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CN104141640B - A kind of air control unit of restraint device - Google Patents

A kind of air control unit of restraint device Download PDF

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Publication number
CN104141640B
CN104141640B CN201410344082.1A CN201410344082A CN104141640B CN 104141640 B CN104141640 B CN 104141640B CN 201410344082 A CN201410344082 A CN 201410344082A CN 104141640 B CN104141640 B CN 104141640B
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valve
motor
pressure
accumulator
reversing valve
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CN104141640A (en
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郭锐
赵静一
范亮贞
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Yanshan University
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16Mechanical energy storage, e.g. flywheels or pressurised fluids

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Abstract

The present invention relates to a kind of air control unit of restraint device, it comprises gas source module, circuit control module, energy storage module and motor output module; Described gas source module comprises pressure generator and the first stop valve; Described circuit control module comprises one-way valve, the first pressure relay, the second solenoid directional control valve, the second pressure relay, the second relief valve and the 3rd solenoid directional control valve; Described energy storage module comprises accumulator, the first relief valve, the second stop valve and the first solenoid directional control valve, and described motor output module comprises motor, and motor is coaxially connected with restraint device.The present invention provides pressurized gas by accumulator, reduces the pressure pulsation of pressure generator, reduces noise, makes system works steady.Worked by accumulator and motor, control accuracy is high simultaneously, and transmission efficiency is high, and reliable transmission is high, and structure is simple, easy to operate.The present invention can adopt Electromagnetic Control mode, can adopt manual control mode again.

Description

一种约束装置的气动控制装置Pneumatic control device for restraint device

技术领域technical field

本发明属于电、气一体化动力传动控制装置领域,尤其涉及一种约束装置的气动控制装置。The invention belongs to the field of electric-pneumatic integrated power transmission control devices, and in particular relates to a pneumatic control device of a restraint device.

背景技术Background technique

现有的约束装置大都是人工手动操作,依靠机械结构刚性或柔性锁紧,如直接用绳索捆绑精神病人。该类装置存在的缺点是:约束力大小不易控制,可靠性不高,耗费人力,且容易对被约束对象产生物理损伤,如勒伤人体皮肤,造成血液循环异常。Most of the existing restraint devices are manually operated, relying on the rigid or flexible locking of the mechanical structure, such as directly binding the mentally ill with ropes. The disadvantages of this type of device are: the size of the restraining force is not easy to control, the reliability is not high, it consumes manpower, and it is easy to cause physical damage to the restrained object, such as strangling the human skin, resulting in abnormal blood circulation.

发明内容Contents of the invention

本发明克服了现有技术中的缺点,提供一种约束装置的气动控制装置,该装置是由蓄能器供压、压力继电器控制换向阀,从而完成系统工作要求的电气一体化控制装置,其可实现对一些特殊病人和对受力有特殊要求的易损伤物体的恒力约束。The present invention overcomes the shortcomings in the prior art, and provides a pneumatic control device for a restraint device, which is an electrical integrated control device that is supplied with pressure by an accumulator and controlled by a pressure relay to complete the work requirements of the system. It can realize constant force restraint for some special patients and fragile objects with special requirements on force.

为了解决上述存在的技术问题,本发明是通过以下技术方案实现的:In order to solve the above-mentioned technical problems, the present invention is achieved through the following technical solutions:

本发明可采用电磁控制方式控制,也可采用手动控制方式控制。The present invention can be controlled by electromagnetic control mode, and can also be controlled by manual control mode.

当采用电磁控制方式控制时有方案一:When the electromagnetic control method is used for control, there is option one:

一种约束装置的气动控制装置,包括气源模块、回路控制模块、蓄能器模块和马达输出模块;A pneumatic control device for a restraint device, comprising an air source module, a loop control module, an accumulator module and a motor output module;

所述的气源模块包括气压发生装置1和第一截止阀2;The air source module includes an air pressure generating device 1 and a first shut-off valve 2;

所述的回路控制模块包括单向阀3、第一压力继电器4、第二电磁换向阀9、第二压力继电器10、第二溢流阀12和第三电磁换向阀13,单向阀3通过第二电磁换向阀9连接马达输出模块中马达11的进气口,马达11的出气口通过第二溢流阀12和第三电磁换向阀13通至外界大气,第一压力继电器4连接在单向阀3和第二电磁换向阀9之间,第二压力电继电器10连接在第二电磁换向阀9和马达11之间;The loop control module includes a one-way valve 3, a first pressure relay 4, a second electromagnetic reversing valve 9, a second pressure relay 10, a second overflow valve 12 and a third electromagnetic reversing valve 13, the one-way valve 3 Connect the air inlet of the motor 11 in the motor output module through the second electromagnetic reversing valve 9, the air outlet of the motor 11 is connected to the outside atmosphere through the second overflow valve 12 and the third electromagnetic reversing valve 13, the first pressure switch 4 is connected between the one-way valve 3 and the second electromagnetic reversing valve 9, and the second piezoelectric relay 10 is connected between the second electromagnetic reversing valve 9 and the motor 11;

所述的蓄能器模块包括蓄能器5、第一溢流阀6、第二截止阀7和第一电磁换向阀8,第一电磁换向阀8依次连接第二截止阀7、第一溢流阀6和蓄能器5,然后连接到回路控制模块中单向阀3和第二电磁换向阀9之间;The accumulator module includes an accumulator 5, a first overflow valve 6, a second shut-off valve 7 and a first electromagnetic reversing valve 8, and the first electromagnetic reversing valve 8 is connected to the second shut-off valve 7 and the second shut-off valve in sequence. An overflow valve 6 and an accumulator 5 are then connected between the one-way valve 3 and the second electromagnetic reversing valve 9 in the loop control module;

所述的马达输出模块包括马达11,马达11与约束装置同轴连接,马达11的进气口连接第二电磁换向阀9,其出气口通过第二溢流阀12连接第三电磁换向阀13。The motor output module includes a motor 11, which is coaxially connected to the restraint device, the air inlet of the motor 11 is connected to the second electromagnetic reversing valve 9, and its air outlet is connected to the third electromagnetic reversing valve through the second overflow valve 12 valve 13.

