CN102114517A - Displacement-force compound control lifting system for forging manipulator - Google Patents
Displacement-force compound control lifting system for forging manipulator Download PDFInfo
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- CN102114517A CN102114517A CN 201010573296 CN201010573296A CN102114517A CN 102114517 A CN102114517 A CN 102114517A CN 201010573296 CN201010573296 CN 201010573296 CN 201010573296 A CN201010573296 A CN 201010573296A CN 102114517 A CN102114517 A CN 102114517A
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Abstract
The invention discloses a displacement-force compound control lifting system for a forging manipulator. A port P of a proportional servo valve (2) is connected with an oil supply port (1) of an oil source; a port A of the proportional servo valve (2) is respectively connected with an inlet of a safety valve (3), an outlet of a check valve (4), an inlet of a stop valve (5), a pressure sensor (12) and lower cavities of two lifting cylinders; an oil return port (7) of the oil source is respectively connected with a port T of the proportional servo valve (2), an outlet of the safety valve (3), an inlet of the check valve (4), an outlet of the stop valve (5) and upper cavities of the two lifting cylinders; mechanisms at top ends of piston rods of the two lifting cylinders are fixedly connected; a displacement sensor (8) is internally arranged on the piston rods; and a signal output end of the displacement sensor (8), a signal output end of the pressure sensor (12) and a signal input end of the proportional servo valve (2) are connected with a displacement-force compound controller through signals. Due to the adoption of the system, the response speed can be increased, and the compliance in the vertical direction can be improved.
Description
Technical field
The present invention relates to a kind of electric-hydraulic proportion elevator system, be specifically related to the compound control elevator system of a kind of forging manipulator displacement-Li.
Background technology
The open die forging forging manipulator is used to grasp the forging workpiece and carries out certain action, is used with press, forges efficient to improve.In general, manipulator can realize forging several motions such as vertical, the level, front and back, pitching, side-sway of workpiece, wherein, for the independent respectively manipulator of controlling of front and back elevator system, the vertical lift of workpiece is forged in the control of its elevator system, the elevating movement of back elevator system or pitching system control forging workpiece (be referring to application number 200810037835.9,201010133714.1 Chinese invention patent).When press forged workpiece, because plastic deformation, the workpiece center of gravity descended, and elevator system can directly be born the downforce of press, if the power compliance of elevator system is not enough, can cause the elevator system of manipulator and mechanism to bear very big load.The present manipulator of producing, its elevator system only possesses displacement control function, can't realize the control of lifting force, and adopt displacement directly to follow the tracks of press control meeting, so the power compliance is extremely important to the manipulator elevator system because the scrambling of forging deformation produces additional resistance.
Find through retrieval prior art, application number is position-compress control method that 200810246965.3 Chinese invention patent discloses a kind of large-sized forging manipulator hydraulic cylinder location, its passing ratio pressure valve realizes the compound control of displacement-Li of manipulator elevator system, the displacement control of this mode realizes by the power closed loop, be fit to be operated under the operating mode of press forging and pressing workpiece, but be not suitable for forging under the operating mode, carry out the accurate control of workpiece vertical direction displacement non-.And the proportional pressure valve frequency response is lower, causes system responses slow, can not satisfy the demand of manipulator efficient operation.Therefore, need design better manipulator elevator system and control method, to improve its reliability and rapidity.
Summary of the invention
The technical problem to be solved in the present invention provides the compound control elevator system of a kind of energy forging manipulator displacement-Li, and this system can improve the compliance of its response speed and vertical direction.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
Proportional servo valve P mouth of the present invention connects the oil sources oil-feed port; Proportional servo valve A mouth is connected with safety valve inlet, check valve outlet, stop valve inlet, pressure sensor, left lift cylinder cavity of resorption, right lift cylinder cavity of resorption; The oil sources oil return opening is connected with proportional servo valve T mouth, safety valve outlet, check valve inlet, stop valve outlet, left lift cylinder epicoele, right lift cylinder epicoele; Left side lift cylinder piston rod and right lift cylinder piston rod drive end mechanism fixed (its motion is mechanical synchronization); Displacement transducer is built on the left lift cylinder piston rod; The signal output part of displacement transducer, the signal output part of pressure sensor and proportional servo valve signal input part are connected with displacement-Li composite controller.
