SU1225805A1 - Balanced-load manipulator-hoist (versions) - Google Patents

Abstract

1. An elevator-manipulator with load balancing, containing a stand, an arrow hinged to it, made in the form of an articulated parallelogram with a cargo lever, carrying a load-gripping body at the end, a pneumatic cylinder and a control system with a pressure regulator and a weight sensor having a pusher, t is due to the fact that, in order to expand operational capabilities by automatically balancing goods with a displaced center of mass, the control system is equipped with an on-off distributor and a reverse sensor communication, having a membrane placed in the housing and rigidly connected with it, a pusher installed in the submembrane chamber with the possibility of interaction with the pusher of the mass sensor, while the supramembrane feedback sensor chamber is communicated through a two-position valve to the piston cavity of the pneumatic cylinder and atmosphere, and submembrane chamber with the atmosphere. 2. Lift-manipulator with balance load, containing a rack, an arrow pivotally connected to it, made in the form of a hinge parallelogram with a cargo lever, carrying a load-gripping body at the end, a pneumatic cylinder and a control system with a pressure regulator and a weight sensor having a pusher, which is characterized by the fact that, in order to expand operational capabilities by automatically balancing goods with a displaced center of mass, the mass sensor has two spring-loaded valves installed in the housing with interaction with the pusher, and the two membranes rigidly connected with the latter, mounted in the housing with the formation of three chambers in it, with the above-membrane and submembrane chambers and the supra-valve mass sensor cavity communicating with each other, and the control system is equipped with a two-way valve through which the intermembrane mass sensor chamber is in communication with the piston cavity of the pneumatic cylinder and the atmosphere, respectively. with s (l ate 00 ate

Description

The invention relates to lifting mechanisms and can be used in all industrial sectors as a truck.

The purpose of the invention is to expand operational capabilities by automatically balancing loads with a displaced center of mass.

On fig.G schematically shows a lift-manipulator with load balancing; Fig. 2 shows a control system for a hoist-manipulator according to the first embodiment; 5 in Fig. 3 — the same, according to the second option.

The lift arm with load balancing contains a strut 1, on which the pneumatic cylinder 2 and the cargo boom are hinged, made in the form of a hinge parallelogram 3 with a cargo lever 4, which is a continuation of the small link of the hinge parallelogram 3, and the opposing lever 5, which is a continuation of the large link of the hinged parallelogram. At the end of the cargo lever 4, a lifting body 6 is attached and the handle-lever 7 is pivotally attached to move the boom. On the continuation of the opposing lever 5 is placed the counterweight 8. The rod of the pneumatic cylinder 2 is connected to the cargo boom by the hinge 9 located in the vertical groove made in rack 1, and on the counter-acting lever 5 another hinge 10 located in the horizontal groove 11 is placed. the end of the handle-lever 7, as necessary, depending on the direction of the force applied to the handle-lever, acts on the two-position valve 12. The weight sensor 13, the pressure regulator 14, the 15-gauge sensor are placed on the rack. communication, included in the lift control system

In the second embodiment (Fig. 3), the mass sensor 16 combines the functions of the mass sensor 13 and the feedback sensor 15 (in the first embodiment).

A load is suspended on the load gripping body 17.

The control system of the hoist-manipulator with the balancing of the load in the first embodiment (Fig. 2) is performed as follows.

The pneumatic line is connected to the mass sensor 13 and the pressure regulator 14 by pipes 18 and 19. By pipeline 20, the submembrane chamber 21 (signal pressure chamber) of the mass sensor 13 is connected to the intermembrane chamber 22 (adjustment pressure chamber) of the pressure regulator 14. The piston cavity of the pneumatic cylinder 2 by pipe 23 is connected to submembrane 24 and supramembrane 25 chambers of pressure regulator 14 and pipe 26 via a two-position valve 12 to the supermembrane chamber 27 of feedback sensor 15. Pushers 28 and 29 of the mass sensors 13 and feedback 15 have direct contact in the initial position (contact at point A, figure 2).

Through the on-off distributor 12, the pipeline 26 can be shut off during the movement of the load. For initial filling of the system 1 3 with compressed air, a valve 30 is installed. A non-return valve 31, an adjustable throttle 32, a safety valve 33 and a pressure gauge 34 are installed on the pipelines. The submembrane chamber 35 of the feedback sensor 15 is connected with the atmosphere. The pusher 29 of the feedback sensor 15 is rigidly connected to a membrane 36 mounted in the housing of the feedback sensor.

The mass sensor 16 in the lift-manipulator according to the second variant (FIG. 3) is made as follows.

