WO2015026039A1 - 전선 포설용 공압장치 및 그 제어방법 - Google Patents

전선 포설용 공압장치 및 그 제어방법 Download PDF

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Publication number
WO2015026039A1
WO2015026039A1 PCT/KR2014/002780 KR2014002780W WO2015026039A1 WO 2015026039 A1 WO2015026039 A1 WO 2015026039A1 KR 2014002780 W KR2014002780 W KR 2014002780W WO 2015026039 A1 WO2015026039 A1 WO 2015026039A1
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WO
WIPO (PCT)
Prior art keywords
valve
control
pneumatic
control valve
air
Prior art date
Application number
PCT/KR2014/002780
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English (en)
French (fr)
Korean (ko)
Inventor
김동호
서재원
정동현
김동수
김수호
Original Assignee
대우조선해양 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR20130098981A external-priority patent/KR20150022042A/ko
Priority claimed from KR1020130114512A external-priority patent/KR101451949B1/ko
Priority claimed from KR1020130125827A external-priority patent/KR101727584B1/ko
Priority claimed from KR1020140002287A external-priority patent/KR102227886B1/ko
Application filed by 대우조선해양 주식회사 filed Critical 대우조선해양 주식회사
Priority to SG11201600850XA priority Critical patent/SG11201600850XA/en
Publication of WO2015026039A1 publication Critical patent/WO2015026039A1/ko

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/0426—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with fluid-operated pilot valves, i.e. multiple stage valves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle

Definitions

  • the present invention relates to a pneumatic device for the wire laying robot and a control method thereof, and more particularly, to install the pneumatic circuit for operating the pneumatic cylinder of the wire laying robot in an optimally compact manner and to move the wire in one direction. It relates to a pneumatic device for wire laying robot and a control method thereof.
  • the wires are used in various forms, from small and light to large and heavy, and are wired from the source to each electrical equipment through cable-related components, including cable trays.
  • Wire laying on these vessels is one of the important processes and one of the very difficult tasks for humans.
  • wire laying in ships is a task that causes workers' fatigue and musculoskeletal disorders due to narrow spatial constraints.
  • the ship cable installation winch is provided with a power drum and a rotating drum connected thereto, and bundles several strands of wires on the ropes and draws the wires by pulling the ropes to the rotating drums.
  • Korean Laid-Open Patent Publication No. 10-2012-0076844 discloses a cable laying apparatus capable of laying wires along a cable tray.
  • the cable laying device is a pair of drive rollers respectively coupled to both ends of the body portion, a drive belt wound around the pair of drive rollers, the outer surface is rotated in contact with the cable tray, is coupled to one end of the body portion of the wire And a driving unit coupled to the driving unit to which one end is coupled and rotating the driving roller.
  • the cable laying apparatus has a high risk of weakening reliability and durability due to the complicated structure of the cable gripper, and a gripper having a different diameter according to the wire outer diameter must be manufactured due to a low response to the outer diameter of the wire.
  • the use of screws and motors not only generates noise but also has problems that cannot be applied to wire laying robots used in narrow spaces.
  • An object of the present invention is to solve the problems as described above, to provide a pneumatic device for the wire laying robot that the cylinder having the same period with the maximum force reciprocating at the maximum distance irrespective of the load according to the wire laying will be.
  • Still another object of the present invention is to provide a pneumatic device for a wire laying robot and a control method thereof, which can easily install a wire without using an operator, thereby improving workability and productivity according to the wire laying operation.
  • Still another object of the present invention is to provide a pneumatic device for a wire laying robot and a control method thereof, which can be easily manufactured with a small number of parts and can stably install electric wires without fear of failure.
  • the pneumatic device for wire laying robot is a drive means for reciprocating the wire laying robot, the start valve for starting the supply of air having a predetermined pressure, the operation of the start valve According to the main valve for selectively supplying or exhausting air to the pneumatic cylinder, a control valve for controlling the operation of the main valve by adjusting the exhaust time of the air exhausted from the main valve, the reciprocating motion according to the operation of the main valve It characterized in that it comprises a pneumatic cylinder.
  • the control valve may include a first control valve for controlling the flow rate of air exhausted from the main valve, and a second control valve for controlling the flow rate of air exhausted from the first control valve.
  • the first control valve includes a check valve in which a flow path is blocked by air exhausted from the main valve, and a flow control valve connected in parallel with the check valve to allow air to pass through the second control valve.
  • the second control valve is operated by the first control valve, the second control valve is characterized in that it comprises a flow control valve for controlling the flow rate of the air exhausted through the exhaust port.
  • a quick exhaust valve connected to the main valve and rapidly exhausting air filled in the pneumatic cylinder.
  • the control valve may include a first control valve for controlling the flow rate of air exhausted from the main valve, and a second control valve for controlling the flow rate of air exhausted from the first control valve.
