CN205193605U - Pneumatic motor servo - Google Patents
Pneumatic motor servo Download PDFInfo
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- CN205193605U CN205193605U CN201521006973.2U CN201521006973U CN205193605U CN 205193605 U CN205193605 U CN 205193605U CN 201521006973 U CN201521006973 U CN 201521006973U CN 205193605 U CN205193605 U CN 205193605U
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Abstract
The utility model discloses a pneumatic motor servo, this pneumatic motor servo include pneumatic servo motor, flow and direction regulator and pneumatic servo controller, and pneumatic servo motor comprises pneumatic motor, centre gripping fixer, speed sensor, and speed sensor is fixed by centre gripping fixer centre gripping on pneumatic motor's the output shaft, the air inlet front end at pneumatic servo motor is installed to flow and direction regulator, is become by air inlet switch valve, flow ratio adjusting valve, flow sensor, forward rotation switch valve, reverse switch valves, pneumatic servo controller comprises CPU module, AD collection module, DA output module and communication module. The utility model discloses can realize the accurate control to the motor rotational speed, make pneumatic motor have preliminary servo characteristic, improve pneumatic motor's performance, widen pneumatic motor's use field, but wide application in the control accuracy's that has relatively high expectations such as ROV, underwater drilling mining occasion under water.
Description
Technical field
The utility model relates to a kind of air motor servo-drive system, belongs to electromechanical integration, sensing and observation and control technology field, is applicable to the occasions such as oil field, mine, oceanographic engineering, port and pier.
Background technology
Compared with traditional electro-motor, oil motor, air motor lighter in weight, installation and transportation are convenient; Again because its actuating medium is pressurized air, fire can not be caused; Can keep balancing with supply gas pressure during air motor overload, automatic stall; Compare with oil motor, compressed-air actuated leakage also can not to environment; Compare with electro-motor, also there is not the motor damage phenomenon that the problems such as overvoltage, overcurrent, insulation reduction cause.So air motor tool has the following advantages:
(1) work safety, has explosion-proof performance, and the impact by high temperature and vibration is less;
(2) work can be fully loaded with for a long time, and temperature rise is less;
(3) power bracket and the range of speeds are all wider, and power is little of a few hectowatt, large to a few myriawatt, and rotating speed severally can forward several ten thousand turns to from per minute;
(4) there is higher detent torque, can be with and carry startup;
(5) structure is simple, handiness, and easily, cost is low in maintenance.Due to These characteristics, thus air motor is widely used in the occasions such as oil field, mine, oceanographic engineering, port and pier.
But due to domestic less to the research of pneumatic fluid mechanics, current air motor is also in the opened loop control stage, compared with electro-motor, oil motor, carry out less to the research of its rotating speed, Torque Control, thus air motor is generally used in the occasion that some do not need accurately to control, require the occasion compared with high control precision for ROV, underwater drilling mining etc. under water, air motor cannot play its intrinsic advantage.
For air motor present situation, the utility model devises a kind of air motor servo-drive system, can realize accurately controlling to motor rotary speed, make air motor have preliminary servo characteristic, improve the performance of air motor, widened the use field of air motor.
Utility model content
Utility model object: the purpose of this utility model is to solve deficiency of the prior art, there is provided a kind of to realize accurately controlling to motor rotary speed, air motor is made to have preliminary servo characteristic, improve the performance of air motor, widen the use field of air motor, the air motor servo-drive system of the requirement of ROV, underwater drilling mining etc. under water compared with the occasion of high control precision can be widely used in.
Technical scheme: a kind of air motor servo-drive system described in the utility model, comprises air servo-motor, flow and direction regulator and pneumatic servo control device;
Described air servo-motor is made up of air motor, clamp-on holder, speed probe, and described speed probe is clamped on the output shaft of described air motor by clamp-on holder, realizes speed probe and the rotary motion of air motor coaxial synchronous;
Described flow and direction regulator are arranged on the air intake opening front end of air servo-motor, by air inlet switch valve, flow proportional variable valve, flow sensor, rotate forward switch valve, reversal switch valve forms, described air inlet switch valve successively with described flow proportional variable valve, rotate forward switch valve to be connected with reversal switch valve, described flow proportional variable valve and be also provided with flow sensor between described rotating forward switch valve and reversal switch valve, this flow and direction regulator control by pneumatic servo controller, realize starting or stoping of air servo-motor, rotation direction controls, and the adjustment of charge flow rate and detection,
Described pneumatic servo control device is made up of CPU module, A/D acquisition module, D/A output module and communication module;
Described CPU module is the control module of whole pneumatic servo system, and the external control command informations such as the motor starting that this CPU module reading communication module obtains or stopping, rotation direction, setting speed, make different disposal according to different command information;
Described A/D acquisition module realizes the flow signal that the flow sensor in tach signal, flow and the direction regulator sent the speed probe in air servo-motor sends and carries out A/D conversion, these simulating signals are converted to digital signal, and give CPU module analysis;
Described D/A output module provides Analog control signal to the flow proportional variable valve in flow and direction regulator, realizes the adjustment of charge flow rate, and final realization controls the rotating speed of air motor;
Described communication module realizes the reception of the external control command information such as motor starting or stopping, rotation direction, setting speed, and gives CPU module and process further.