Two spring-loaded valves 37 and 38 are installed in the body of the mass sensor 16, which can interact with the pusher 39. Two membranes 40 and 41 are mounted in the body of the mass sensor 16 and rigidly connected to the pusher 39. The diaphragms 40 and 41 form three masses in the body 16 of the sensor chambers: supramembrane 42, intermembrane 43 and submembrane 44. In the second embodiment (Fig. 3), the functions of the feedback and mass sensors are combined in a function performed by a single mass sensor device 16. The piston cavity of the pneumatic cylinder 2 through the on-off distributor 12 is connected to the intermembrane chamber 43 of the mass sensor 16. Submembrane chamber 44 (signal pressure chamber) of mass sensor 16 is connected to the supermembrane chamber 42 and the latter above the valve cavity 45, as well as to the chamber 22 of the adjusting pressure of pressure regulator 14.

Lift manipulator with load balancing works as follows.

In the absence of compressed air, the mass of the boom with a lifting body is balanced by a counterweight 8 With load 17, balancing is performed with compressed air under the piston of the pneumatic cylinder 2. Initial initial filling of the system with compressed air is performed by opening the valve 30. Excess air with the open valve 30 is released into the atmosphere through the regulator 14 pressures. The valve 30 is closed before the boom with the load reaches its highest position, and the excess air after closing the valve 30 is discharged from the system to the atmosphere via the mass sensor 13 (in the second variant via the mass sensor 16). In the case of the boom coming to the extreme upper position (full filling of pneumatic cylinder 2 with compressed air), the operator discharges the excess air manually, by feeding the boom down by the handle-lever 7.

The device in the first embodiment (Fig. 2) works in the following manner.

Air with pressure P created by force on. the rod of the pneumatic cylinder 2 fills the over-membrane chamber 27 of the feedback sensor 15 (Fig. 2). The feedback sensor pusher 29 acts on the pusher 28 of the mass sensor 13. Accordingly, the inlet valve 46 I of the mass sensor 13 and from the line opens to force: air enters the submembrane chamber 21 (signal pressure) of the latter and the intermembrane chamber 22 (tuning pressure) of the pressure regulator 14. When the pressure in the intermembrane chamber 22 is equalized with the pressure in the supermembrane 25 and sub-membrane 24 chambers, the pressure regulator 14 is balanced, the air intake and discharge also ceases and the whole system, i.e. pneumatic cylinder 2, submembrane chamber 27 of feedback sensor 15 and submembrane chamber 21 of mass sensor 13 are filled with air with pressure P. The balanced load is moved manually by the operator by the handle lever 7..,

Rukb TKA (figure 1) is made in the form of a hinged arm bent at an angle of 90, one shoulder

which is a handle for moving the boom, and the second for simultaneously pressing the locking element of the on / off valve 12.

The latter is released when a force is applied up or down to the handle 7 and remains in its original (open) position when force is applied to the lever handle in any

direction in horizontal plane.

When lifting the load, the operator does not have the handle lever up ,. at the same time affecting the on-off distributor 12 and, thereby, shutting off the pipeline 26. By applying an upward force, the operator reduces the force on the rod of the pneumatic cylinder 2. Pressure under the pneumatic cylinder piston

2 decreases. The pressure in the supramembrane 25 and submembrane 24 chambers of the pressure regulator 14 decreases, and the tuning pressure in the intermembrane chamber 22 remains unchanged.

(former pressure P). Due to the difference in the areas of the diaphragms of the pressure regulator 14, the pusher 47 connected to the diaphragms moves towards the opening of the inlet valve 48. The inlet valve opens and additional air flows under the piston of the pneumatic cylinder 2. There is a rise of the piston of the pneumatic cylinder 2, i.e. lifting cargo. When relieving stress

handles-lever 7 lifting stops, as the external influence on the closed system of forces disappears. The pressure under the piston of the pneumatic cylinder 2 remains the same - P, but the volume of the piston cavity increases.

When lowering the boom by pressing the handle lever 7, the operator presses the two-position valve 12 and closes the pipeline 26, and

the pressure under the piston of the pneumatic cylinder 2 and in the supramembrane and submembrane chambers of the pressure regulator 14 increases. The pressure in the intermembrane chamber 22 is the same - R. Pusher

 the pressure regulator moves towards the opening of the exhaust valve 49. The latter opens, the air is released into the atmosphere. With

the cessation of external influence (removal of the operator's hand from the handle-lever 7), the lowering of the load is stopped. The pressure under the piston of the pneumatic cylinder 2 remains the same - P, but the volume along the p-ary cavity decreases.