  • the first control valve includes a check valve in which a flow path is blocked by air exhausted from the main valve, and a flow control valve connected in parallel with the check valve to allow air to pass through the second control valve.
  • the second control valve is operated by the first control valve, the second control valve is characterized in that it comprises a flow control valve for controlling the flow rate of the air exhausted through the exhaust port.
  • the method may further include a time delay valve controlling the operation of the main valve by delaying air exhausted from the main valve for a predetermined time.
  • the main valve is characterized in that it comprises an exhaust flow rate control valve for regulating the exhaust flow rate of air to the port and the exhaust port, respectively.
  • the time delay valve may control a flow rate of air exhausted from the main valve, and include a direction control valve for operating the main valve by the control valve.
  • the control valve may be a check valve in which a flow path is blocked by air exhausted from the main valve, a flow control valve connected in parallel with the check valve to allow air to pass through the direction control valve, and air exhausted from the flow control valve. It characterized in that it comprises an air tank which is stored in a certain amount.
  • Control means for controlling the operation of the pre-drive means further comprising: a casing for guiding the front and rear conveyance of the holding means; A front closing block inserted into the front of the casing to seal the front part of the casing; An expansion tube installed in the front of the casing and transferring the transfer head to the rear; A transfer head installed inside the casing so as to be movable in the front-rear direction and connected to the rear of the expansion tube; A rear closing block inserted into an inner rear of the casing to seal a rear portion of the casing; A transfer guide installed in front of the rear closing block and guiding the forward and backward direction of the transfer head; It is installed between the transfer head and the rear closing block, characterized in that it comprises a return spring for advancing the holding head and the holding means connected thereto.
  • the upper end of the casing is characterized in that the guide groove for the connection and transfer guide of the gripping means is formed.
  • pneumatic flow path is connected to the expansion tube on one side of the front closing block.
  • the transfer guide is formed in a rod or pipe shape, characterized in that penetrating the central portion of the transfer head.
  • the holding means includes a holding ring having a diameter larger than the diameter of the wire to be installed; And a connection hinge provided at a lower end of the gripping ring to rotatably support the gripping ring in the front-rear direction.
  • the control means is connected to the drive means, the pneumatic actuator for supplying air pressure to the drive means in accordance with the control signal of the control unit;
  • a control unit controlling the operation of the pneumatic actuator according to various switch input signals;
  • a reverse sensing switch for sensing the maximum reverse of the holding means to stop the operation of the pneumatic actuator;
  • a forward detection switch for sensing the maximum forward movement of the holding means to restart the pneumatic actuator;
  • An operation switch connected to the control unit and transmitting an initial operation operation signal and a stop signal to the control unit;
  • an emergency stop switch connected to the control unit and transmitting an emergency stop signal to the control unit.
  • the reverse sensing switch and the forward detecting switch are characterized in that it is installed in the upper rear and upper front of the drive means.
  • a pneumatic actuator connected to the driving means and supplying pneumatic pressure to the driving means in accordance with a control signal of a controller;
  • a control unit controlling the operation of the pneumatic actuator according to various switch input signals;
  • An operation switch connected to the control unit and transmitting an initial operation operation signal and a stop signal to the control unit;
  • An emergency stop switch connected to the control unit and transmitting an emergency stop signal to the control unit; It is connected to the control unit, characterized in that it comprises a timer to operate the pneumatic actuator for a set time.
  • the driving means uses at least one of a hydraulic cylinder, a pneumatic cylinder, an electric actuator, and the control means is characterized in that to generate a reciprocating motion for laying the wire at a set cycle.
  • the control means is characterized in that in the case of the hydraulic pneumatic system generates the installation force in an arbitrary operating cycle through the valve of the flow control and time delay function.
  • the apparatus further includes a gripping means disposed on the cable tray in a plurality of intervals at a predetermined interval, and the driving means and the gripping means for pulling an electric wire in a reciprocating motion of an actuator to synchronize with the gripping means installed at a plurality of points of the cable tray. And characterized in that it comprises a control means for controlling the distribution to the central controller.
  • the driving means is characterized in that for controlling the operation timing between the actuator by a switch, a control valve, a time delay valve.
  • the unit controller of the control means is characterized in that the gripping means and the driving means arranged in the allocated area of the cable tray to pull the wire.
  • the central controller of the control means is characterized by calculating and displaying the arrangement position of the holding means and the driving means installed in the cable tray.