Displacement of the present invention-Li composite controller comprises displacement signal output device, displacement adder, displacement PID controller, signal amplifier, force signal output device, power adder, dead band setting apparatus, power PID controller, signal shifter and switching signal output device; It is poor that signal that the displacement signal output device produces and displacement transducer detecting position shifting signal are done by the displacement adder, and its difference signal exports signal shifter to behind displacement PID controller; Pressure sensor output pressure signal is converted to force signal through signal amplifier, and the signal that the force signal output device produces exports the dead band setting apparatus to after force signal is done difference by the power adder therewith; The dead band setting apparatus outputs signal to power PID controller; Power PID controller output signal is to signal shifter; The switching signal output device connects signal shifter, controls it and is communicated with force signal or displacement signal; Signal shifter transfers to proportional servo valve to displacement or force control signal, travel displacement or power closed-loop control system.
In the present invention, all parts all can obtain by commercial mode.
The beneficial effect that the present invention has is:
(1) has displacement, two kinds of control models of power, can realize the accurate control of workpiece vertical displacement, can realize the highly conforming properties in the forging process again, reduce the drag of manipulator in the workpiece forging and pressing process greatly.
(2) adopt the higher proportional servo valve of frequency response as control element, improved the response speed of elevator system.
(3) safety valve prevents to transship the damage to lift cylinder and other mechanical mechanisms of manipulator, and check valve is used to prevent that oil circuit from inhaling empty.
(4) only realized the control of displacement, power by proportional servo valve, its structure and control strategy are simple, reliable operation, the designing requirement of compound over-loading operation equipment.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
Fig. 1 is the schematic diagram that the compound control elevator system of forging manipulator displacement-Li of the present invention works in the displacement control model;
Fig. 2 is the schematic diagram that the compound control elevator system of forging manipulator displacement-Li of the present invention works in force control mode.
Among the figure: 1. oil sources oil-feed port, 2. proportional servo valve, 3. safety valve, 4. check valve, 5. stop valve, 6-1. left side lift cylinder, the right lift cylinder of 6-2., 7. oil sources oil return opening, 8. displacement transducer, 9. displacement signal output device, 10. displacement adder, 11. displacement PID controller, 12. pressure sensor, 13. signal amplifiers, 14. force signal output devices, 15. power adder, 16. the dead band setting apparatus, 17. power PID controllers, 18. signal shifters, 19. the switching signal output device, 20. displacements-Li composite controller.
The specific embodiment
The P mouth of proportional servo valve 2 connects oil sources oil-feed port 1; The B mouth of proportional servo valve 2 is shut; The A mouth of proportional servo valve 2 is connected with right lift cylinder 6-2 cavity of resorption with safety valve 3 inlets, check valve 4 outlets, stop valve 5 inlets, pressure sensor 12, left lift cylinder 6-1 cavity of resorption; Oil sources oil return opening 7 is connected with T mouth, safety valve 3 outlets, check valve 4 inlets, stop valve 5 outlets, left lift cylinder 6-1 epicoele, the right lift cylinder 6-2 epicoele of proportional servo valve 2; Left side lift cylinder 6-1 piston rod is fixed with right lift cylinder 6-2 piston rod drive end mechanism, and its motion is a mechanical synchronization.Displacement transducer 8 is installed in the piston rod of left lift cylinder 6-1 piston, be used to detect the moving displacement of piston, pressure sensor 12 is used to detect the pressure of left lift cylinder 6-1 and right lift cylinder 6-2 cavity of resorption, and displacement transducer 8 is connected displacement-Li composite controller 20 with signal output part, proportional servo valve 2 signal input parts of pressure sensor 12.
