CN107143542A - A kind of pair of cylinder synchronous drive control device and method - Google Patents
A kind of pair of cylinder synchronous drive control device and method Download PDFInfo
- Publication number
- CN107143542A CN107143542A CN201710493633.4A CN201710493633A CN107143542A CN 107143542 A CN107143542 A CN 107143542A CN 201710493633 A CN201710493633 A CN 201710493633A CN 107143542 A CN107143542 A CN 107143542A
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- cylinder
- control
- piston rod
- swingle
- cylinders
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Classifications
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
Abstract
The invention discloses a kind of pair of cylinder synchronous drive control device and method, detection part and control section are driven including cylinder, two cylinders are parallel to be fixed on experimental bench, pressure suffered by pull pressure sensor detection swingle two ends is installed between piston rod and swingle, it is transferred to A/D transition cards, then industrial computer is input to by data collecting card, industrial computer is exported according to stress signal output control instruction by D/A transition cards controls the synchronous of two cylinders to drive to gas control unit.The present invention is with the characteristics of pull pressure sensor sample frequency is fast, measurement accuracy is high, the power that two cylinders are exported is monitored in real time, control with reference to cylinder location inductor to the control and proportion directional control valve of piston rod position to tolerance, corresponding algorithm is used by industrial computer, the Synchronization Control driven to double cylinders is realized.
Description
Technical field
The present invention relates to synchronous drive control field, and in particular to a kind of pair of cylinder synchronous drive control device and method.
Background technology
With the development of science and technology, the development of modern manufacturing industry occurs in that new power, indicate that more complicated production is appointed
Business and high-precision production requirement.People require more and more higher to the quality and properties of product of plant equipment, in some occasion pins
Single drive device, which is controlled, can not meet work requirements.In equipment control process, often need to multiple motions
Unit carries out coordinate synchronization control to meet work requirements.Under new manufacture development situation, the Synchronization Control side of mechanical system
Method is continued to develop, and scale constantly expands, and is widely used in every field.The synchronous emphasis of mechanical system is to realize steady fortune
Dynamic, it is contemplated that stability, low acceleration, non-jitter is moved and low vibration.For synchronization system, it can be divided into by its type of drive
The synchronization system of Mechanical Driven, electrically driven synchronization system, the synchronization system of the synchronization system of gas-powered and hydraulic-driven.
The system cost of wherein gas-powered is low, easy to maintain, power is high, but is due to that complicated nonlinear kinetics makes system synchronization
As a problem.
Used the synchronization system of existing gas-powered more and mechanical mechanism is driven with cylinder, realized using mechanical mechanism synchronous
Mode come the synchronous purpose reached, this can essentially be the method for synchronization of Mechanical Driven, but be due between machine driving
Gap, be difficult to regulation gearratio, by line shaft modulus of elasticity restriction etc. reason synchronization accuracy by extreme influence.
The content of the invention
In order to overcome the shortcoming and deficiency that prior art is present, the present invention provides a kind of pair of cylinder synchronous drive control device
With method.
The present invention take into account the main source of error of the synchronization system of traditional gas driving, directly be driven using cylinder
Dynamic, proportional control valve and pull pressure sensor auxiliary synchronize drive control, improve synchronization accuracy, can be asynchronous in motion
When fast resumption synchronization, the power for enabling two cylinders to export is quick, accurate, stably synchronous.
The present invention is adopted the following technical scheme that：
A kind of pair of cylinder synchronous drive control device, including cylinder driving detection part and control section；
The cylinder driving detection part includes take-off lever, and the take-off lever is fixed on the point midway of swingle, described
Swingle is fixed on experimental bench, and the two ends of the swingle are respectively mounted a cylinder driving unit, and two cylinder drivings are single
Meta structure is identical, including cylinder, piston rod and pull pressure sensor, and described pull pressure sensor one end passes through connector and work
Stopper rod is connected, and its other end is connected by one end of rotating shaft and swingle, and the cylinder is by control action in the gas of piston rod
The connector that body push-and-pull is connected with piston rod；
The control section, including A/D transition cards, data collecting card, D/A transition cards, pneumatic control unit and industry control meter
Calculation machine；
Pull pressure sensor detection have swingle under load condition by force signal, be transferred to A/D transition cards, then pass through
Data collecting card is input to industrial computer, and industrial computer is defeated by D/A transition cards according to stress signal output control instruction
Go out to control the synchronous driving of two cylinders to gas control unit.