  • control means including a control signal and a pneumatic actuator for inputting the switch signal of the forward sensing switch, reverse sensing switch, operation switch, emergency stop switch and drive means
  • a control method of a pneumatic device for a wire laying robot for moving a wire backward through connected gripping means comprising: determining, by the controller, whether an operation switch is operated; Supplying pneumatic pressure to the drive means by operation of the pneumatic actuator according to the operation signal of the control unit when the operation switch is turned on as a result of the determination; A holding means and an electric wire are moved backward by the pneumatic supply; Determining, by the controller, whether the reverse sensing switch is operated; Releasing the pneumatic pressure from the driving means by stopping the operation of the pneumatic actuator by the operation stop signal of the controller when the reverse detection switch is turned on; Moving the gripping means forward by the pneumatic release; And determining, by the controller, whether the forward detecting switch is operated.
  • the control unit detects the operation of the forward sensing switch as a result of the determination of the forward sensing switch, the pneumatic actuator is supplied to the driving means by the operation of the pneumatic actuator by the operation signal of the control unit.
  • control unit stops all control parts including the pneumatic actuator.
  • the valve circuit of the pneumatic device can be optimally arranged to reduce the size of the pneumatic device compactly, and to reduce the size of the robot used in a narrow space.
  • the pneumatic device for the wire laying robot and the control method thereof according to the present invention it is possible to easily lay the wires in the cable tray without using the operator's manpower can greatly improve the workability and productivity of the wire laying work. In addition, the cost of laying the wires can be greatly reduced.
  • the pneumatic device for laying the electric wire and the control method thereof according to the present invention it is possible to easily install the electric wire even in a narrow space or a high space which is difficult for an operator to access and other wire laying equipment cannot be used.
  • the pneumatic device for wire laying robot and the control method thereof according to the present invention it is possible to quickly install a large or heavy wire difficult to handle by the operator, it is possible to easily manufacture with a small number of parts, fear of failure The effect of stably laying the wires is obtained.
  • FIG. 1 is a pneumatic circuit diagram showing a pneumatic device for wire laying robot according to a first embodiment of the present invention
  • FIG. 2 is a pneumatic circuit diagram showing a pneumatic device for wire laying robot according to a second embodiment of the present invention
  • FIG. 3 is a pneumatic circuit diagram showing a pneumatic device for a wire laying robot according to a third embodiment of the present invention
  • Figure 4 is a front view showing a pneumatic device for wire installation robot according to the first to third embodiments of the present invention
  • FIG. 5 is a perspective view showing a pneumatic device for wire installation robot according to the first to third embodiments of the present invention
  • Figure 6 is a longitudinal sectional view of the main portion of the pre-operation state of the pneumatic device for wire installation robot according to a fourth embodiment of the present invention.
  • FIG. 7 is a longitudinal sectional view of the main portion of the state after the operation of the pneumatic device for wire installation robot according to a fourth embodiment of the present invention.
  • FIG. 8 is a block diagram showing a control means of a pneumatic device for a wire laying robot according to a fourth embodiment of the present invention.
  • FIG. 9 is a flow chart of a pneumatic device for wire laying robot according to a fourth embodiment of the present invention.
  • FIG. 10 is a block diagram showing a control means of a pneumatic device for a wire laying robot according to a fifth embodiment of the present invention.
  • FIG. 11 is a configuration diagram showing a pneumatic device for wire laying robot according to a sixth embodiment of the present invention.
  • FIG. 12 is a configuration diagram showing a connection state of a pneumatic device for a wire laying robot according to a seventh embodiment of the present invention.
  • FIG. 13 is a configuration diagram showing a pneumatic device for wire laying robot according to a seventh embodiment of the present invention.
  • 1 to 5 is a pneumatic circuit diagram showing a pneumatic device for a wire laying robot according to the first to third embodiments of the present invention.
  • a pneumatic device for a wire laying robot may selectively supply air to a pneumatic cylinder according to an operation of the start valve 420 and the start valve 420 to start supply of air having a predetermined pressure.
  • a driving means 400 for reciprocating along
  • the driving means 400 is to reciprocate the wire laying robot, and it should be understood to refer to a pneumatic cylinder which is reciprocated in a normal single or double acting.
  • the start valve 420 of the pneumatic device of the present invention uses a three-port two-way (3 port 2 way) valve, one side of the start valve 420 is provided with a lever, the other side A spring for returning the starting valve 420 is provided.
  • the start valve 420 is provided with an air supply device (not shown) for supplying a predetermined pressure of course.
  • the main valve 425 uses a 5 port 2 way valve, and one side is provided with a pilot valve (not shown) for returning the main valve 425.
  • the pilot valve causes the main valve 425 to be operated in position.
  • the control valve 430 branches from the main valve 425 to control the operation of the main valve 425.
  • the control valve 430 may include a first control valve 431 for controlling the flow rate of air and a second control valve for controlling the operation of the main valve 425 by air pressure exhausted from the first control valve 431. 435).
  • the first control valve 431 completely blocks the air flow in one direction exhausted from the main valve 425 and controls the flow rate of the check valve 432 and the air supply amount so as to flow with a small pressure loss in the opposite direction.