Displacement-Li composite controller 20 is made up of displacement signal output device 9, displacement adder 10, displacement PID controller 11, signal amplifier 13, force signal output device 14, power adder 15, dead band setting apparatus 16, power PID controller 17, signal shifter 18, switching signal output device 19.
The output of pressure sensor 12 links to each other with the input end signal of signal amplifier 13, the output of signal amplifier 13 links to each other with the subtraction input of power adder 15, the output of force signal output device 14 links to each other with the addition input of power adder 15, and the input of the output of power adder 15, dead band setting apparatus 16, power PID controller 17 and signal shifter 18 signal successively links to each other; The output of displacement transducer 8 links to each other with the subtraction input of displacement adder 10, displacement signal output device 9 outputs link to each other with the addition input of displacement adder 10, and the input of the output of displacement adder 10, displacement PID controller 11 and signal shifter 18 signal successively links to each other; Switching signal output device 19 links to each other with the input end signal of signal shifter 18, and the output of signal shifter 18 links to each other with the input end signal of proportional servo valve 2.
That is, it is poor that the displacement signal that signal that displacement signal output device 9 produces and displacement transducer 8 detect is done by displacement adder 10, and its difference signal exports signal shifter 18 to behind displacement PID controller 11; Pressure sensor 12 output pressure signals are converted to force signal through signal amplifier 13, and the signal that force signal output device 14 produces force signal therewith exports dead band setting apparatus 16 to after doing difference by power adder 15; Dead band setting apparatus 16 outputs signal to power PID controller 17; Power PID controller 17 outputs signal to signal shifter 18; Switching signal output device 19 connects signal shifter 18, controls it and is communicated with force signal or displacement signal; Signal shifter 18 transfers to proportional servo valve 2 to displacement or force control signal, forms displacement or power closed-loop control.
During actual the use, left lift cylinder 6-1 piston rod of the present invention, right lift cylinder 6-2 piston rod connect the two ends, the left and right sides of forging manipulator lift arm, lift arm by about two hanger bar be connected on the clamp; Hydraulic system realizes the rise and fall of clamp and workpiece by driving the rise and fall of left lift cylinder 6-1 piston rod, right lift cylinder 6-2 piston rod.
Elevator system of the present invention according to the direction of motion, can be divided into two kinds of operating modes:
1, elevator system drives clamp and workpiece rising.At this moment, proportional servo valve 2 works in right position, and its P mouth is communicated with the A mouth, and the B mouth is communicated with the T mouth; The high-voltage oil liquid of oil sources oil-feed port 1 output flow through P mouth, the A mouth of proportional servo valve 2 arrive left lift cylinder 6-1 cavity of resorption and right lift cylinder 6-2 cavity of resorption, drive left lift cylinder 6-1 piston rod and right lift cylinder 6-2 piston rod and rise, and have realized the rising of clamp and workpiece; The fluid of left side lift cylinder 6-1 epicoele and right lift cylinder 6-2 epicoele flows out to oil sources oil return opening 7.
2, elevator system drives clamp and workpiece decline.This moment, proportional servo valve 2 worked in position, a left side, and its P mouth is communicated with the B mouth, and the A mouth is communicated with the T mouth; Under the gravity effect of clamp and workpiece, the fluid of left lift cylinder 6-1 cavity of resorption and right lift cylinder 6-2 cavity of resorption flows out to oil sources oil return opening 7 through A mouth, the T mouth of proportional servo valve 2; Realized the decline of clamp and workpiece; The part fluid of oil sources oil return opening 7 is supplied to left lift cylinder 6-1 epicoele and right lift cylinder 6-2 epicoele.
