the hydraulic cylinder 7 connected with it begin to move to the right (according to the drawing). In this case, the fluid displaced by the piston 8 from the control cavity 10 flows into the cavity 9 through the throttling device 11. The speed of movement of the drive is determined by the flow rate of the liquid through the device. maximum value

The conductivity of the device I1 is determined by the mutual position of the sleeve 18, the core 15 In the initial moment the sleeve 18 is pressed against the end 16 and overlaps the holes 13 "Fluid from cavity 9 cannot get into the cavity 10 of the hydraulic cylinder 7"

To disperse the drive, windings 19 are energized with the frequency increasing according to the required law from the control device. Under the effect of the generated torque, sleeve 18 starts to rotate and moves away from the holes 13 along the internal threaded surface 17 of the housing 12 from the cavity 13 Liquid from the cavity 10 Starts to flow into cavity 9 through the gap between the sleeve 18 and the core 15 As the sleeve 18 advances, the gap length decreases. And the drive accelerates. When the required speed is reached, which is detected by the sensor 25, the control unit has a voltage from the windings 9 The drive moves at a constant speed

To stop the drive, the supply voltage is switched on with the change of polar 515

The driver and bushing 18, rotating in the opposite direction, move to the initial position, closing the holes 13 and stopping the drive.

The control device operates as follows.

In generator 24, a voltage is developed with the required frequency variation law. The operation of the generator 24 is controlled by the control unit 23 and the program control unit 20. The drive movements are controlled by the feedback unit 22 by signals from sensors 25 and 26. By a signal from the control unit 20, the control unit 23 writes the next program frame from the memory unit 21 to the block 23 controls The process is repeated until the completion of the entire program. The reverse of the drive is provided by supplying air to the working cavity 5 of the actuating pneumatic cylinder I.

The proposed drive does not consume energy in the stop mode, provides braking when the power is turned off, which eliminates the movement of actuators under the action

their weight or random external load.

Claims (1)

Invention Formula Positional actuator containing an actuating pneumatic cylinder whose rod is rigid Associated with a hydraulic cylinder rod, the cavities of which are interconnected through an adjustable throttle device, including a housing with inlet and outlet channels and a throttling element, while the actuator of the throttling device is complete in the form of electromagnetic windings enclosing the housing, characterized in that the purpose of simplifying the design and expanding the range of speed control, the body is threaded, the throttling element is in the form of a cylindrical core rigidly connected with the end face housing and interacting with the threaded sleeve placed in the housing, installed with the possibility of interaction with the thread of the housing.