  • the second control valve 435 is a valve for operating the main valve 425 under the control of the first control valve 431, and uses a three-port two-position valve.
  • the second control valve 435 includes a flow control valve 436 for adjusting the flow rate of the air exhausted from the exhaust port.
  • the flow control valve 436 is connected to the exhaust port to control the exhaust amount of the air to slowly exhaust the air supplied to the exhaust port.
  • the drive means 400 uses a double-acting cylinder reciprocating according to the operation of the main valve 425.
  • FIG. 2 is a pneumatic circuit diagram showing a pneumatic device for wire laying robot according to a second embodiment of the present invention.
  • the pneumatic apparatus shown in FIG. 2 will be described using the same reference numerals for the same names as the above-described embodiments.
  • the pneumatic apparatus of the present invention selectively supplies air to the driving means 400 according to an operation of the start valve 420 and the start valve 420 to start supply of air having a predetermined pressure.
  • the main valve 425 for supplying or exhausting
  • the control valve 430 for adjusting the exhaust time of the air exhausted from the main valve 425
  • the driving means 400 reciprocating according to the operation of the main valve 425.
  • a rapid exhaust valve 440 connected to the main valve 425 and rapidly exhausting air filled in the driving means 400.
  • a rapid exhaust valve 440 is provided between the main valve 425 and the driving means 400. That is, by using the rapid exhaust valve 440, the reciprocating motion of the drive means 400 can be made faster and the response can be improved.
  • a quick exhaust valve 440 is provided between the main valve 425 and the driving means 400.
  • the control valve 430 is branched between the main valve 425 and the quick exhaust valve 440, the quick exhaust valve 440 is provided with a check valve on the inlet and exhaust side of the air, respectively. This is provided with an exhaust port at the inlet side and the exhaust side, respectively, to speed up the exhaust of the drive means 400, thereby increasing the reciprocating speed of the drive means 400.
  • FIG. 3 is a pneumatic circuit diagram showing a pneumatic device for wire laying robot according to a third embodiment of the present invention.
  • the pneumatic device is a start valve 420 for starting the supply of air having a predetermined pressure, the drive means 400 in accordance with the operation of the start valve 420
  • a main valve 425 for selectively supplying or exhausting air
  • a time delay valve 460 for controlling the operation of the main valve 425 by delaying air exhausted from the main valve 425 for a predetermined time
  • the main And driving means 400 for reciprocating according to the operation of the valve 425.
  • the start valve 420 of the pneumatic apparatus uses a 3 port 2 position valve, one side of the start valve 420 is provided with a lever, and the other side the start valve ( A spring is provided for repositioning 420.
  • the start valve 420 is provided with an air supply device (not shown) for supplying a predetermined pressure of course.
  • the main valve 425 uses a 5 port 2 way valve, and one side is provided with a pilot valve (not shown) for returning the main valve 425.
  • the pilot valve moves the main valve 425 to its original position.
  • the main valve 425 is provided with an exhaust flow rate control valve 421 for adjusting the speed when the drive means 400 is moved forward and backward.
  • the exhaust flow rate control valve 421 allows the amount of air exhausted through the port to be slowly exhausted to smooth the movement speed of the driving means 400.
  • the time delay valve 460 operates the main valve 425 after a predetermined time branched from the main valve 425.
  • the time delay valve 460 is controlled by the control valve 461 and the control valve 461 that control the air flow rate. And a direction control valve 465 for operating the main valve 425.
  • the control valve 461 of the time delay valve 460 is connected in parallel with the check valve 462 and the check valve 462 in which the flow path is blocked by the air exhausted from the main valve 425, and thus the direction control valve 465. It includes a flow control valve 463 for operating.
  • the control valve 461 may also include an air tank 464 that stores a certain amount of air.
  • the direction control valve 465 is operated by the control valve 461, one side is provided with a control valve 461, the other side is provided with a spring for returning the direction control valve 465.
  • the air tank 464 is also provided between the control valve 461 and the directional control valve 465.
  • the air tank 464 is for delaying the operation of the main valve 425 and stores a predetermined amount of air.
  • the pneumatic device provides a start valve 420 through which air of a predetermined pressure supplied from the air supply device passes.
  • One side of the start valve 420 is provided with a lever that is operated to supply air to the start valve 420, the other side is provided with a spring for the start valve 420 to the original position.
  • a main valve 425 for supplying air supplied from the start valve 420 to the driving means 400 is provided.
  • the start valve 420 uses a three port two position valve, and the main valve 425 uses a five port two position valve.
  • a pilot valve for returning the main valve 425 to the other side of the main valve 425 is provided.
  • a control valve 430 is provided between the main valve 425 and the driving means 400 to branch from the main valve 425 to control the operation of the main valve 425.