本发明方案一的工作过程是:The course of work of the present invention's scheme one is:

通过气压发生装置的启停来控制气压发生装置向蓄能器5充气;由第二压力继电器10实时监控马达11入口处压力,通过第二电磁换向阀9的通断来控制蓄能器5向马达11提供高压气体。马达11的输出轴接约束装置,约束被控对象的运动。第二溢流阀12接在马达11的出口处作为背压阀使用,给马达11提供一定背压;第三电磁换向阀13在系统停止工作时使马达11卸荷,第二截止阀7和第一电磁换向阀8在系统需要时可使蓄能器5泄压。The air pressure generating device is controlled to inflate the accumulator 5 through the start and stop of the air pressure generating device; the pressure at the inlet of the motor 11 is monitored in real time by the second pressure relay 10, and the accumulator 5 is controlled by the on-off of the second electromagnetic reversing valve 9 High-pressure gas is supplied to the motor 11 . The output shaft of the motor 11 is connected to the constraint device to constrain the motion of the controlled object. The second overflow valve 12 is connected to the outlet of the motor 11 and used as a back pressure valve to provide a certain back pressure to the motor 11; the third electromagnetic reversing valve 13 unloads the motor 11 when the system stops working, and the second stop valve 7 And the first electromagnetic reversing valve 8 can make the accumulator 5 release pressure when the system needs.

本发明方案一由蓄能器5提供稳定压力,而蓄能器5由气压发生装置提供气压能源。当蓄能器5的压力低于最低调定压力时,第一压力继电器4发出电信号,气压发生装置向蓄能器5充气;当蓄能器5压力上升到最高调定压力时,第一压力继电器4发出电信号,气压发生装置停止向蓄能器5充气,从而蓄能器5压力维持在系统要求的调定压力范围内。单向阀3防止系统气压冲击气压发生装置。In the first solution of the present invention, the accumulator 5 provides stable pressure, and the accumulator 5 provides air pressure energy from the air pressure generating device. When the pressure of the accumulator 5 is lower than the minimum set pressure, the first pressure switch 4 sends an electric signal, and the air pressure generating device inflates the accumulator 5; when the pressure of the accumulator 5 rises to the highest set pressure, the first The pressure switch 4 sends out an electric signal, and the air pressure generating device stops charging the accumulator 5, so that the pressure of the accumulator 5 is maintained within the set pressure range required by the system. The one-way valve 3 prevents the system air pressure from impacting the air pressure generating device.

系统工作时,第二压力继电器10实时监控马达11入口处压力,通过控制第二电磁换向阀9的通断使马达11入口处的压力维持在马达11调定压力范围。当马达11入口处压力低于调定压力范围时,第二压力继电器10发出电信号,蓄能器5向马达11充压;当马达11入口处压力达到最高调定压力时,第二压力继电器10发出电信号,蓄能器5停止向马达11充压,从而马达11入口处压力维持在调定压力范围内。第二溢流阀12作为背压阀使用,使马达11出口处维持一定背压,马达11两端维持一定的压差,从而使约束装置在恒力作用下张紧,将被约束对象在恒力作用下约束住,同时也使马达11运转平稳。When the system is working, the second pressure switch 10 monitors the pressure at the inlet of the motor 11 in real time, and maintains the pressure at the inlet of the motor 11 within the set pressure range of the motor 11 by controlling the on-off of the second electromagnetic reversing valve 9 . When the pressure at the inlet of the motor 11 is lower than the set pressure range, the second pressure switch 10 sends an electric signal, and the accumulator 5 charges the motor 11; when the pressure at the inlet of the motor 11 reaches the highest set pressure, the second pressure switch 10 sends an electric signal, and the accumulator 5 stops charging the motor 11, so that the pressure at the inlet of the motor 11 is maintained within the set pressure range. The second overflow valve 12 is used as a back pressure valve to maintain a certain back pressure at the outlet of the motor 11, and maintain a certain pressure difference at both ends of the motor 11, so that the restraint device is tensioned under the action of a constant force, and the restrained object is kept under constant pressure. Restrain under the action of force, also make motor 11 run smoothly simultaneously.

在系统停止工作时,第三电磁换向阀13得电使马达11卸荷,第一截止阀2关闭从而切断气源。当需要使蓄能器5泄压时,如系统长时间不工作或系统维修时,第一电磁换向阀8得电或打开第二截止阀7使蓄能器5泄压。When the system stops working, the third electromagnetic reversing valve 13 is energized to unload the motor 11, and the first shut-off valve 2 is closed to cut off the gas source. When the accumulator 5 needs to be depressurized, such as when the system is not working for a long time or the system is being maintained, the first electromagnetic reversing valve 8 is energized or the second shut-off valve 7 is opened to depressurize the accumulator 5 .