The pneumatic control unit includes pneumatic triple piece, air pump, pressure regulator valve and proportional control valve, source of the gas by air pump and
Pneumatic triple piece obtains gases at high pressure, and then obtaining burning voltage by pressure regulator valve is output to proportional control valve control cylinder drive
Dynamic, the proportional control valve is connected with industrial computer.
Two cylinders are parallel to be fixed on experimental bench, and original state is fully extended for the piston rod of a cylinder, another
The piston rod of cylinder is fully retracted.
The swingle is fixed on particular by bearing block on the axis of two cylinder distances, when two piston rod fortune
During dynamic half, swingle is vertical with two piston rods respectively.
The medium pore of swingle coordinates with rotating shaft, and the rotating shaft other end coordinates with the bearing block with thrust bearing, the bearing
Seat is fixed on experimental bench.
The other end of pull pressure sensor is connected by connector with hinge bolt, and the hinge bolt coordinates with rotating shaft,
Further it is connected with one end of swingle.
The control method of a kind of pair of cylinder synchronous drive control device, comprises the following steps：
First step source of the gas obtains the gases at high pressure of cleaning by air pump and pneumatic triple piece, by obtaining stabilization after pressure regulator valve
Gas acts on the piston rod of cylinder after air pressure, passing ratio control valve, makes the outside power output of piston rod；
The detection of second step pull pressure sensor is converted into the collection of data signal input data by force signal by A/D transition cards
Card, further inputs into the force feedback signal that industrial computer obtained after handling accordingly two cylinders；
3rd step generates the feedback signal of second step the pulse of control proportional control valve after industrial computer is handled
Signal, the signal is converted to by D/A transition cards to be exported to two proportional control valves to adjust input cylinder after analog signal
Air pressure, flow and direction, and then the power of cylinder output is controlled, make the synchronously driving of two cylinders, realization is closed to double cylinder power outputs
Ring is controlled.
Beneficial effects of the present invention：
(1) this tension and compression force checking device is made up of pull pressure sensor bull stick of putting english, because sample frequency is fast, measurement accuracy
Height, can real-time dynamicly detect the stress of swingle, and signal is fed back into industrial computer regulated and controled, and make cylinder
The power of output keeps synchronous at any time, realizes the synchronous drive control of double cylinders.
(2) the rotation pole length of the present apparatus is far longer than swingle rotational angle in the cylinder piston throw of lever, the course of work
Very little, pull pressure sensor allows certain deformation, so piston rod and pull pressure sensor can be approximated to be linear motion, two
Cylinder can be directly anchored on experimental bench and without considering to rotate, two pull pressure sensor are measured when device is in synchronous regime
Power it is equal in magnitude, in opposite direction.
(3) present apparatus adoption rate control valve is controlled to the pressure and flow of gas and direction, can make output
Gas parameter year electric signal parameter change and change, realize the control of continuous ratio, control accuracy is high, and mechanism is simple, effect
Rate is high, pollution-free.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the shaft side figure of system；
Fig. 3 is Fig. 1 front view；
Fig. 4 is Fig. 1 top view.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As Figure 1-Figure 4, a kind of pair of cylinder synchronous drive control device, including cylinder driving detection part and control unit
Point；
The cylinder driving detection part includes take-off lever, and the take-off lever 14 is fixed on the middle part of swingle 15, rotates
The medium pore of bar 15 coordinates with the 3rd rotating shaft 13, and the other end of the 3rd rotating shaft coordinates with the bearing block 12 with thrust bearing, the axle
Bearing 12 is fixed on experimental bench 5.The two ends of the swingle are respectively mounted a cylinder driving unit, and two cylinder drivings are single
Meta structure is identical, including cylinder, piston rod and pull pressure sensor.
