SU996743A1

SU996743A1 - Manipulator drive

Info

Publication number: SU996743A1
Application number: SU813310669A
Authority: SU
Inventors: Владимир Дмитриевич Даровских
Original assignee: Фрунзенский политехнический институт
Priority date: 1981-06-26
Filing date: 1981-06-26
Publication date: 1983-02-15

Description

(54) ПРИВОД МАНИПУЛЯТОРА(54) OPERATION MANIPULATOR

Изобретение относитс к приводам манипул торов и технологических машин с программным управлением и может быть использовано в машиностроении и других отрасл х народного хоз йства .The invention relates to actuators of manipulators and computer-controlled technological machines and can be used in mechanical engineering and other sectors of the national economy.

Известен привод манипул тора, содержащий корпус, основной поршень с полым штоком, размещенный в корпусе с образованием рабочих полостей, подпружиненные обратные клапаны, размещенные в канале основного поршн , жестко св занный с корпусом посредством т ги разделитель, установленный в полости штока с образованием двух полостей, одна из которых сообщена с атмосферой, а втора посредством клапанов поочередно сообщаетс с каждой из рабочих полостей LllA manipulator actuator is known, comprising a housing, a main piston with a hollow rod, housed in the housing to form working cavities, spring-loaded check valves arranged in the channel of the main piston, rigidly connected to the housing by means of a separator mounted in the rod cavity to form two cavities one of which communicates with the atmosphere and the second through valves is in turn communicated with each of the working cavities Lll

Недостатком этого устройства влйетс невозможность осуществлени автоматического изменени рабочего хода привода.The disadvantage of this device is the impossibility of making automatic changes in the working stroke of the drive.

Цель изобретени - расширение функциональных возможностей привода за счет автоматизации процесса изменени рабочего хода привода.The purpose of the invention is to expand the drive functionality by automating the process of changing the stroke of the drive.

Указанна цель достигаетс тем, что полость штока, сообщенна с рабочими полост ми, снабжена двум упорами , а привод - дополнительным подпружиненным поршнем, размещенным в полости штока с возможностью ограниченного перемещени вдоль т ги между упорами, полость между разделителем и дополнительным поршнем сообщена с каналом поршн , в котором установлены клапаны, с помощью отверсти , диаметр которого не превышает шири11ы This goal is achieved by the fact that the stem cavity connected to the working cavities is provided with two stops, and the drive has an additional spring-loaded piston placed in the stem cavity with the possibility of limited movement along the tie between the stops, the cavity between the separator and the additional piston communicates with the piston channel in which valves are installed, by means of an aperture whose diameter does not exceed the width

10 дополнительного поршн , а рассто ние между упорами не превышает его удвоенной ширины.10 an additional piston, and the distance between the stops does not exceed its double width.

На фиг. 1 изображен привод манипул торов , на фиг. 2 - узел I на FIG. 1 shows a manipulator actuator; FIG. 2 - node I on

15 фиг. 1 (конструкци обратных клапанов ), на фиг. 3 - разрез А-А на фиг. 2 (подвижный затвор клапана).15 of FIG. 1 (check valve construction), FIG. 3 shows section A-A in FIG. 2 (moving valve).

Привод манипул тора содержит корпус 1 с основным поршнем 2 и полым The manipulator actuator includes a housing 1 with a main piston 2 and a hollow

20 штоком 3, установленными в корпусе 1 с образованием рабочих полостей 4 и 5,. Полость штока 3 выполнена пвухступенчатой . В ступени меньшего диаметра установлен разделитель 6, 20 stem 3 installed in the housing 1 with the formation of the working cavities 4 and 5 ,. The cavity of the rod 3 is made of two-step. A separator 6 is installed in a smaller diameter stage,

Claims

25 rigidly connected by a thrust 7 with the housing 1, and in a step of a larger diameter, an emphasis 8, made in the form of a sleeve, and an additional piston 9, spring-loaded from the side, are of a smaller diameter, which has the possibility of limited displacement 7 between the stop 8 and boring smaller diameter. The cavity 10 between the separator b and the piston 9 is connected by a hole 11 to the channel 12, in which valves 13 and 14 are installed, made in the form of washers with radial undercuts. The movement of valves 13 and 14 is limited to seats 15 and 16 with central openings 17 and 18. A spring 19 is installed between valves 13 and 14. A cavity 20 under the auxiliary piston 9 is a control and a cavity 21 behind the separator is always in communication with the atmosphere. The device works as follows. When the flow of working fluid in the cavity 4 or 5 of the piston 2 with the rod 3 make a reciprocating movement. This changes the volume of the cavity 10. The operating pressure, acting on one of the valves 13 or 14, causes them to move, resulting in the cavity 10 communicating through the hole 11, the channel 12 and one of the holes 17 and 18 with the working cavity communicated with a sink (atmospheric yes; phenomenon). Thus, atmospheric pressure is maintained in cavity-10. If it is necessary to stop the piston 2 under the additional piston 9, a separation is supplied to the cavity 20, the latter is moved by the Eisentei rod 7, blocks the opening 11, isolates the cavity 10 from the atmosphere. However, depending on the direction of movement of the piston 2 in the cavity 10, either increased or reduced pressure is created, which has a decelerating effect on the piston 2 providing accurate braking at any point of the stroke. At the moment the direction of movement changes, the cavity 20 communicates with the atmosphere, the piston 9 returns to its original position. Providing accurate braking at any point of the drive stroke in the absence of additional damping devices allows not only expanding the drive functionality, but also simplifying its design. Claims of the invention A manipulator actuator comprising a housing, a main piston with a hollow rod, housed in the housing to form working cavities, spring-loaded non-return valves placed in the main piston channel, rigidly connected to the housing by means of a separator mounted in the stem cavity cavities, one of which is in communication with the atmosphere, and the second through valves is alternately communicated with each of the working cavities, characterized in that, in order to expand its functionality, the cavity The stem connected to the working cavities is provided with two stops, and the drive is equipped with an additional spring-loaded piston placed in the cavity of the stem with the possibility of limited movement along the tie between the stops, the cavity between the separator and the additional piston is connected to the piston channel in which the valves are installed, by absorbing the hole, the diameter of which does not exceed the width of the additional piston, and the distance between the stops does not exceed its double width. Sources of information taken into account during the examination 1. Patent QflA No. 3447424, cl. 91-422, published. 1969.