当采用手动控制方式控制时有方案二:When using manual control mode to control, there is option two:

一种约束装置的气动控制装置,包括气源模块、回路控制模块、蓄能器模块和马达输出模块;A pneumatic control device for a restraint device, comprising an air source module, a loop control module, an accumulator module and a motor output module;

所述的气源模块包括气压发生装置21和第一截止阀22;The air source module includes an air pressure generating device 21 and a first stop valve 22;

所述的回路控制模块包括单向阀23、第一压力表24、第一手动换向阀28、第二压力表29、第二溢流阀31和第二手动换向阀32,单向阀23通过第一手动换向阀28连接马达输出模块中马达30的进气口,马达30的出气口通过第二溢流阀31和第二手动换向阀32通至外界大气,第一压力表24连接在单向阀23和第一手动换向阀28之间,第二压力表29连接在第一手动换向阀28和马达30之间;The loop control module includes a one-way valve 23, a first pressure gauge 24, a first manual reversing valve 28, a second pressure gauge 29, a second relief valve 31 and a second manual reversing valve 32, the one-way valve 23 is connected to the air inlet of the motor 30 in the motor output module through the first manual reversing valve 28, and the air outlet of the motor 30 is connected to the outside atmosphere through the second overflow valve 31 and the second manual reversing valve 32. The first pressure gauge 24 is connected between the one-way valve 23 and the first manual reversing valve 28, and the second pressure gauge 29 is connected between the first manual reversing valve 28 and the motor 30;

所述的蓄能器模块包括蓄能器25、第一溢流阀26和第二截止阀27,第二截止阀27依次连接第一溢流阀26和蓄能器25,然后连接到回路控制模块中单向阀23和第一手动换向阀28之间;The accumulator module includes an accumulator 25, a first relief valve 26 and a second shut-off valve 27, the second shut-off valve 27 is sequentially connected to the first relief valve 26 and the accumulator 25, and then connected to the loop control Between the one-way valve 23 and the first manual reversing valve 28 in the module;

所述的马达输出模块包括马达30,马达30与约束装置同轴连接,马达30的进气口连接第一手动换向阀28,其出气口通过第二溢流阀31连接第二手动换向阀32。The motor output module includes a motor 30, which is coaxially connected to the restraint device. The air inlet of the motor 30 is connected to the first manual reversing valve 28, and its air outlet is connected to the second manual reversing valve through the second overflow valve 31. Valve 32.

本发明方案二的工作过程是:The course of work of the present invention's scheme two is:

通过气压发生装置的启停来控制气压发生装置向蓄能器25充气;通过观测第二压力表29的压力值来监控马达30入口处压力,通过第一手动换向阀28的通断来控制蓄能器25向马达30提供高压气体。马达30的输出轴接约束装置,约束被控对象的运动。第二溢流阀31接在马达30的出口处作为背压阀使用,给马达30提供一定背压;第二手动换向阀32在系统停止工作时使马达30卸荷,第二截止阀27在系统需要时可使蓄能器25泄压。Control the air pressure generating device to inflate the accumulator 25 by starting and stopping the air pressure generating device; monitor the pressure at the inlet of the motor 30 by observing the pressure value of the second pressure gauge 29, and control it by turning on and off the first manual reversing valve 28 The accumulator 25 supplies high pressure gas to the motor 30 . The output shaft of the motor 30 is connected to the constraint device to constrain the motion of the controlled object. The second overflow valve 31 is connected to the outlet of the motor 30 and used as a back pressure valve to provide a certain back pressure to the motor 30; the second manual reversing valve 32 unloads the motor 30 when the system stops working, and the second shut-off valve 27 The accumulator 25 can be vented when required by the system.

本发明方案二由蓄能器25提供稳定压力,而蓄能器25由气压发生装置提供气压能源。通过观测第一压力表24的压力值,当蓄能器25的压力低于最低调定压力时,手动控制启动气压发生装置向蓄能器25充气;当蓄能器25压力上升到最高调定压力时,手动停止气压发生装置向蓄能器25充气,从而蓄能器25压力维持在系统要求的调定压力范围内。单向阀23防止系统气压冲击气压发生装置。In the second solution of the present invention, the accumulator 25 provides stable pressure, and the accumulator 25 provides air pressure energy from the air pressure generating device. By observing the pressure value of the first pressure gauge 24, when the pressure of the accumulator 25 is lower than the minimum set pressure, the manual control starts the air pressure generating device to charge the accumulator 25; when the pressure of the accumulator 25 rises to the highest setting When the pressure is high, manually stop the air pressure generating device to inflate the accumulator 25, so that the pressure of the accumulator 25 is maintained within the set pressure range required by the system. The one-way valve 23 prevents the system air pressure from impacting the air pressure generating device.

系统工作时,通过观测第二压力表29的压力值实时监控马达30入口处压力,通过手动控制第一手动换向阀28的通断使马达30入口处的压力维持在马达30调定压力范围。当通过第二压力表29观测到马达30入口处压力低于调定压力范围时,手动控制第一手动换向阀28使其接通,则蓄能器25向马达30充压;当马达30入口处压力达到最高调定压力时,手动断开第一手动换向阀28,则蓄能器25停止向马达30充压,从而马达30入口处压力维持在调定压力范围内。第二溢流阀31作为背压阀使用,使马达30出口处维持一定背压,使马达30两端维持一定的压差,从而使约束装置在恒力作用下张紧,将被约束对象在恒力作用下约束住,同时也使马达30运转平稳。When the system is working, the pressure at the inlet of the motor 30 is monitored in real time by observing the pressure value of the second pressure gauge 29, and the pressure at the inlet of the motor 30 is maintained within the set pressure range of the motor 30 by manually controlling the on-off of the first manual reversing valve 28 . When the second pressure gauge 29 observes that the pressure at the inlet of the motor 30 is lower than the set pressure range, the first manual reversing valve 28 is manually controlled to be connected, and the accumulator 25 charges the motor 30; when the motor 30 When the pressure at the inlet reaches the highest set pressure, the first manual reversing valve 28 is manually disconnected, and the accumulator 25 stops charging the motor 30, so that the pressure at the inlet of the motor 30 remains within the set pressure range. The second overflow valve 31 is used as a back pressure valve to maintain a certain back pressure at the outlet of the motor 30 and a certain pressure difference at both ends of the motor 30, so that the restraint device is tensioned under the action of a constant force, and the restrained object is Constrained under the action of constant force, also makes motor 30 run smoothly simultaneously.

