SU480538A1 - Copy manipulator control system - Google Patents

Description

one

The invention relates to auxiliary equipment for forging and stamping production.

A copying manipulator control system is known, comprising a handle connected at one end of a cable through a system of blocks with a follower slide mounted on the body of the manipulator and hydraulically connected to its actuating hydraulic cylinder.

However, this system does not both provide the necessary control precision, as during operation, the tensile forces and the cable extension length vary.

In the proposed system, this drawback is eliminated due to the fact that it is provided with a constant tension device connected with the other end of the cable, as well as with a spring through which the follower valve is fixed on the manipulator body.

FIG. Figure 1 shows schematically the control system of the copying arm; in fig. Figures 2 and 3 show the tensioning device, variants.

The system control handle contains the shoulders 1 and 2, the arm is the arms 3 and 4.

FIG. 1 shows a control system for the second boom only. The control system for the first boom is similar.

Cable 5, condom 6, is connected to a tensioning device, which can be made J5 as a counterweight 7, pneumatic cylinder 8, connected to a constant pressure receiver (see Fig. 2), or a spring mechanism with zero stiffness consisting of a profiled cam 9 and spring 10 (see Fig. 3). From the tension device, a cable is wrapped around the roller 11, which is loosely mounted on the axle, the roller 12 rigidly connected to the shoulder 2 and, again, bending the roller AND, is directed to the actuator. With roller 1-2, the cable is rigidly connected.

Further, the cable goes around the free-running rollers 13, 14 and 15 and ends 16 with the next slide valve 17. Housing 18 of the zolotnik is connected to boom E. Pre-compressed centering springs 19 and 20 act on the ends of the zolotnik, and the tail part of the slide is supported on spring 21 The Kopinyc spool is hydraulically connected to a hydrodiline 22 and to a pressure source 23.

The described system works as follows.

The compressive force of the spring 21 is set equal to the tension of the tension device.

The cable is tightened by the tensioning device. The spool remains in the middle position due to the centering springs. The arms of the control handles are in balance.

When turning (lowering) the nlech 2 by a force capable of compressing the centering rings, the valve is displaced, actuating the hydraulic cylinder. During the flip of the upper arm 3, the cable moves in the direction indicated by the arrows.

Due to the shift of the spool, the oil enters the rod end of the cylinder 22 and the boom 4 starts to slip. When the boom 4 is pulled off, the end of the cable is wound from the roller 14 and the spool returns to its original position (the winding of the millet occurs due to a decrease in the wrap angle of the roller 14). Thus, the arrow 4 monitors the movement of the shoulder 2 in either direction.

Due to the insignificance of the relative displacement of the spool, the force of the spring 21 remains almost constant and the balance of the cable is not disturbed.

When turning the shoulder 2, the operator overcomes only insignificant friction forces in the rollers and the force of the centering springs. The rigidity of these holes is chosen such that a force arises on the handle that imitates a load (the effect of "o-sensing").

Subject invention

A copying arm control system comprising a handle connected to one end of a cable through a system of blocks with a follower slide mounted on the arm body and hydraulically connected to its actuating hydraulic cylinder, in order to improve control accuracy by growing the constant tension of the cable, it is equipped with a constant tension device connected to the other end of the cable, as well as a spring through which the follower valve is fixed on the manipulator body, a device constant tension is performed, for example, in the form of a pneumatic cylinder. 15 FIG. 14

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