  • the control valve 430 provides a first control valve 431 for controlling the air flow rate and a second control valve 435 operated by the first control valve 431.
  • the first control valve 431 includes a check valve 432 and a flow control valve 433 for controlling the flow of air supplied from the main valve 425.
  • Check valve 432 passes the air at a small pressure
  • flow control valve 433 controls the flow of air.
  • the first control valve 431 delays the operation of the second control valve 435. This is to obtain the maximum stroke length according to the reciprocating operation of the drive means (400).
  • the second control valve 435 is a three-port two-position valve, the second control valve 435 is operated by the first control valve 431, the pilot valve is provided on the other side of the second control valve 435 do.
  • the start valve 420, the main valve 425, and the control valve 430 are the same, a description thereof will be omitted, and the quick exhaust valve 440 may be omitted. This will be described.
  • a quick exhaust valve 440 is installed between the main valve 425 and the driving means 400.
  • the rapid exhaust valve 440 provides exhaust ports on the inflow side and the exhaust side of the air, respectively, so that the air in the driving means 400 is exhausted more quickly.
  • the pneumatic device according to the third embodiment of the present invention is provided with a start valve 420 so that air is supplied from the air supply device, the start valve 420 on one side of the lever for operating the start valve 420 and the other side is started Install a spring to return the valve 420.
  • the main valve 425 uses a 5-port 2-way valve, and an exhaust flow rate control valve 421 is provided at each port. These exhaust flow rate control valves 421 allow the exhaust air to be slowly exhausted by adjusting the amount of air exhausted from the respective ports, thereby ensuring the maximum stroke length of the driving means 400.
  • time delay valve 460 is branched between the main valve 425 and the driving means 400 to delay the operation of the direction control valve 465.
  • the time delay valve 460 is provided with a control valve 461 and the direction control valve (465).
  • the control valve 461 is composed of a check valve 462 and a flow control valve 463 for regulating the flow of air, and an air tank for storing a predetermined amount of air between the control valve 461 and the directional control valve 465. 464.
  • the direction control valve 465 uses a three-port two-way valve, one side is provided with a control valve 461, the other side is provided with a spring for the original position control valve 465.
  • FIG. 4 is a front view showing a pneumatic device for a wire laying robot according to the first to third embodiments of the present invention
  • Figure 5 is a perspective view showing a pneumatic device for a wire laying robot according to the first to third embodiments of the present invention to be.
  • FIG. 4 and 5 illustrate a pneumatic device for a wire laying robot according to the present invention, in which a driving means 400 is coupled to one side of the pneumatic device so as to reciprocate, and in a position adjacent to the driving means 400.
  • the finger valve 402 is opened and closed, and the control valve 430 is mounted on the other side.
  • a three-port two-way valve that is a start valve 420 is fixed, and a five-port two-way valve that is a main valve 425 is fixed, and a plurality of exhaust ports of the start valve 420 or the main valve 425 are fixed.
  • Manifold 403 is formed.
  • air having a predetermined pressure flows into the start valve 420 through the finger valve 402, and a main valve 425 operated by the control valve 430 is disposed adjacent to the driving means 400.
  • the start valve 420 is moved to the right side in the drawing of FIG. 1 by a lever on one side, whereby the air of the air supply device is the main valve 425. It is supplied to the driving means 400 through.
  • the driving means 400 moves to the left in the drawing, that is, to move forward.
  • air in the driving means 400 flows into the control valve 430, and the second control valve 435 passes through the first control valve 431 of the control valve 430. ).
  • the second control valve 435 is moved to the right in the drawing by the air pressure to push the main valve 425 in the right direction in the drawing. Accordingly, the air passing through the start valve 420 is supplied to the main valve 425 to move the driving means 400 in the right direction in the drawing, that is, backward.
  • the air supplied to the start valve 420 is supplied to the driving means 400 through the main valve 425 to move forward, and the air exhausted from the driving means 400 controls the first control of the control valve 430.
  • the second control valve 435 is operated via the valve 431.
  • the flow rate control valve 436 of the second control valve 435 exhausts the air supplied from the first control valve 431, thereby increasing the response of the reciprocating motion of the driving means 400.
  • the driving means 400 of the pneumatic device takes 14.5 seconds as a result of the experiment of 10 reciprocating motions and responds faster than the conventional wire laying robot.
  • the control valve 430 operates the main valve 425 via the first control valve 431 and the second control valve 435, the maximum stroke length may be ensured even at the maximum load of the driving means 400. Will be.
  • the start valve 420 is moved to the right side in the drawing of FIG. 2 by a lever on one side, whereby air from the air supply device is introduced to the main valve. It is supplied to the rapid exhaust valve 440 through 425.