在系统停止工作时,手动接通第二手动换向阀32使马达30卸荷,关闭第一截止阀22从而切断气源。当需要使蓄能器25泄压时,如系统长时间不工作或系统维修时,打开第二截止阀27使蓄能器25泄压。When the system stops working, the second manual reversing valve 32 is manually connected to unload the motor 30, and the first shut-off valve 22 is closed to cut off the gas source. When the accumulator 25 needs to be released, such as when the system is not working for a long time or the system is being maintained, the second cut-off valve 27 is opened to release the pressure of the accumulator 25 .

由于采用上述技术方案,本发明与现有技术相比具有这样的有益效果:Owing to adopting above-mentioned technical scheme, the present invention has such beneficial effect compared with prior art:

本发明由蓄能器提供高压气体,减小了气压发生装置的压力脉动、降低了噪音,使系统工作平稳。由蓄能器和马达同时工作,控制精度高,传动效率高,传动可靠性高,结构简单,操作方便。In the present invention, the high-pressure gas is provided by the accumulator, which reduces the pressure pulsation and noise of the air pressure generating device, and makes the system work stably. The accumulator and the motor work at the same time, with high control precision, high transmission efficiency, high transmission reliability, simple structure and convenient operation.

本发明实现恒力矩输出控制,当被约束对象试图收缩使约束带变松弛时,能自动保持约束力使约束带收缩,以更好地控制约束对象;而当被约束对象试图挣脱约束而拉扯约束带时,能够自动增大约束力,防止被约束对象挣脱约束带的约束。The invention realizes constant torque output control, and when the constrained object tries to shrink to make the restraint belt loosen, it can automatically maintain the restraint force to make the restraint band shrink, so as to better control the restrained object; When the belt is attached, the constraint force can be automatically increased to prevent the constrained object from breaking free from the constraint of the belt.

本发明利用压力继电器实时监控系统的压力信息,自动控制系统的运行停止,自动化程度高,可远程控制,系统压力监控性好,实时自动补充气体流量泄漏,保证系统的可靠性和稳定性。The present invention utilizes the pressure relay to monitor the pressure information of the system in real time, automatically controls the operation of the system to stop, has a high degree of automation, can be remotely controlled, has good system pressure monitoring, and automatically replenishes gas flow leakage in real time to ensure the reliability and stability of the system.

本发明能使约束带自动适应被约束对象的外形而将其牢固约束,不需人为调节约束带的长度。The invention can make the restraint belt automatically adapt to the shape of the constrained object to firmly restrain it, without artificially adjusting the length of the restraint belt.

本发明采用模块化设计,可实现一套气源系统匹配多套气动约束控制装置,装置被简化,降低了设备成本,系统的组装、维修以及元件的更换比较简单。The invention adopts a modular design, which can realize a set of air source system matched with multiple sets of pneumatic restraint control devices, the devices are simplified, the equipment cost is reduced, and the assembly and maintenance of the system and the replacement of components are relatively simple.

本发明即可采用电磁控制方式,又可采用手动控制方式,可以满足用户高自动化程度、操作简便或低成本、恶劣工况工作的不同要求。The present invention can adopt both electromagnetic control mode and manual control mode, which can meet the different requirements of users for high automation degree, simple operation or low cost, and harsh working conditions.

本发明装置使用电气一体化控制,自动化程度高,可远程控制,能比较精确地控制约束力大小,在约束物体的同时不容易对其造成损伤;传动可靠性高,传动效率高,启动、制动迅速,运动平稳。The device of the present invention adopts electrical integration control, has a high degree of automation, can be controlled remotely, can control the size of the binding force more accurately, and is not easy to cause damage to the object while restraining it; the transmission reliability is high, the transmission efficiency is high, and the starting, braking Move quickly and move smoothly.

附图说明Description of drawings

图1为本发明的气动控制系统策略图;Fig. 1 is a pneumatic control system strategy diagram of the present invention;

图2为本发明的电磁控制气动系统原理图;Fig. 2 is the schematic diagram of the electromagnetic control pneumatic system of the present invention;

图3为本发明的手动控制气动系统原理图;Fig. 3 is a schematic diagram of the manual control pneumatic system of the present invention;

图4为本发明的电磁控制气动系统电气控制原理图;Fig. 4 is the electrical control schematic diagram of the electromagnetic control pneumatic system of the present invention;

图中:KA1为压力继电器4的低压力继电器;In the figure: KA1 is the low pressure relay of pressure relay 4;

KA2为压力继电器4的高压力继电器;KA2 is the high pressure relay of pressure relay 4;

KA3为压力继电器10的低压力继电器;KA3 is the low pressure relay of pressure relay 10;

KA4为压力继电器10的高压力继电器;KA4 is the high pressure relay of pressure relay 10;

KA5为控制电磁换向阀8的继电器;KA5 is a relay for controlling the electromagnetic reversing valve 8;

KA6为控制电磁换向阀13的继电器;KA6 is a relay for controlling the electromagnetic reversing valve 13;

图5为本发明的手动控制气动系统电气控制原理图。Fig. 5 is a schematic diagram of the electrical control of the manual control pneumatic system of the present invention.