Elevator system of the present invention according to control mode, can be divided into following two kinds of operating modes:
1, when press was in non-forging operating mode, as described in Figure 1, forging manipulator displacement-Li of the present invention is compound, and the control elevator system worked in the displacement control model; Under the shift mode control on the throne, the displacement signal of the actual vertical displacement accurate tracking displacement signal output device 9 of workpiece setting value.
Present press and manipulator adopt interlock control more, if the downward forging and pressing signal of press does not provide, then workpiece is in non-forging operating mode, it is 0 that industrial computer is specified the output signal value of switching signal output device 19, signal shifter 18 cuts off force control signal, make displacement control signal be communicated with proportional servo valve 2 (that is, the output of displacement PID controller 11 links to each other with the input end signal of proportional servo valve 2 by signal shifter 18).
This moment, the operator was according to the current displacement of forging, specified its next step displacement, and displacement signal output device 9 is according to current displacement and next step displacement difference situation, generated the displacement signal of " quicken-at the uniform velocity-deceleration " or " acceleration-deceleration "; The output signal of displacement adder 10 equals the difference that displacement signal output device 9 output signals deduct displacement transducer 8 output signals; This difference signal exports displacement PID controller 11 to, after the processing such as 11 pairs of these signals of displacement PID controller amplify, differential, integration, export proportional servo valve 2 to, realization lift cylinder (comprising left lift cylinder 6-1 and right lift cylinder 6-2) displacement closed loop is accurately controlled.
The calculated signals formula of displacement closed-loop control:
E
D＝D
s-D
d
Wherein:
D
s---the output signal of displacement signal output device 9;
D
d---the real-time displacement signal that displacement transducer 8 detects;
E
D---the output signal of displacement adder 10;
u
D---the output signal of displacement PID controller 11;
K
PD, K
ID, K
DD---the pid control parameter (manipulator is tested setting before dispatching from the factory) of displacement PID controller 11.
2, when press was in the forging operating mode, as shown in Figure 2, forging manipulator displacement-Li of the present invention is compound, and the control elevator system worked in force control mode; Under the force control mode, elevator system is followed the action of press compliance, and its displacement is forged the decision of workpiece decrement by press.
If the control system of press is sent the forging and pressing instruction to press, then workpiece is in the forging operating mode, it is 1 that industrial computer is specified the output signal value of switching signal output device 19, control signal switch 18 cuts off displacement control signal, make force control signal be communicated with proportional servo valve 2 (that is, the output of power PID controller 17 links to each other with the input end signal of proportional servo valve 2 by signal shifter 18).
Force signal output device 14 is set at workpiece and clamp acts on two equivalent loads on the lift cylinder, its computational methods: after the manipulator holding workpiece, multiplying each other draws for the press pressure signal that forges the pressure sensor 12 before the workpiece and two lift cylinder piston areas (left lift cylinder 6-1 piston area and right lift cylinder 6-2 piston area with); This moment power sensor 12 output signal be its detected be cavity pressure under left lift cylinder 6-1 and the right lift cylinder 6-2; Power sensor 12 output pressure signals are by signal amplifier 13, amplify 2A (2A be left lift cylinder 6-1 and right lift cylinder 6-2 piston area and) doubly after, be converted into force signal; The output result of power adder 15 is the difference of force signal output device 14 output signal subtraction signal amplifiers 13 output signals; This difference signal exports dead band setting apparatus 16 to, setting apparatus 16 pairs of these differences in dead band are carried out the dead band of force signal output device 14 ± 10% and are set, export power PID controller 17 afterwards to, after the processing such as 17 pairs of these signals of power PID controller amplify, differential, integration, export proportional servo valve 2 to, realize the power closed-loop control of lift cylinder.