  • Air passing through the quick exhaust valve 440 is supplied to the driving means 400 to move the driving means 400 in the left direction, that is, forward in the drawing.
  • air in the drive means 400 is supplied to the control valve 430 through the rapid exhaust valve 440.
  • the first control valve 431 of the control valve 430 is supplied to the second control valve 435 by adjusting the amount of air.
  • the second control valve 435 moves in the right direction in the drawing, and the second control valve 435 moves the main valve 425 in the right side in the drawing.
  • the main valve 425 is the air supplied through the start valve 420 is supplied to the quick exhaust valve 440, the air passing through the quick exhaust valve 440 is supplied to the drive means 400 is driven by the drive means ( 400 is moved to the right in the drawing, that is, to retreat.
  • the air supplied to the driving means 400 by the quick exhaust valve 440 is exhausted through the quick exhaust valve 440 to increase the responsiveness of the driving means 400.
  • the time required for 10 reciprocating motions of the driving means 400 is shortened to 12 seconds.
  • air passing through the start valve 420 is supplied to the driving means 400 through the main valve 425, and the driving means 400 is supplied. Air moves to the left in the drawing, that is, advances.
  • the air supplied to the time delay valve 460 is stored in the air tank 464 via the check valve 462 and the flow control valve 463 of the control valve 461, all of the air in the air tank 464 When filled, the direction control valve 465 is pushed to the right in the drawing.
  • the direction control valve 465 pushes the main valve 425 in the right direction in the drawing, and the air passing through the start valve 420 is supplied to the main valve 425.
  • the air passing through the main valve 425 is supplied to the driving means 400, and the driving means 400 moves in the right direction, ie, retracts in the drawing.
  • the exhaust flow rate control valve 421 installed in the main valve 425 quickly exhausts the air supplied to the driving means 400, thereby increasing the responsiveness of the driving means 400.
  • Figure 6 is a longitudinal sectional view of the main part of the pre-operation state of the pneumatic device for wire laying robot according to a fourth embodiment of the present invention
  • Figure 7 is a main portion of the post-operation state of the pneumatic device for wire laying robot according to the fourth embodiment Longitudinal section.
  • Pneumatic device for wire installation robot according to a fourth embodiment of the present invention, the holding means 300 for holding the wire 150, the driving means 400 for reciprocating the holding means 300, the driving means ( Control means 500 for controlling the operation of the 400.
  • the driving means 400 is for reciprocating the holding means 300 in the front-rear direction.
  • the driving means 400 may preferably use a rodless unidirectional pneumatic cylinder.
  • the driving means 400 is a casing 471 having a predetermined length
  • the front closing block 472 is fixed to one end of the casing 471
  • the expansion tube 473 which is elastically mounted in the casing 471
  • the expansion tube Transfer head 474 is moved in accordance with the stretching operation of the 473
  • the rear closing block 475 is fixed to the other end of the casing 471
  • the transfer guide 476 to guide the movement of the transfer head 474
  • the casing 471 supports the component and serves to guide the front and rear conveyance of the gripping means 300.
  • the upper end of the casing 471 is formed with a guide groove 471a for connecting and transporting the gripping means 300.
  • the front finishing block 472 is inserted into the inner front of the casing 471 (left side in the drawings of FIGS. 6 and 7) to seal the front part of the casing 471.
  • One side of the front closing block 472 is provided with a pneumatic flow path (472b) connected to the expansion tube (473).
  • the stretching tube 473 transfers the transfer head 474 to the rear, and is installed at the inner front of the casing 471.
  • the transfer head 474 is installed in the casing 471 so as to be movable in the front-rear direction and is connected to the end of the expansion tube 473.
  • the transfer head 474 is conveyed to the rear (right side in the drawings of FIGS. 6 and 7) when the expansion tube 473 is expanded by pneumatic pressure.
  • the rear closure block 475 is inserted into and installed inside the casing 471 to seal the rear portion of the casing 471.
  • the transfer guide 476 is for guiding the forward and backward direction of the transfer head 474 and is installed at one side of the rear closing block 475.
  • the transfer guide 476 is rod-shaped or pipe-shaped and penetrates the center portion of the transfer head 474.
  • the return spring 477 is for advancing the transfer head 474 and the holding means 300 connected thereto, and is installed between the transfer head 474 and the rear closing block 475.
  • the gripping means 300 grips the wire 150 and transfers it to the rear, and includes a gripping ring 421 and a connection hinge 422.
  • the gripping ring 421 has a diameter larger than the diameter of the wire 150 to be installed.
  • connection hinge 422 is provided at the lower end of the gripping ring 421 to rotatably support the gripping ring 421 in the front-rear direction.
  • the connection hinge 422 is connected to the upper end of the transfer head 474 of the drive means 400.
  • FIG. 8 is a block diagram showing a control means of a pneumatic device for a wire laying robot according to a fourth embodiment of the present invention.