具体实施方案specific implementation plan

下面结合附图与具体实施方式对本发明作进一步详细描述:Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

一种约束装置的启动控制装置,如图1所示,它包括四大模块,即气源模块、蓄能器模块、回路控制模块和马达输出模块,可以实现一套气源模块配合多套约束控制装置模块工作。A start-up control device for a restraint device, as shown in Figure 1, it includes four major modules, namely an air source module, an accumulator module, a loop control module and a motor output module, which can realize a set of air source modules matching multiple sets of restraints The control unit module works.

实施例一:在采用电磁控制方式工作时:Embodiment 1: When using electromagnetic control mode to work:

如图2所示,所述的气源模块包括气压发生装置1和第一截止阀2;As shown in Figure 2, the air source module includes a pneumatic generating device 1 and a first shut-off valve 2;

如图2所示,所述的回路控制模块包括单向阀3、第一压力继电器4、第二电磁换向阀9、第二压力继电器10、第二溢流阀12和第三电磁换向阀13,单向阀3通过第二电磁换向阀9连接马达输出模块中马达11的进气口,马达11的出气口通过第二溢流阀12和第三电磁换向阀13通至外界大气,第一压力继电器4连接在单向阀3和第二电磁换向阀9之间,第二压力继电器10连接在第二电磁换向阀9和马达11之间;As shown in Figure 2, the loop control module includes a check valve 3, a first pressure relay 4, a second electromagnetic reversing valve 9, a second pressure relay 10, a second overflow valve 12 and a third electromagnetic reversing valve Valve 13, the one-way valve 3 is connected to the air inlet of the motor 11 in the motor output module through the second electromagnetic reversing valve 9, and the air outlet of the motor 11 is connected to the outside world through the second overflow valve 12 and the third electromagnetic reversing valve 13 Atmosphere, the first pressure relay 4 is connected between the check valve 3 and the second electromagnetic reversing valve 9, and the second pressure relay 10 is connected between the second electromagnetic reversing valve 9 and the motor 11;

如图2所示,所述的蓄能器模块包括蓄能器5、第一溢流阀6、第二截止阀7和第一电磁换向阀8,第一电磁换向阀8依次连接第二截止阀7、第一溢流阀6和蓄能器5,然后连接到回路控制模块中单向阀3和第二电磁换向阀9之间;As shown in Figure 2, the accumulator module includes an accumulator 5, a first relief valve 6, a second stop valve 7 and a first electromagnetic reversing valve 8, and the first electromagnetic reversing valve 8 is connected to the first electromagnetic reversing valve in turn. Two cut-off valves 7, the first relief valve 6 and the accumulator 5 are then connected between the one-way valve 3 and the second electromagnetic reversing valve 9 in the loop control module;

如图2所示,所述的马达输出模块包括马达11,马达11与约束装置同轴连接,马达11的进气口连接第二电磁换向阀9,其出气口通过第二溢流阀12连接第三电磁换向阀13。As shown in Figure 2, the motor output module includes a motor 11, which is coaxially connected with the restraint device, the air inlet of the motor 11 is connected to the second electromagnetic reversing valve 9, and the air outlet of the motor 11 passes through the second overflow valve 12 Connect the third electromagnetic reversing valve 13.

在电磁控制方式中,如图4所示,由气压发生装置间歇性给蓄能器提供气压能源。首次启动时,闭合开关SA,第一压力继电器4(K1)得电发出低压信号,中间继电器KA1主线圈得电,常开触点闭合,电动机的交流接触器KM主线圈得电,常开触点闭合自锁,电动机得电启动,即气压发生装置启动,开始向蓄能器5充气,当蓄能器5压力达到其最高调定压力时,第一压力继电器4(K2)发出高压电信号,中间继电器KA2主线圈得电,常闭触点断开,接触器KM主线圈失电,触点断开,电动机失电停止工作,即气压发生装置停止向蓄能器充气,此时马达输出稳定扭矩,使约束装置约束住被约束对象。工作过程中,当由于长时间的泄露等原因,蓄能器5的压力低于其最低调定压力时,第一压力继电器4(K1)发出低压电信号,气压发生装置再次向蓄能器5充气;当蓄能器5压力达到其最高调定压力时,压力继电器4(K2)发出电信号,气压发生装置停止向蓄能器5充气,如此循环,从而蓄能器5压力维持在系统要求的调定范围内。单向阀3防止系统压力冲击气压发生装置。第一截止阀2在约束装置工作模块长期不使用时切断气源。In the electromagnetic control mode, as shown in Figure 4, the air pressure generating device intermittently provides air pressure energy to the accumulator. When starting for the first time, close the switch SA, the first pressure relay 4 (K1) is energized and sends out a low-voltage signal, the main coil of the intermediate relay KA1 is energized, the normally open contact is closed, the AC contactor KM main coil of the motor is energized, and the normally open contact The point is closed and self-locked, the motor is powered and started, that is, the air pressure generating device is started to charge the accumulator 5, and when the pressure of the accumulator 5 reaches its maximum set pressure, the first pressure relay 4 (K2) sends out a high-voltage electrical signal , the main coil of the intermediate relay KA2 is energized, the normally closed contact is disconnected, the main coil of the contactor KM is de-energized, the contact is disconnected, the motor stops working when the power is de-energized, that is, the air pressure generating device stops charging the accumulator, and the motor outputs Stabilize the torque so that the constraint restrains the constrained object. During the working process, when the pressure of the accumulator 5 is lower than its minimum set pressure due to long-term leakage, etc., the first pressure switch 4 (K1) sends out a low-voltage electrical signal, and the air pressure generating device sends the pressure to the accumulator 5 again. Inflation; when the pressure of the accumulator 5 reaches its maximum set pressure, the pressure relay 4 (K2) sends out an electrical signal, and the air pressure generating device stops charging the accumulator 5, and so on, so that the pressure of the accumulator 5 is maintained at the system requirement within the setting range. The one-way valve 3 prevents the system pressure from impacting the air pressure generating device. The first cut-off valve 2 cuts off the gas source when the working module of the restraint device is not in use for a long time.