One end of the swingle is connected by first rotating shaft 17, and the first rotating shaft 17 connects with first axle bolt 16
Connect, the one end of the first pull pressure sensor 19 is connected with the first connector 20, and the other end is connected with the 3rd connector 18, the described 3rd
The other end of connector and first axle bolt connection, the other end of first connector 20 are connected with First piston bar 21,
The cylinder is single rod double-acting cylinder, and First piston bar is connected with the first cylinder 1, and first cylinder passes through the first cylinder
Mounting bracket 2 is fixed on experimental bench 5, the first cylinder by control action in the air pressure, gas flow and direction of First piston bar,
The first connector that the first piston that push-and-pull is connected with the first cylinder is connected.
The other end of the swingle 15 is connected by the second rotating shaft 11, second rotating shaft 11 and second hinge bolt 10
Connection, the two ends of second pulling force sensor 8 are connected with the second connector 7 and the 4th connector 9 respectively, the 4th connection
Part is connected with second hinge bolt 10, and second connector is connected with second piston bar 6, the second piston bar and the second gas
Cylinder 3 is connected, and second cylinder is fixed on experimental bench by the second cylinder mount frame 4.
Two cylinders are set in parallel on experimental bench, and distance between the two is determined according to the length of swingle, is slightly less than rotation
Bull stick length, the First piston bar 21 that the first cylinder is connected during installation should be fully extended, the second piston of the second cylinder connection
Bar should be fully retracted.Described cylinder selection TaiWan, China gas it is vertical can tool cylinder JD series, model JD100X140-
SD2, is single pole double-acting cylinder, cylinder diameter 100mm, stroke 140mm, shaft end tooth form are shaft end interior tooth, two inductors of band can be held
By 0.1-0.7MPa air pressure；The length of swingle is 1000mm, much larger than piston rod stroke, the bore dia on bar
35mm, the sliding bearing internal diameter 30mm of cooperation, from meter Si meter Products, model LFZB35-30.
In double cylinder synchronous driving process, the difference of gas velocity and amount of the piston rod due to entering cylinder can be exported not
Same thrust or pulling force, the power of output pass to first and second pulling force sensor by connector, and pull pressure sensor passes through
The size and Orientation generation signal of power is measured, numeral letter is generated after the first A/D transition cards 22 and the conversion of the 2nd A/D transition cards 23
Number and exported by data collecting card 24 to industrial computer 29.
The model QLS-11 of the pull pressure sensor selection China Shenzhen Qin Heyuan companies of use S types pressure sensing
Device, the pull pressure sensor wide 51mm, long 76.2mm, thick 19.1mm, rated load is
50kg-750kg, precision is 0.03 grade, applied to the measurement of tension compression bidirectional power, draws, presses output symmetry good；Hinge spiral shell
Bolt selects the accessory of meter Si meter companies, carries sliding bearing, model HGMBB12-20-42-12a, matched rotating shaft axle
The a diameter of 20mm of neck, a diameter of 30mm of the other end, a diameter of 40mm of axle body；Connector size is according to bolt designed, designed used
's；Take-off lever 14 is fixed on the middle part of swingle 15, and take-off lever can voluntarily select design, for loading, can voluntarily add as needed
Plus component is to adapt to corresponding task；The medium pore of swingle 15 coordinates with the 3rd rotating shaft 13, the 3rd described rotating shaft 13 1
It is still 30mm to hold the diameter of axle, and the other end of the 3rd rotating shaft 13 coordinates with the bearing block with thrust bearing, and bearing block is public from meter Si meter
The BGCSB30 of department, band thrust bearing, internal diameter is 30mm and with thrust, therefore described the 3rd rotating shaft other end diameter of axle is successively
For 30mm, 35mm, 50mm；Bearing block is fixed on the axis of the distance of two cylinders, when two cylinder piston rods just move one
When at half trip, swingle should be just vertical with two-piston bar.