During horizontal movement of the boom, in general, the pressure under the piston of the pneumatic cylinder 2 can be changed by changing the magnitude of the load moment (the center of mass of the load does not coincide with the lifting body). When the boom is horizontal, the operator applies force to the lever arm 7 to the right or left. It does not affect the two-position valve 12. The change in the "pressure under the piston of the pneumatic cylinder 2 is transmitted to the super-membrane chamber 27 of the feedback sensor 15 (Fig. 2). The plunger 29 of the feedback sensor 15 acts on. pusher 28 of mass sensor 13. The deflection of the membrane of the mass sensor 13 varies in one direction or another. In the event of a decrease in pressure in the pneumatic cylinder 2, respectively, the pressure in the supramembrane chamber 27 decreases. The force on the pushers 29 and 28 of the feedback sensor 15 and the mass sensor 13 decreases. The former pressure P in the submembrane chamber 21 of the mass sensor 13 and the intermembrane chamber 22 of the pressure regulator 14 deflects the membrane of the mass sensor 13 towards the opening of the drain hole of the mass sensor 13 (figure 2, up), and the excess pressure from the submembrane 21 and intermembrane 22 chambers are released into the atmosphere. The pressure in the intermembrane chamber 22 of the pressure regulator 14 decreases to the pressure level in the pneumatic cylinder 2, i.e. to Р Р in accordance with the reduction of the load moment. The volume of the piston cavity of the pneumatic cylinder remains the same.

To create the necessary advance in the response of the mass sensor 13 relative to the pressure regulator 14 (hundredths of a second), an adjustable throttle 32 is supplied. With appropriate selection of pipeline lengths and sections, there is no need for a throttle.

As the load moment increases, the pressure in the pneumatic cylinder 2 and in the supermembrane chamber 27 of the feedback sensor 15 increases accordingly. The force on the push rods 29 and 28 of the feedback sensors 15 of the mass 13 increases. The mass sensor 13 deflects toward the opening of the intake valve 46 (Fig. 2, downward) and additional air flows into the submembrane mass sensor chamber 21 and the intermembrane pressure regulator chamber 22. The pressure in the intermembrane chamber 22 of the pressure regulator 14 rises to the pressure level in the pneumatic cylinder, i.e. to Р Р in accordance with the increase of the load moment.

The volume of the piston cavity of the pneumatic cylinder 2 remains the same.

The lift-manipulator, made according to the second variant (FIG. 3), works in the same way.

The function of the submembrane chamber 27 of the feedback sensor (FIG. 2) in this case is fulfilled by the intermembrane chamber 43 of the mass sensor 16. When the pressure in the pneumatic cylinder 2 changes, the pressure in the intermembrane chamber 43 of the mass sensor 16 changes. The former pressure in the submembrane chamber 44 and the intermembrane chamber 22 moves the pusher 47 toward the opening of the inlet 48 (with increasing pressure under the piston) or the inlet 49 (with decreasing pressure) of the valves.

Fng.1

Fig.Z

Compiled by O. Kuzmina Editors. Blanh Tehred I. Popovich Proofreader A. Obruchar

2025/16

Circulation 799 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, Project 4 st.

Claims (2)

1. A hoist-manipulator with load balancing, comprising a stand, an arrow pivotally connected to it, made in the form of an articulated parallelogram with a load lever carrying a load-bearing member, an air cylinder and a control system with a pressure regulator and a mass sensor having a pusher, characterized by that, in order to expand operational capabilities by automatically balancing goods with a displaced center of mass, the control system is equipped with a two-position distributor and a feedback sensor, and eyuschim membrane disposed in the housing and rigidly associated with it a pusher mounted in submembrane chamber to interact with the pusher mass sensor, the camera nadmembrannaya feedback sensor communicated via on-off valve, respectively, with pneumatic piston cavity and the atmosphere, and submembrane chamber with the atmosphere. 2. A load-lifting manipulator with load balancing, comprising a stand pivotally connected to it by an arrow, made in the form of a hinged parallelogram with a load lever carrying a load-bearing member at the end, a pneumatic cylinder and a control system with a pressure regulator and a mass sensor having a pusher, which is different the fact that, in order to expand operational capabilities by automatically balancing loads with a displaced center of mass, the mass sensor has two spring-loaded valves installed in the body with the possibility of interactions with the pusher, and two membranes rigidly connected to the latter, mounted in the housing with the formation of three chambers in it, the supra-membrane and submembrane chambers and the supravalve cavity of the mass sensor are interconnected, and the control system is equipped with a two-position valve through which the intermembrane the mass sensor chamber is respectively connected with the piston cavity of the pneumatic cylinder and the atmosphere.