当系统工作时,约束控制装置工作系统由蓄能器5提供稳定压力,第二压力继电器10通过控制第二电磁换向阀9的通断使马达11入口处的压力维持其调定压力。当马达11入口处压力低于其最低调定压力时,第二压力继电器10(K3)发出低压电信号,中间继电器KA3主线圈得电,长断触点闭合自锁,第二电磁换向阀9得电换向处于通路状态,蓄能器5向马达11提供高压气体;当马达11入口处压力达到其调定压力时,第二压力继电器10(K4)发出高压电信号,中间继电器KA4主线圈得电,常闭触点断开,使得中间继电器KA3主线圈失电,触点断开,从而第二电磁换向阀9断电处于断开状态,蓄能器5停止向马达11供气。当由于长时间的泄露等原因,马达11入口处压力再次低于其最低调定压力时,第二压力继电器10(K3)再次发出低压电信号,第二电磁换向阀9再次接通,蓄能器5再次给马达11提供高压气体,如此循环,使得马达11入口处压力维持在调定压力范围内,从而马达11能够输出恒定扭矩。When the system is working, the working system of the constraint control device provides a stable pressure from the accumulator 5, and the second pressure relay 10 maintains the pressure at the inlet of the motor 11 by controlling the on-off of the second electromagnetic reversing valve 9 to its set pressure. When the pressure at the inlet of the motor 11 is lower than its minimum set pressure, the second pressure relay 10 (K3) sends out a low-voltage electrical signal, the main coil of the intermediate relay KA3 is energized, the long-break contact is closed and self-locked, and the second electromagnetic reversing valve 9 The commutation is in the open state when the power is turned on, and the accumulator 5 provides high-pressure gas to the motor 11; when the pressure at the inlet of the motor 11 reaches its set pressure, the second pressure relay 10 (K4) sends out a high-voltage electric signal, and the intermediate relay KA4 mainly The coil is energized, and the normally closed contact is disconnected, so that the main coil of the intermediate relay KA3 loses power, and the contact is disconnected, so that the second electromagnetic reversing valve 9 is in the disconnected state when the power is turned off, and the accumulator 5 stops supplying gas to the motor 11 . When the pressure at the inlet of the motor 11 is lower than its minimum set pressure again due to long-term leakage, etc., the second pressure relay 10 (K3) sends out a low-voltage electrical signal again, and the second electromagnetic reversing valve 9 is connected again. The energy converter 5 provides high-pressure gas to the motor 11 again, and this cycle keeps the pressure at the inlet of the motor 11 within the set pressure range, so that the motor 11 can output a constant torque.

第二溢流阀12作为背压阀使用使马达11出口处维持一定背压,使马达11两端维持一定压差,从而使约束带在恒力矩作用下张紧,将约束对象在恒力矩作用下约束住,同时也使马达11运转平稳。当被约束对象试图收缩使约束带变松弛时,系统能自动保持约束力使约束带收缩,更好的控制了约束对象;而被约束对象试图拉扯约束带挣脱约束时,马达11反向转动,系统反而能自动增大约束力,约束带以更大的约束力约束被约束对象,防止被约束对象挣脱约束带的约束。The second overflow valve 12 is used as a back pressure valve to maintain a certain back pressure at the outlet of the motor 11, and to maintain a certain pressure difference at both ends of the motor 11, so that the restraint belt is tensioned under the action of constant torque, and the constrained object is under the action of constant torque. Restrain down, also make motor 11 run smoothly simultaneously. When the constrained object tries to shrink to loosen the restraint belt, the system can automatically maintain the restraint force to shrink the restraint belt, which better controls the restrained object; and when the constrained object tries to pull the restraint belt to break free from the constraint, the motor 11 rotates in reverse, On the contrary, the system can automatically increase the restraint force, and the restraint band restrains the constrained object with a greater restraint force, preventing the constrained object from breaking free from the restraint of the restraint band.

当系统停止工作时,断开开关SA,切断了气压发生装置的电源,关闭第一截止阀2可以切断气源。按点触开关SB3,中间继电器KA6主线圈得电,常开触点闭合自锁,使得第三电磁换向阀13得电接通,马达11卸荷。当需要使蓄能器泄压时,如系统长时间不工作或系统维修时,按点触开关SB1,中间继电器KA5主线圈得电,常开触点闭合自锁,使得第二电磁换向阀8得电接通时蓄能器5泄压;或者打开第二截止阀7使蓄能器5泄压。When the system stops working, turn off the switch SA to cut off the power supply of the air pressure generating device, and close the first shut-off valve 2 to cut off the gas source. Press the touch switch SB3, the main coil of the intermediate relay KA6 is energized, and the normally open contact is closed and self-locked, so that the third electromagnetic reversing valve 13 is energized and connected, and the motor 11 is unloaded. When it is necessary to release the pressure of the accumulator, such as when the system does not work for a long time or the system is maintained, press the touch switch SB1, the main coil of the intermediate relay KA5 is energized, and the normally open contact is closed and self-locked, so that the second electromagnetic reversing valve 8. When the power is turned on, the accumulator 5 is released; or the second shut-off valve 7 is opened to release the accumulator 5.

实施例二;在采用手动控制方式工作时:Embodiment two; when adopting manual control mode to work:

将电磁换向阀换为手动换向阀,将压力继电器换为压力表,通过人工观测压力表进行控制的方式完成系统控制要求,降低系统自动化程度和控制精度,但提高了系统适应野外环境等恶劣工况的能力,同时降低了设备的成本。Replace the electromagnetic reversing valve with a manual reversing valve, replace the pressure relay with a pressure gauge, and complete the system control requirements through manual observation of the pressure gauge, which reduces the degree of automation and control accuracy of the system, but improves the system's adaptability to the field environment, etc. The ability of harsh working conditions, while reducing the cost of equipment.

