SU1536089A2

SU1536089A2 - Hydraulic/pneumatic actuator

Info

Publication number: SU1536089A2
Application number: SU874353385A
Authority: SU
Inventors: Владимир Михайлович Бельферман; Михаил Владимирович Черкашенко; Алексей Иванович Кудрявцев; Борис Константинович Комков; Валентин Ильич Леонов; Давид Самсонович Ваисблат
Priority date: 1987-12-30
Filing date: 1987-12-30
Publication date: 1990-01-15

Abstract

Изобретение относитс к гидравлическим (пневматическим) приводам с программным управлением и может быть использовано в промышленных роботах, станках, манипул торах. Привод содержит два тормозных распределител (ТР) 20 и 21 с односторонним управлением и пружинным возвратом, выходы которых соединены с каналами слива 2 распределителей 8 и 9, а входы через обратные клапаны 22 с магистралью подачи 1. В каждой из 2 линий управлени 23 и 24 ТР 20 и 21 установлены последовательно элементы ИЛИ 25 и 26 и И 27 и 28 так, что выходы элементов ИЛИ соединены с лини ми управлени ТР, причем одни их входы 29 и 30 соединены с выходами управл ющего устройства 11, а другие входы 31 и 32 с выходами элементов И 33 и 34, при этом первые входы элементов И 35 и 36 соединены с каналом аварийного останова 37, а вторые входы 38 и 39 - с выходами 40 и 41 управл ющего устройства 11. 1 з.п. ф-лы, 1 ил.The invention relates to software-controlled hydraulic (pneumatic) drives and can be used in industrial robots, machine tools, manipulators. The drive contains two brake distributors (TP) 20 and 21 with one-way control and spring return, the outputs of which are connected to the drain channels 2 valves 8 and 9, and the inputs through check valves 22 with supply line 1. In each of the 2 control lines 23 and 24 TP 20 and 21 are installed in series elements OR 25 and 26 and AND 27 and 28 so that the outputs of the OR elements are connected to the control lines of the TP, and one of their inputs 29 and 30 are connected to the outputs of the control device 11, and the other inputs 31 and 32 with the outputs of the elements And 33 and 34, with the first inputs of the elements And 35 and 36 are connected to the emergency stop channel 37, and the second inputs 38 and 39 are connected to the outputs 40 and 41 of the control device 11. 1 Cp. f-ly, 1 ill.

Description

По заложенной в управл ющее устрой-Q х 23 и 24 управлени элементов ИЛИAccording to the control of the control elements-Q x 23 and 24 of the elements OR

егоhim

ство 11 программе управлени на выходах по вл ютс управл ющие сигналы. Например, при движении поршн 6 с выдвижением штока 7 управл ющие сигналы поступают в камеру 15 управлени , переключа распределитель 9, а также в те из камер 17, ,. . ., 1 7П управлени , номера которых определены управл ющим устройством 11 по программе дл обеспечени заданного закона движени . При этом распределитель 8 своего положени не измен ет , а распределитель 9 переключаетс под действием управл ющего сигнала, поступающего по линии 41 управлени .In program 11, control signals appear at the outputs. For example, when the piston 6 moves with the rod 7 extending, the control signals enter the control chamber 15, switching the distributor 9, as well as into those of the chambers 17,. . ., 1 7P control, the numbers of which are determined by the control device 11 according to the program to ensure a given law of motion. At the same time, the distributor 8 does not change its position, and the distributor 9 switches under the action of the control signal coming in via the control line 41.

Выходной сигнал 43 сообщаетс с каналом 2 сброса давлени , а также с входами 191§ 192,...,19ft, а затем и с выходными каналами включенных клапанов. Дросселирование рабочей среды, поступающей из полости 5, осуществл етс , таким образом, через выбранную управл ющим устройством 12 комбинацию параллельно включенных дросселей 10 ,,..., Ю „,.The output signal 43 communicates with the pressure relief channel 2, as well as with the inputs 191 19 192, ..., 19ft, and then with the output channels of the included valves. The throttling of the working medium coming from the cavity 5 is thus carried out through the combination of the parallel-connected chokes 10 ,, ..., 10 ", selected by the control device 12.

Выбор управл ющей комбинации осуществл етс в соответствии с управл ющей программой с учетом информации , поступающей от датчиков 13 и 12.The selection of the control combination is made in accordance with the control program, taking into account the information received from the sensors 13 and 12.