The calculated signals formula of power closed-loop control:
F
S＝P
0×(2A)
F
d＝P
d×(2A)
E
F0＝F
s-F
d
Wherein:
P
0---the initial pressure signal of the pressure sensor 12 after the manipulator holding workpiece, before the press forging workpiece;
2A---left lift cylinder 6-1 piston area and right lift cylinder 6-2 piston area and;
F
s---the output signal of force signal output device 14;
P
d---the live signal that pressure sensor 12 detects;
F
d---the output signal of signal amplifier 13;
E
F0---the output signal of power adder 15;
E
F---the output signal of dead band setting apparatus 16;
u
F---the output signal of power PID controller 17;
K
PF, K
IF, K
DF---the pid control parameter (manipulator is tested setting before dispatching from the factory) of power PID controller 17.
When the big decrement forging and pressing of press workpiece, the workpiece deformation center descends and causes receiving between clamp the downward active force of press, when this active force exceed the deadweight of clamp and workpiece 10% the time, it is poor that the setting value that the pressure signal that pressure sensor 12 detects amplifies back and force signal output device 14 through force signal amplifier 13 is done, behind dead band setting apparatus 16, power PID controller 17, drive proportional servo valve 2 and work in position, a left side, this moment, the P mouth of proportional servo valve 2 was communicated with the B mouth, and the A mouth is communicated with the T mouth; Under the gravity effect of clamp and workpiece, the fluid of left lift cylinder 6-1 cavity of resorption and right lift cylinder 6-2 cavity of resorption flows out to oil sources oil return opening 7 through A mouth, the T mouth of proportional servo valve 2; The compliance that has realized clamp and workpiece descends.
At last, it is also to be noted that what more than enumerate only is a specific embodiment of the present invention.Obviously, the invention is not restricted to above embodiment, many distortion can also be arranged.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention all should be thought protection scope of the present invention.
Claims (2)
1. the compound control elevator system of forging manipulator displacement-Li is characterized in that: comprise oil sources oil-feed port (1), proportional servo valve (2), safety valve (3), check valve (4), stop valve (5), left lift cylinder (6-1), right lift cylinder (6-2), oil sources oil return opening (7), displacement transducer (8) and pressure sensor (12);
Described proportional servo valve (2) P mouth connects oil sources oil-feed port (1); Proportional servo valve (2) A mouth is connected with right lift cylinder (6-2) cavity of resorption with safety valve (3) inlet, check valve (4) outlet, stop valve (5) inlet, pressure sensor (12), left lift cylinder (6-1) cavity of resorption respectively; Oil sources oil return opening (7) is connected with right lift cylinder (6-2) epicoele with proportional servo valve (2) T mouth, safety valve (3) outlet, check valve (4) inlet, stop valve (5) outlet, left lift cylinder (6-1) epicoele respectively; Left side lift cylinder (6-1) piston rod and right lift cylinder (6-2) piston rod top mechanism are fixed; Displacement transducer (8) is built on left lift cylinder (6-1) piston rod; The signal input part of the signal output part of the signal output part of displacement transducer (8), pressure sensor (12) and proportional servo valve (2) links to each other with displacement-Li composite controller (20) signal.
2. the compound control elevator system of forging manipulator displacement-Li according to claim 1 is characterized in that: displacement-Li composite controller (20) comprises displacement signal output device (9), displacement adder (10), displacement PID controller (11), signal amplifier (13), force signal output device (14), power adder (15), dead band setting apparatus (16), power PID controller (17), signal shifter (18) and switching signal output device (19);
It is poor that the displacement signal that signal that displacement signal output device (9) produces and displacement transducer (8) detect is done by displacement adder (10), and its difference signal exports signal shifter (18) to behind displacement PID controller (11); Pressure sensor (12) output pressure signal is converted to force signal through signal amplifier (13), and above-mentioned this force signal of signal that force signal output device (14) produces exports dead band setting apparatus (16) to after doing difference by power adder (15); Dead band setting apparatus (16) outputs signal to power PID controller (17); Power PID controller (17) outputs signal to signal shifter (18); Switching signal output device (19) connects signal shifter (18), controls it and is communicated with force signal or displacement signal; Signal shifter (18) transfers to proportional servo valve (2) to displacement or force control signal, forms displacement or power closed-loop control.