  • the control means 500 includes a pneumatic actuator 481, a control unit 482, a reverse detection switch 483, a forward detection switch 484, an operation switch 485, and an emergency stop switch 486.
  • the pneumatic actuator 481 is connected to the driving means 400, and supplies pneumatic pressure to the driving means 400 according to a control signal of the controller 482.
  • the controller 482 controls the operation of the pneumatic actuator 610 according to various switch input signals.
  • Reverse sensing switch 483 is for stopping the operation of the pneumatic actuator 481 by detecting the maximum backward of the holding means 300, the upper rear of the casing 471 of the drive means 400 (Fig. 6 and Fig. 6). Is installed on the right).
  • the forward detecting switch 484 detects the maximum movement of the gripping means 300 and restarts the pneumatic actuator 481, and the upper front of the casing 471 of the driving means 400 (FIGS. 6 and 7). Is installed on the left).
  • the operation switch 485 is for initial operation operation and stop, and the emergency stop switch 486 is for emergency stop of operation when an unexpected emergency situation occurs in the operation process.
  • the reverse detection switch 483, the forward detection switch 484, the operation switch 485, and the emergency stop switch 486 are connected to the control unit 482 and transmit a switch signal to the control unit 482.
  • Pneumatic device for wire installation robot when the pneumatic pressure is supplied to the expansion tube 473 of the drive means 400, the transfer head 474 and the holding means 300 connected thereto are rearward. Move it. In the reverse operation of the gripping means 300, the electric wire 150 held by the gripping means 300 is moved rearward together with the gripping means 300.
  • the movement of the gripping means 300 and the wire 150 proceeds until the gripping means 300 operates the reverse sensing switch 483 installed at the upper rear of the casing 471.
  • the reverse sensing switch 483 is operated by the holding means 300, the pneumatic pressure supplied to the expansion tube 473 of the drive means 400 by the control means 500 is released.
  • the gripping state of the gripping ring 421 and the wire 150 is released so that the wire 150 does not move forward but only the gripping means 300 moves forward.
  • the holding means 300 to be moved forward is rotated in front of the holding ring 421 around the connecting hinge 422, accordingly the vertical distance between the inner top and the inner bottom of the holding ring 421
  • the holding state of the gripping ring 421 and the wire 150 is released while expanding again.
  • the rodless unidirectional pneumatic cylinder which is the driving means 400, is controlled by the control means 500. Pneumatic pressure is supplied again to the holding means 300 and the wire 150 is moved to the rear.
  • a pneumatic device for installing a wire robot is provided with a pneumatic pressure supplied to a driving means 400 that is a rodless unidirectional pneumatic cylinder.
  • the wire 150 is moved backward while repeating the forward movement of the gripping means 300 by the release.
  • FIG. 9 is a flowchart of the pneumatic device for wire laying robot according to the fourth embodiment.
  • Control method of a wire laying robot pneumatic device comprises the steps of the control unit 482 to determine whether the operation switch 485 operation; Supplying pneumatic pressure to a driving means 400 made of a rodless unidirectional pneumatic cylinder by operation of the pneumatic actuator 481 according to the operation signal of the controller 482 when the operation switch 485 is turned on; The gripping means 300 and the wire 150 are moved backward by the pneumatic supply; Determining, by the controller 482, whether the reverse sensing switch 483 is operated; Releasing the air pressure of the driving means 400 by stopping the operation of the pneumatic actuator 481 by the operation stop signal of the controller 482 when the reverse detection switch 483 is turned on; The gripping means 300 is moved forward by the pneumatic release; The control unit 482 includes determining whether the forward detection switch 484 is operating.
  • the forward detecting switch 484 is turned on.
  • pneumatic pressure is supplied to the driving means 400 by the operation of the pneumatic actuator 481 by the operation signal of the controller 532.
  • the controller 482 is a pneumatic actuator 481. ) Will disable all control components.
  • FIG. 10 is a block diagram showing a control means of the pneumatic device for wire laying robot according to the fifth embodiment of the present invention.
  • the control means 500 includes a pneumatic actuator 481, a controller 482, an operation switch 485, an emergency stop switch 486, and a timer ( 638).
  • control means 500 operates the pneumatic actuator 481 for a predetermined time through the controller 482 and a timer 630 connected thereto. Controls the rear movement of the gripping means 300 and the wire 150 and the forward return of the gripping means 300.
  • the holding means 300 is returned to the front through the return spring 477.
  • the driving means 400 of the pneumatic device for wire laying robot uses at least one of a hydraulic cylinder, a pneumatic cylinder, and an electric actuator, and drives for wire laying. It comprises a control means 500 for generating a reciprocating motion of the means 400 in a set cycle. Hydraulic and pneumatic cylinders are preferably double acting but single acting may be used.
