SU1527420A1 - Follow-up position hydraulic actuator - Google Patents

Abstract

The invention can be used as an actuator of an industrial robot. The purpose of the invention is to improve the dynamic characteristics and expand the operational capabilities of the drive. The control device of the spool installed in the bypass channel 15 of the cavities 9, 10 of the hydraulic cylinder 8 is made in the form of a block of two electromagnetic powder couplings interacting with an electric motor. Couplings are kinematically connected to an electric motor in such a way that they rotate in opposite directions relative to the rail. The use of couplings with a wide range of torque variation and high speed, as well as their interaction with the spool and electric motor, ensuring the gapless nature of the gearing, allows to significantly increase the speed and accuracy of adjustment. 4 il.

Description

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output couplings interacting with the electric motor. Couplings are kinematically connected to an electric motor in such a way that they rotate in opposite directions relative to the rail. Using couplings that have a wide range of torque variation.

torque and high speed, as well as the scheme of their interaction with the spool and the electric motor, ensuring the backlash-free nature of the gearing, allows to significantly increase the speed and accuracy of adjustment. 4 il.

The invention relates to mechanical engineering, in particular, to means of hydropneumatic automation, and can be used as an actuating mechanism of an industrial robot.

The purpose of the invention is to improve the dynamic characteristics and enhance operational capabilities.

FIG. 1 shows the overall drive layout; in fig. 2 - flow control device; in fig. 3 shows section A-A in FIG. 2; in fig. t is a section BB in FIG. 2

The following position pneumohydraulic actuator (Fig. 1) contains a pneumatic cylinder 1 with a piston 2 and a rod 3 installed in it with the formation of working cavities 4 and 5 connected to the pneumatic distributor 6. The rod 3 is rigidly connected to the rod 7 of the hydraulic cylinder 8, cavities 9 and 10 of which are connected to one another via a flow controller 11, software block 12 is connected with sensors 13 and feedback on the position and speed of movement of the rods 3 and 7.

The flow controller 11 (FIG. 2-) is made in the form of cavities 9 and 10 of spool 1b installed in the bypass channel 15 and its control device including an electric motor 17, a block 18 of two electromagnetic powder couplings 19 and 20 and a rack and pinion gear 21. The electric motor 17 is kinematically connected with the leading coupling halves 22 and 23 by means of a gear transmission 2k in such a way that the direction of rotation of the sleeves 19 and 20 is opposite in sign. Driven coupling half 25 and 26 through the rail 27 interact with the valve 1b.

Pneumohydraulic works as follows.

According to the signal of the program block 12, the pneumatic valve 6 switches, for example, to the position at which the working medium enters the cavity 5.

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Under the action of a pressure differential in the cavity and 5, the piston 2 with the rod 3 moves, and the fluid from the cavity 9 through the channel 15 and the flow regulator 11 flows into the cavity 10.

The motor 17 rotates at a constant speed, the driving half couplings 22 and 23 rotate. In block 12, the current signals from the sensors 13 are compared and the control signals generated by the magnetic field inductors are generated and in accordance with the magnitude of the error. 19 and 20, according to which the transmitted torque of each of the couplings 19 and 20 varies. The movement of the spool 1b occurs under the action of the resulting force applied to the gear 21, and its lock is determined by changing by balancing the torques transmitted by sleeves 19 and 20. Moving spool 1b causes a change in the conductivity of channel 15 and a corresponding change in the speed of movement of rods 3 and 7. When channel 15 is completely blocked, the actuator is positioned in a predetermined position.

Thus, the pneumohydraulic actuator allows changing the speed of movement of currents 3 and 7 in accordance with a given motion program. The autonomy of the control device, as well as the accuracy and speed of the implementation of the control signals, significantly increase the number of possible positioning points by minimizing the distance between two adjacent positioning points.

The use in the control device of the spool 16 electromagnetic powder couplings 19 and 20, with a wide range of torque variation and high speed, as well as the scheme of their interaction with Zo 1527

Claims (1)

with a lottery ram 1b and an electric motor 17, which ensures the impersonal gearing nature of gearing, allows to significantly increase the speed and accuracy of adjustment, which greatly expands the operational capabilities of the drive, improves its dynamic characteristics, and improves positioning accuracy. Invention Formula A positional pneumohydraulic actuator containing a pneumatic cylinder, the rod of which is rigidly connected to the hydraulic cylinder rod, the cavities of which are connected to one another through a flow regulator made in the form of installed in the bypass channel of the cylinder cavity of the spool and its control device, including a rack-and-pinion gear mechanism, characterized in that, in order to improve the dynamic characteristics and enhance operational capabilities, the control device is designed as a block of two electromagnetic short couplings, which have kinematically coupling half couplings are connected with an additionally installed electric motor, and those driven by a rack and pinion gear are connected with a slide valve, with the clutches mounted relative to the rail and with the opposite direction of rotation.  //.,/ X- / I m3 6-5 15 Physical.ch