如图3所示,所述的气源模块包括气压发生装置21和第一截止阀22;As shown in FIG. 3 , the air source module includes an air pressure generating device 21 and a first shut-off valve 22;

如图3所示,所述的回路控制模块包括单向阀23、第一压力表24、第一手动换向阀28、第二压力表29、第二溢流阀31和第二手动换向阀32,单向阀23通过第一手动换向阀28连接马达输出模块中马达30的进气口,马达30的出气口通过第二溢流阀31和第二手动换向阀32通至外界大气,第一压力表24连接在单向阀23和第一手动换向阀28之间,第二压力表29连接在第一手动换向阀28和马达30之间;As shown in Figure 3, the described loop control module includes a check valve 23, a first pressure gauge 24, a first manual reversing valve 28, a second pressure gauge 29, a second relief valve 31 and a second manual reversing valve The valve 32 and the one-way valve 23 are connected to the air inlet of the motor 30 in the motor output module through the first manual reversing valve 28, and the air outlet of the motor 30 is connected to the outside world through the second overflow valve 31 and the second manual reversing valve 32 Atmosphere, the first pressure gauge 24 is connected between the one-way valve 23 and the first manual reversing valve 28, and the second pressure gauge 29 is connected between the first manual reversing valve 28 and the motor 30;

如图3所示,所述的蓄能器模块包括蓄能器25、第一溢流阀26和第二截止阀27,第二截止阀27依次连接第一溢流阀26和蓄能器25,然后连接到回路控制模块中单向阀23和第一手动换向阀28之间;As shown in FIG. 3 , the accumulator module includes an accumulator 25 , a first relief valve 26 and a second stop valve 27 , and the second stop valve 27 is sequentially connected to the first relief valve 26 and the accumulator 25 , and then connected between the one-way valve 23 and the first manual reversing valve 28 in the loop control module;

如图3所示,所述的马达输出模块包括马达30,马达30与约束装置同轴连接,马达30的进气口连接第一手动换向阀28,其出气口通过第二溢流阀31连接第二手动换向阀32。在手动控制方式中,相比于电磁控制系统,将电磁换向阀换为手动换向阀,将压力继电器换为压力表,可以降低成本,提高约束装置适应更恶劣工况环境的能力。As shown in Figure 3, the motor output module includes a motor 30, which is coaxially connected to the restraint device, the air inlet of the motor 30 is connected to the first manual reversing valve 28, and the air outlet of the motor 30 passes through the second overflow valve 31 Connect the second manual reversing valve 32. In the manual control mode, compared with the electromagnetic control system, replacing the electromagnetic reversing valve with a manual reversing valve and replacing the pressure relay with a pressure gauge can reduce costs and improve the ability of the restraint device to adapt to harsher working conditions.

如图5所示,按点触开关SB1,电动机的交流接触器KM主线圈得电,常开开关闭合自锁,电动机启动,气压发生装置开始向蓄能器25充气。通过观察第一压力表24显示的压力值,当第一压力表24显示的压力达到蓄能器25设定的最高压力,按点触开关SB2,接触器主线圈KM失电,开关断开,气压发生装置停止向蓄能器25充气;第一当压力表24显示的压力低于蓄能器25设定的最低压力是时,再次按点触开关SB1,接触器KM主线圈再次得电,开关闭合自锁,气压发生装置再次向蓄能器25充压,如此循环,使得蓄能器25压力维持在设定压力范围内。通过观察第二压力表29显示的压力值,通过第一手动换向阀28调节马达30入口处压力。当马达30入口处压力低于调定压力时,使第一手动换向阀28处于通路状态,从而马达30入口处压力升高;当马达30入口处压力达到其最高调定压力时,使第一手动换向阀28处于关闭状态,从而马达30入口处压力维持在调定压力范围内。As shown in Figure 5, press the touch switch SB1, the AC contactor KM main coil of the motor is energized, the normally open switch is closed and self-locked, the motor starts, and the air pressure generating device starts to charge the accumulator 25 with gas. By observing the pressure value displayed by the first pressure gauge 24, when the pressure displayed by the first pressure gauge 24 reaches the maximum pressure set by the accumulator 25, press the touch switch SB2, the main coil KM of the contactor will lose power, and the switch will be disconnected. The air pressure generating device stops charging the accumulator 25; first, when the pressure displayed by the pressure gauge 24 is lower than the minimum pressure set by the accumulator 25, press the touch switch SB1 again, and the main coil of the contactor KM is energized again. The switch is closed and self-locking, and the air pressure generating device charges the accumulator 25 again, and this cycle keeps the pressure of the accumulator 25 within the set pressure range. By observing the pressure value displayed by the second pressure gauge 29, the pressure at the inlet of the motor 30 is adjusted through the first manual reversing valve 28. When the pressure at the inlet of the motor 30 is lower than the set pressure, the first manual reversing valve 28 is in the passage state, so that the pressure at the inlet of the motor 30 rises; when the pressure at the inlet of the motor 30 reaches its highest set pressure, the second A manual reversing valve 28 is in a closed state, so that the pressure at the inlet of the motor 30 is maintained within the set pressure range.

在系统停止工作时,手动操作第二手动换向阀32使马达30卸荷,打开第二截止阀27可使蓄能器25泄压。When the system stops working, manually operate the second manual reversing valve 32 to unload the motor 30, and open the second shut-off valve 27 to release the pressure of the accumulator 25.