Further, described air inlet switch valve, rotating forward switch valve, reversal switch valve, flow proportional variable valve all adopt motorized valve.
Further, the inlet end of described air inlet switch valve is connected with compressed air gas source.
Further, described CPU module adopts single-chip microcomputer or PLC control module.
Further, described pneumatic servo control device adopts closed loop adjustment mode to control the rotating speed of described air servo-motor.
Further, the flow signal that the tach signal sent by described A/D acquisition module collection speed probe, flow sensor are sent, carry out A/D conversion, and give CPU module after these simulating signals are converted to digital signal, required charge flow rate is calculated by CPU module, the delivery rate of flow ratio adjusting valve is controlled again, to control the constant of air motor rotating speed by D/A output module.
Beneficial effect: the utility model can realize accurately controlling to motor rotary speed, air motor is made to have preliminary servo characteristic, improve the performance of air motor, widen the use field of air motor, the occasion of the requirement of ROV, underwater drilling mining etc. under water compared with high control precision can be widely used in.
Accompanying drawing explanation
Fig. 1 is Control system architecture block diagram representation of the present utility model.
Embodiment
A kind of air motor servo-drive system as shown in Figure 1, this system primarily of the three parts such as air servo-motor, flow and direction regulator, pneumatic servo control device composition, have the rotation direction of air motor is controlled, the function such as rotational speed regulation.
1, air servo-motor
Primarily of Conventional pneumatic motor 6, clamp-on holder 7, speed probe 8 forms, speed probe 8 is clamped on the output shaft of air motor 6 by clamp-on holder 7, realize speed probe 8 and the rotary motion of air motor 6 coaxial synchronous, the actual speed of air motor 6 measured by speed probe 8, and be converted into electric signal, give pneumatic servo control device, the error of setting speed and actual speed is constantly compared by the intelligent control algorithm in pneumatic servo control device, and using this error as the input quantity of intelligent control algorithm, the charge flow rate of air motor 6 is regulated by flow and direction regulator, control the object that air motor 6 reaches invariablenes turning speed.
2, flow and direction regulator
Flow and direction regulator are arranged on the air intake opening front end of air servo-motor, primarily of air inlet switch valve 1, flow proportional variable valve 2, flow sensor 3, rotate forward the composition such as switch valve 4, reversal switch valve 5, flow and direction regulator control by pneumatic servo controller, realize the start/stop of air servo-motor, rotation direction controls, and the adjustment of charge flow rate and detection etc., specific as follows:
(1) when needs air servo-motor starts, it is open-minded that pneumatic servo control device controls air inlet switch valve 1, open source of the gas, according to current be rotate forward or toggling command, the rotating forward switch valve 4 or the reversal switch valve 5 that control correspondence are open-minded, then controlling flow ratio adjusting valve 2 is maximum opening, and air motor 6 is by maximal rate forward or reverse;
(2) when needs air servo-motor stops, pneumatic servo control device controls air inlet switch valve 1 and turns off, and cuts off source of the gas, and air servo-motor stops;
(3) when needs are to air servo-motor speed governing, it is open-minded that pneumatic servo control device controls air inlet switch valve 1, open source of the gas, according to current be rotate forward or toggling command, the rotating forward switch valve 4 or the reversal switch valve 5 that control correspondence are open-minded, then pneumatic servo control device rotary speed parameter as requested, the charge flow rate needed for calculating in real time, control flow ratio adjusting valve 2 and export corresponding gas flow, realize the speed governing to air servo-motor;
(4) during real work, the change of bleed pressure, the non-constant of operating load, capital causes rotation speed change, therefore pneumatic servo control device adopts closed loop adjustment mode to control the rotating speed of air servo-motor, namely the delivery rate of flow ratio adjusting valve 2 is gathered by flow sensor 3, and by the speed probe 8 in air servo-motor, gather the actual speed of air motor 6, again by the intelligent control algorithm in pneumatic servo control device, the constantly delivery rate of real-time dynamic adjustments flow proportional variable valve 2, to control the constant of air motor 6 rotating speed.