The control section, including A/D transition cards, data collecting card, D/A transition cards, pneumatic control unit and industry control meter
Calculation machine；
The gas control unit is specially the high pressure that source of the gas 33 obtains cleaning by air pressure valve 32 and pneumatic triple piece 31
Gas, by obtaining stablizing air pressure after pressure regulator valve 30, first and second is input to by first and second proportional control valve 25,26
Piston rod is reciprocating.
In double cylinder synchronous driving process, the driving of cylinder is to send command pulse by industrial computer 29, by
One D/A transition cards 27 and the 2nd D/A transition cards 28 exported respectively after D/A conversions to the first proportional control valve 25 and the second ratio
The example control input gas-powered cylinder piston rod of control valve 26 is reciprocating.The D/A control cards used is Taiwan Yan Hua companies
The PCL-727 types of production, proportion directional control valve is the pneumatic company's productions of Japan SMC, model VER2000-02.
The piston rod stroke of two cylinders is much smaller than in rotation pole length, the anglec of rotation very little of swingle, the course of work
Piston rod and pull pressure sensor can be approximated to be linear motion；In the case of loaded, if two pull pressure sensor are surveyed
The power obtained is in the same size, in the opposite direction, then the power of two cylinders output is synchronous, and two cylinders synchronously drive；If the first pressure is passed
The power that sensor is measured is less than the second pull pressure sensor, then the power of the first cylinder output is smaller than the second cylinder；If the first tension and compression
The power that force snesor is measured is more than the second pull pressure sensor, then the power of the first cylinder output is bigger than the second cylinder；In cylinder
When gas releases piston rod, pull pressure sensor measures pressure；When gas in cylinder makes the piston rod retract, pressure sensing
Device measures pulling force.
One kind is comprised the following steps based on the synchronous drive control method of double cylinders：
First step source of the gas obtains the gases at high pressure of cleaning by air pump and pneumatic triple piece, by obtaining stabilization after pressure regulator valve
Gas acts on the piston rod of cylinder after air pressure, passing ratio control valve, makes the outside power output of piston rod；
The detection of second step pull pressure sensor is converted into the collection of data signal input data by force signal by A/D transition cards
Card, further inputs into the force feedback signal that industrial computer obtained after handling accordingly two cylinders；
3rd step generates the feedback signal of second step the pulse of control proportional control valve after industrial computer is handled
Signal, the signal is converted to by D/A transition cards to be exported to two proportional control valves to adjust input cylinder after analog signal
Air pressure, flow and direction, and then the power of cylinder output is controlled, make the synchronously driving of two cylinders, realization is closed to double cylinder power outputs
Ring is controlled.
The parallel fixation of the common cylinder of double acting of two single rods on the table, is installed additional between its piston rod and swingle
Pull pressure sensor is to detect pressure suffered by swingle two ends, it is ensured that two ends are synchronous when the swingle that middle part is fixed is rotated, from
And make two cylinders equal, in opposite direction power of output size in the loaded course of work.The present invention is with pressure sensing
The characteristics of device sample frequency is fast, measurement accuracy is high, is monitored, with reference to cylinder location inductor in real time to the power that two cylinders are exported
The control of control and proportion directional control valve to tolerance to piston rod position, corresponding algorithm is used by industrial computer,
Realize the Synchronization Control driven to double cylinders.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by the embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (7)
1. a kind of pair of cylinder synchronous drive control device, it is characterised in that drive detection part and control section including cylinder；
The cylinder driving detection part includes take-off lever, and the take-off lever is fixed on the point midway of swingle, the rotation
Bar is fixed on experimental bench, and the two ends of the swingle are respectively mounted a cylinder driving unit, two cylinder driving unit knots
Structure is identical, including cylinder, piston rod and pull pressure sensor, and described pull pressure sensor one end passes through connector and piston rod
Connection, its other end is connected by one end of rotating shaft and swingle, and gas of the cylinder by control action in piston rod is pushed away
Draw the connector being connected with piston rod；
The control section, including A/D transition cards, data collecting card, D/A transition cards, pneumatic control unit and industrial computer；
Pull pressure sensor detection have swingle under load condition by force signal, A/D transition cards are transferred to, then by data
Capture card is input to industrial computer, industrial computer according to stress signal output control instruction by D/A transition cards export to
Gas control unit controls the synchronous driving of two cylinders.