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| CN2010105732968A CN102114517B (en) | 2010-11-30 | 2010-11-30 | Displacement-force compound control lifting system for forging manipulator |
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| CN2010105732968A CN102114517B (en) | 2010-11-30 | 2010-11-30 | Displacement-force compound control lifting system for forging manipulator |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103711737A (en) * | 2013-12-17 | 2014-04-09 | 天津大学 | Structure for controlling hydraulic lift shifting process and state of large-scale structures |
| CN105834338A (en) * | 2016-05-16 | 2016-08-10 | 中国重型机械研究院股份公司 | High precision control system and method for forging oil press |
| CN107061420A (en) * | 2017-06-20 | 2017-08-18 | 合肥航机械科技股份有限公司 | A kind of balanced compensated control system of lifting machine and control method |
| CN108799238A (en) * | 2017-05-05 | 2018-11-13 | 极光飞行科学公司 | Pneumatic actuation systems with improved feedback control |
| CN109212967A (en) * | 2018-08-22 | 2019-01-15 | 浙江大学 | A kind of online track smoothing switching method of hydraulic material testing machine control model |
| CN111174889A (en) * | 2020-02-04 | 2020-05-19 | 中冶南方连铸技术工程有限责任公司 | Automatic casting blank weighing system and method |
| CN112286046A (en) * | 2020-10-20 | 2021-01-29 | 江苏集萃智能制造技术研究所有限公司 | Servo control method of hydraulic cylinder |
| CN114109963A (en) * | 2021-11-19 | 2022-03-01 | 济南悉通液压设备配套有限公司 | Operation control method for oil cylinder of corner combining machine and hydraulic system |
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| GB1176318A (en) * | 1967-04-29 | 1970-01-01 | Schloemann Ag | Improvements in the Oil-Hydraulic Control of Stepwise Movements for the Rapid Acceleration of Large Masses |
| DE102006041222A1 (en) * | 2005-10-07 | 2007-04-12 | Sms Meer Gmbh | Open die forging of workpiece with forging press having hydraulic piston/cylinder system connected to forging tool forging very large steel workpieces and special light metal alloys involves use of system parameter of piston/cylinder system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103711737A (en) * | 2013-12-17 | 2014-04-09 | 天津大学 | Structure for controlling hydraulic lift shifting process and state of large-scale structures |
| CN105834338A (en) * | 2016-05-16 | 2016-08-10 | 中国重型机械研究院股份公司 | High precision control system and method for forging oil press |
| CN105834338B (en) * | 2016-05-16 | 2017-12-26 | 中国重型机械研究院股份公司 | Forge hydraulic press high-precision control system and method |
| CN108799238A (en) * | 2017-05-05 | 2018-11-13 | 极光飞行科学公司 | Pneumatic actuation systems with improved feedback control |
| CN107061420A (en) * | 2017-06-20 | 2017-08-18 | 合肥航机械科技股份有限公司 | A kind of balanced compensated control system of lifting machine and control method |
| CN109212967A (en) * | 2018-08-22 | 2019-01-15 | 浙江大学 | A kind of online track smoothing switching method of hydraulic material testing machine control model |
| CN111174889A (en) * | 2020-02-04 | 2020-05-19 | 中冶南方连铸技术工程有限责任公司 | Automatic casting blank weighing system and method |
| CN112286046A (en) * | 2020-10-20 | 2021-01-29 | 江苏集萃智能制造技术研究所有限公司 | Servo control method of hydraulic cylinder |
| CN114109963A (en) * | 2021-11-19 | 2022-03-01 | 济南悉通液压设备配套有限公司 | Operation control method for oil cylinder of corner combining machine and hydraulic system |
| CN114109963B (en) * | 2021-11-19 | 2023-12-15 | 济南悉通液压设备配套有限公司 | Corner-assembled engine oil cylinder operation control method and hydraulic system |
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