Claims (2)

1.一种约束装置的气动控制装置,其特征在于:该气动控制装置包括气源模块、回路控制模块、蓄能器模块和马达输出模块;1. A pneumatic control device for a restraint device, characterized in that: the pneumatic control device includes an air source module, a loop control module, an accumulator module and a motor output module; 所述的气源模块包括气压发生装置(1)和第一截止阀(2);The air source module includes an air pressure generating device (1) and a first shut-off valve (2); 所述的回路控制模块包括单向阀(3)、第一压力继电器(4)、第二电磁换向阀(9)、第二压力继电器(10)、第二溢流阀(12)和第三电磁换向阀(13),单向阀(3)通过第二电磁换向阀(9)连接马达输出模块中马达(11)的进气口,马达(11)的出气口通过第二溢流阀(12)和第三电磁换向阀(13)通至外界大气,第一压力继电器(4)连接在单向阀(3)和第二电磁换向阀(9)之间,第二压力继电器(10)连接在第二电磁换向阀(9)和马达(11)之间;The loop control module includes a one-way valve (3), a first pressure relay (4), a second electromagnetic reversing valve (9), a second pressure relay (10), a second overflow valve (12) and a second Three electromagnetic reversing valves (13), the check valve (3) is connected to the air inlet of the motor (11) in the motor output module through the second electromagnetic reversing valve (9), and the air outlet of the motor (11) passes through the second overflow The flow valve (12) and the third electromagnetic reversing valve (13) are connected to the outside atmosphere, the first pressure relay (4) is connected between the one-way valve (3) and the second electromagnetic reversing valve (9), and the second The pressure switch (10) is connected between the second electromagnetic reversing valve (9) and the motor (11); 所述的蓄能器模块包括蓄能器(5)、第一溢流阀(6)、第二截止阀(7)和第一电磁换向阀(8),第一电磁换向阀(8)依次连接第二截止阀(7)、第一溢流阀(6)和蓄能器(5),然后连接到回路控制模块中单向阀(3)和第二电磁换向阀(9)之间;The accumulator module includes an accumulator (5), a first overflow valve (6), a second stop valve (7) and a first electromagnetic reversing valve (8), and the first electromagnetic reversing valve (8 ) is connected to the second cut-off valve (7), the first overflow valve (6) and the accumulator (5) in turn, and then connected to the one-way valve (3) and the second electromagnetic reversing valve (9) in the loop control module between; 所述的马达输出模块包括马达(11),马达(11)与约束装置同轴连接,马达(11)的进气口连接第二电磁换向阀(9),其出气口通过第二溢流阀(12)连接第三电磁换向阀(13)。The motor output module includes a motor (11), the motor (11) is coaxially connected with the restraint device, the air inlet of the motor (11) is connected to the second electromagnetic reversing valve (9), and the air outlet of the motor (11) passes through the second overflow The valve (12) is connected with the third electromagnetic reversing valve (13). 2.一种约束装置的气动控制装置,其特征在于:该气动控制装置包括气源模块、回路控制模块、蓄能器模块和马达输出模块;2. A pneumatic control device for a restraint device, characterized in that: the pneumatic control device includes an air source module, a loop control module, an accumulator module and a motor output module; 所述的气源模块包括气压发生装置(21)和第一截止阀(22);The air source module includes an air pressure generating device (21) and a first stop valve (22); 所述的回路控制模块包括单向阀(23)、第一压力表(24)、第一手动换向阀(28)、第二压力表(29)、第二溢流阀(31)和第二手动换向阀(32),单向阀(23)通过第一手动换向阀(28)连接马达输出模块中马达(30)的进气口,马达(30)的出气口通过第二溢流阀(31)和第二手动换向阀(32)通至外界大气,第一压力表(24)连接在单向阀(23)和第一手动换向阀(28)之间,第二压力表(29)连接在第一手动换向阀(28)和马达(30)之间;The loop control module includes a one-way valve (23), a first pressure gauge (24), a first manual reversing valve (28), a second pressure gauge (29), a second overflow valve (31) and a first Two manual reversing valves (32), the one-way valve (23) is connected to the air inlet of the motor (30) in the motor output module through the first manual reversing valve (28), and the air outlet of the motor (30) passes through the second overflow The flow valve (31) and the second manual reversing valve (32) are connected to the outside atmosphere, the first pressure gauge (24) is connected between the one-way valve (23) and the first manual reversing valve (28), the second The pressure gauge (29) is connected between the first manual reversing valve (28) and the motor (30); 所述的蓄能器模块包括蓄能器(25)、第一溢流阀(26)和第二截止阀(27),第二截止阀(27)依次连接第一溢流阀(26)和蓄能器(25),然后连接到回路控制模块中单向阀(23)和第一手动换向阀(28)之间;The accumulator module includes an accumulator (25), a first overflow valve (26) and a second shut-off valve (27), and the second shut-off valve (27) is sequentially connected to the first overflow valve (26) and The accumulator (25) is then connected between the one-way valve (23) and the first manual reversing valve (28) in the loop control module; 所述的马达输出模块包括马达(30),马达(30)与约束装置同轴连接,马达(30)的进气口连接第一手动换向阀(28),其出气口通过第二溢流阀(31)连接第二手动换向阀(32)。The motor output module includes a motor (30), the motor (30) is coaxially connected with the restraint device, the air inlet of the motor (30) is connected with the first manual reversing valve (28), and the air outlet of the motor (30) passes through the second overflow The valve (31) is connected to the second manual reversing valve (32).
CN201410344082.1A 2014-07-18 2014-07-18 A kind of air control unit of restraint device Expired - Fee Related CN104141640B (en)

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