Дл удобства цифрового кодировани эффективные площади дросселей выбраны таким образом, чтобы обеспечить соотношение расходов в параллельных ветв х 1: 2 : .. . : 2 , по формулеFor convenience of digital coding, the effective areas of chokes are chosen so as to ensure the cost ratio in parallel branches x 1: 2: .... : 2, according to the formula

1515

2020

2525

30thirty

3535

4040

Ч где f р,H where f p,

j -1,2,..j -1,2 ..

f, + f;(:2№-Jitjff, + f; (: 2№-Jitjf

соответственно эффектив45accordingly effective45

ные площади распределителей и клапанов; distribution areas of valves and valves;

,п-1 -пор дковые номера клапа50, p-1 -por dak numbers klapa50

25 и 26 и элементов И 27 и 28, необх димых дл управлени аварийным остан вом по сигналу, поступающему из канала 37, а также за счет сигналов, поступающих от управл ющего устройст ва 11. Такое разделение необходимо дл случа наличи нагрузки на штоке двигател , а также дл исполнени двигател с односторонним штоком. Сигнал от управл ющего устройства 11 свободно проходит на вход одного из элементов ИЛИ 25 и 26 и в линию 23 либо 24 управлени . Сигнал аварийного останова проходит через тот элемент И (а затем и через элемент ИЛИ) на входе 38 либо 39 которого присут ствует сигнал. Так как вход 38 соеди нен с выходом 41, то сигнал аварийно го останова включает тормозной распределитель 20 в том случае, когда переключен распределитель 9, и, аналогично, сигнал аварийного остано ва переключает тормозной распределитель 21 в том случае, когда лереклю- чен распределитель 8.25 and 26 and elements 27 and 28, which are necessary for controlling the emergency balance by the signal from channel 37, as well as due to signals from control device 11. This separation is necessary for the case when there is a load on the engine rod, as well as for the execution of an engine with a one-way stem. The signal from the control device 11 freely passes to the input of one of the elements OR 25 and 26 and to the line 23 or 24 of the control. An emergency stop signal passes through that AND element (and then through the OR element) at input 38 or 39 of which there is a signal. Since the input 38 is connected to the output 41, the emergency stop signal turns on the brake distributor 20 when the valve 9 is switched, and, similarly, the emergency stop signal switches the brake valve 21 when the valve 8 is corrected .

Claims

1. Hydraulic (pneumatic actuator according to aut. St. No. 1399533, distinguished by the fact that, in order to increase reliability, it is equipped with two two-way brake distributors with one-way control and spring return, two pairs of AND and OR elements and check valves, channels two-way valves are configured to communicate in the initial position of the pressure line through a non-return valve with a working cavity and a locked drain; the outputs of the brake valves are connected to the drain line, and the inputs through check valves - to the pressure line, the outputs of the OR elements are connected directly to the control valves of the brake distributors, and some of their inputs are connected to the control device, and the other inputs are connected to, ..., 16h. In order to extend the range of control of the flow rates of the working medium, in particular, in the area of negative values, i.e., changing the flow direction and, thus, increasing the braking force, two brake distributors 20 and 21 are installed in the drive, the feed channels Q x 23 and 24 of the control elements OR

15

20

25

thirty

35

40

45

50

55

25 and 26 and elements 27 and 28, necessary for controlling the emergency stop by a signal from channel 37, as well as by signals from control device 11. Such separation is necessary for the case when there is a load on the engine stem, and engine performance with one-way stock. The signal from the control device 11 freely passes to the input of one of the elements OR 25 and 26 and to the line 23 or 24 of the control. The emergency stop signal passes through that AND element (and then through the OR element), at the input 38 or 39 of which there is a signal. Since the input 38 is connected to the output 41, the emergency stop signal turns on the brake distributor 20 when the valve 9 is switched, and, similarly, the emergency stop signal switches the brake distributor 21 when the valve 8 is corrected.

Invention Formula

1. Hydraulic (pneumatic) drive auth.St. No. 1399533, characterized in that, in order to increase reliability, it is equipped with two two-way brake two-way valves and one-way control and spring return, two pairs of AND and OR elements and check valves, the channels of two-position valves are configured to communicate in the initial position of the pressure line through a check valve with a working cavity and a locked drain, the outputs of the brake valves are connected to the drain line, and the inputs through the check valves to the pressure line, the outputs of the elements OR connect directly to the brake control valves; their inputs are connected to the control device, and the other inputs are connected to the outputs of the AND elements, the first inputs of the AND elements are connected to the emergency stop inputs, and the second to the control inputs of the distributors.

2. The actuator according to claim 1, characterized in that, in order to expand the scope of application and reduce the size by using a cylinder

with one-way stem, it is equipped with two reduction valves installed respectively in the pressure line before the check valve, which communicates the latter with a rodless working cavity, and in front of the valve of the brake distributor, element And of which is connected to the control valve of the distributor connected to the rodless working cavity .