  • the electric actuator uses a reciprocating mechanism such as a ball screw, a link, and a cam in a servo motor or a linear motor.
  • all well-known reciprocating apparatuses such as an engine type, can be used.
  • control means 500 may generate a reciprocating motion in the driving means 400 at an arbitrary operating cycle through the valve of the flow control and time delay function in the case of the hydraulic pressure method.
  • 11 illustrates a pneumatic control means 500
  • the control means 500 is a pneumatic cylinder of the drive means 400 by the start valve 420, the main valve 425, the control valve 415, etc. Works.
  • the pneumatic control means 500 is preferred in that it does not require synchronization by electrical control and is not affected by the external environment.
  • the start valve 420 when the start valve 420 is opened, air is supplied to the pneumatic cylinder through the main valve 425 to perform the forward movement of the gripping means 300 and at the same time to the control valve 415 to provide a constant pressure. After waiting until the main valve 425 is operated to cause the backward movement of the pneumatic cylinder.
  • the timing (period) of the time limit operation in which the main valve 425 and the gripping means 300 operate is determined by the flow control and time delay function by the control valve 415.
  • the control valve 415 As illustrated in FIG. 11, when a plurality of wire laying robot pneumatic devices are arranged, they may not necessarily be synchronized with each other.
  • the pneumatic device for the wire laying robot on one side returns to a state in which the flow rate of the air remaining in the control means 500 does not operate due to time delay and the neighboring wire laying in the next cycle. It is automatically synchronized with the robot pneumatic device to operate when the maximum force is reached. Of course, if the overload does not occur, it can operate even when the synchronization is not performed.
  • the control means 500 includes the gripping means 300 and the driving means 400 as a unit controller 510 and a central controller 520.
  • Distributed control The unit controller 510 is installed for each set area of the cable tray (not shown), and the central controller 520 is connected to the plurality of unit controllers 510 at a convenient location.
  • the process logic of the present invention is distributed to the plurality of unit controllers 510 to improve the operation speed and reliability, and minimize the risk in the event of an error.
  • the central controller 520 has a process information processing function with an external device in addition to the management function for the distributed unit controller 510.
  • the wireless controller may be interposed between the unit controller 510 and the central controller 520.
  • the unit controller 510 of the control means 500 is a plurality of gripping means 300 and the driving means 400 arranged in the allocated area of the cable tray is synchronized with each other wire It is characterized by pulling 150.
  • the tray may be divided into a horizontal tray area, a vertical tray area, and a corner tray area to install the holding means 300 and the driving means 400 and to connect the unit controller 510. Accordingly, the wire 150 is pulled and moved at a predetermined load and speed in the horizontal, vertical, and corner portions of the cable tray.
  • the central controller 520 of the control means 500 is characterized by calculating and displaying the arrangement position of the holding means 300 and the driving means 400 on the cable tray.
  • the central controller 520 may calculate the arrangement of the gripping means 300, the driving means 400, and the unit controller 510 using coordinate information of the cable tray. The calculated results are displayed on the display to help the minimum operator to deal with them quickly and accurately.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Electric Cable Installation (AREA)
PCT/KR2014/002780 2013-08-21 2014-04-01 전선 포설용 공압장치 및 그 제어방법 WO2015026039A1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SG11201600850XA SG11201600850XA (en) 2013-08-21 2014-04-01 Pneumatic pressure device for laying power lines and method for controlling same

Applications Claiming Priority (8)

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KR20130098981A KR20150022042A (ko) 2013-08-21 2013-08-21 케이블 포설 시스템
KR10-2013-0098981 2013-08-21
KR1020130114512A KR101451949B1 (ko) 2013-09-26 2013-09-26 그리핑 방식의 전선포설 장치
KR10-2013-0114512 2013-09-26
KR10-2013-0125827 2013-10-22
KR1020130125827A KR101727584B1 (ko) 2013-10-22 2013-10-22 전선포설 로봇의 공압장치
KR10-2014-0002287 2014-01-08
KR1020140002287A KR102227886B1 (ko) 2014-01-08 2014-01-08 케이블 포설장치 및 그 제어방법

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CN114602109A (zh) * 2020-12-04 2022-06-10 西安核设备有限公司 一种机/电双延时装置

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CN111438206A (zh) * 2020-04-03 2020-07-24 浙江乔老爷铝业有限公司 一种铝板的加工设备及其加工工艺
WO2022107230A1 (ja) * 2020-11-18 2022-05-27 Smc株式会社 安全機能付きエア制御回路

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JP2015042136A (ja) 2015-03-02
CN104416567A (zh) 2015-03-18
CN104416567B (zh) 2017-06-13
JP5873889B2 (ja) 2016-03-01
SG11201600850XA (en) 2016-03-30

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