2. a kind of pair of cylinder synchronous drive control device according to claim 1, it is characterised in that the pneumatic control list
Member includes pneumatic triple piece, air pump, pressure regulator valve and proportional control valve, and source of the gas obtains high pressure gas by air pump and pneumatic triple piece
Body, then obtains burning voltage by pressure regulator valve and is output to proportional control valve control cylinder driving, the proportional control valve and work
Control computer connection.
3. a kind of pair of cylinder synchronous drive control device according to claim 1, it is characterised in that two cylinders are parallel solid
It is scheduled on experimental bench, original state is fully extended for the piston rod of a cylinder, and the piston rod of another cylinder is fully retracted.
4. a kind of pair of cylinder synchronous drive control device according to claim 1, it is characterised in that the swingle is specific
To be fixed on by bearing block on the axis of two cylinder distances, when two piston rod movement half, swingle respectively with
Two piston rods are vertical.
5. a kind of pair of cylinder synchronous drive control device according to claim 4, it is characterised in that the medium pore of swingle
Coordinate with rotating shaft, the rotating shaft other end coordinates with the bearing block with thrust bearing, the bearing block is fixed on experimental bench.
6. a kind of pair of cylinder synchronous drive control device according to claim 1, it is characterised in that pull pressure sensor
The other end is connected by connector with hinge bolt, and the hinge bolt coordinates with rotating shaft, and further one end with swingle connects
Connect.
7. the control method of a kind of pair of cylinder synchronous drive control device according to claim any one of 1-6, its feature
It is, comprises the following steps：
First step source of the gas obtains the gases at high pressure of cleaning by air pump and pneumatic triple piece, by obtaining stablizing gas after pressure regulator valve
Gas acts on the piston rod of cylinder after pressure, passing ratio control valve, makes the outside power output of piston rod；
The detection of second step pull pressure sensor is converted into data signal input data capture card by force signal by A/D transition cards, is entered
One step is input to the force feedback signal that industrial computer obtained after handling accordingly two cylinders；
3rd step generates the feedback signal of second step the pulse signal of control proportional control valve after industrial computer is handled,
The signal be converted to by D/A transition cards exported after analog signal to two proportional control valves with adjust input cylinder air pressure,
Flow and direction, and then the power of cylinder output is controlled, make the synchronously driving of two cylinders, realize the closed loop control to double cylinder power outputs
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710493633.4A CN107143542B (en) | 2017-06-26 | 2017-06-26 | A kind of double cylinder synchronous drive control devices and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710493633.4A CN107143542B (en) | 2017-06-26 | 2017-06-26 | A kind of double cylinder synchronous drive control devices and method |
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| Publication Number | Publication Date |
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| CN107143542A true CN107143542A (en) | 2017-09-08 |
| CN107143542B CN107143542B (en) | 2018-10-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107675406A (en) * | 2017-09-30 | 2018-02-09 | 梁北洪 | A kind of scraping machine for fur with detection function |
| CN108005971A (en) * | 2017-11-07 | 2018-05-08 | 哈尔滨理工大学 | Double valve-controlled cylinder bringing onto load power control compensation collaborative devices and its control method |
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|---|---|
| CN107143542B (en) | 2018-10-30 |
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