3, pneumatic servo control device
Pneumatic servo control device is the core of whole system, and be made up of CPU module 9, A/D acquisition module 10, D/A output module 11, communication module 12 etc., function is as follows:
(1) A/D acquisition module 10 realizes the flow signal that the flow sensor 3 in tach signal, flow and the direction regulator sent the speed probe 8 in air servo-motor sends and carries out A/D conversion, these simulating signals are converted to digital signal, and give CPU module 9, for intelligent control algorithm analytical calculation.
(2) the flow proportional variable valve 2 in D/A output module 11 pairs of flows and direction regulator provides Analog control signal, realizes the adjustment of charge flow rate, and final realization controls the rotating speed of air motor 6.
(3) communication module 12 realizes the reception of the external control command informations such as motor starting/stopping, rotation direction, setting speed, and gives CPU module 9, for processing further.
(4) CPU module 9 is control modules of whole pneumatic servo system, reads the external control command information such as motor starting/stopping, rotation direction, setting speed that communication module 12 obtains, makes different disposal according to different command information.When needs speed governing, the flow signal that A/D acquisition module 10 gathers tach signal that speed probe 8 sends, flow sensor 3 is sent, carry out A/D conversion, CPU module 9 is given after these simulating signals are converted to digital signal, CPU module 9 passes through intelligent control algorithm again, calculate required charge flow rate in real time, then control the delivery rate of flow ratio adjusting valve 2 by D/A output module 11, to control the constant of air motor 6 rotating speed.
The purpose of this utility model is to provide a kind of air motor servo-drive system, this system primarily of the three parts such as air servo-motor, flow and direction regulator, pneumatic servo control device composition, have the rotation direction of air motor is controlled, the function such as rotational speed regulation.Air motor servo-drive system entire block diagram as shown in Figure 1.
The external control command informations such as motor starting/stopping, rotation direction, setting speed are received by communication module 12 and give CPU module 9, and for processing further, concrete control method is as follows:
1, air motor start/stop
(1) when needs air servo-motor starts, it is open-minded that pneumatic servo control device controls air inlet switch valve 1, open source of the gas, according to current be rotate forward or inverted command, the rotating forward switch valve 4 or the reversal switch valve 5 that control correspondence are open-minded, then controlling flow ratio adjusting valve 2 is maximum opening, and air motor 6 is by maximal rate forward or reverse;
(2) when needs air servo-motor stops, pneumatic servo control device controls air inlet switch valve 1 and turns off, and cuts off source of the gas, and air servo-motor stops.
2, air motor speed governing and fixed speed control
When needs speed governing, A/D acquisition module 10 gathers tach signal that speed probe 8 sends and the flow signal that flow sensor 3 is sent, carry out A/D conversion, CPU module 9 is given after these simulating signals are converted to digital signal, CPU module 9 is again according to the setting speed parameter that communication module 12 receives, pass through intelligent control algorithm, charge flow rate needed for calculating, the delivery rate of flow ratio adjusting valve 2 is controlled again, to control air motor 6 by setting speed forward or reverse by D/A output module 11.When changing due to source of the gas change or load, when causing rotation speed change, CPU module 9 adopts closed loop adjustment mode to control the constant of air motor 6 rotating speed, namely the delivery rate of flow ratio adjusting valve 2 is gathered by flow sensor 3, and the actual speed of air motor 6 is gathered by speed probe 8, again by the intelligent control algorithm in CPU module 9, the constantly delivery rate of real-time dynamic adjustments flow proportional variable valve 2, to control the constant of air motor 6 rotating speed.
Further, described air inlet switch valve 1, rotating forward switch valve 4, reversal switch valve 5, flow proportional variable valve 2 all adopt motorized valve.Further, the inlet end of described air inlet switch valve is connected with compressed air gas source.Further, described CPU module adopts single-chip microcomputer or PLC control module.
The utility model can realize accurately controlling to motor rotary speed, air motor is made to have preliminary servo characteristic, improve the performance of air motor, widened the use field of air motor, the occasion of the requirement of ROV, underwater drilling mining etc. under water compared with high control precision can be widely used in.
The above, it is only preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, although the utility model discloses as above with preferred embodiment, but and be not used to limit the utility model, any those skilled in the art, do not departing within the scope of technical solutions of the utility model, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solutions of the utility model, according to any simple modification that technical spirit of the present utility model is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (6)
1. an air motor servo-drive system, is characterized in that: comprise air servo-motor, flow and direction regulator and pneumatic servo control device;
Described air servo-motor is made up of air motor (6), clamp-on holder (7), speed probe (8), described speed probe (8) is clamped on the output shaft of described air motor (6) by clamp-on holder (7), realizes speed probe (8) and air motor (6) coaxial synchronous rotary motion;
Described flow and direction regulator are arranged on the air intake opening front end of air servo-motor, by air inlet switch valve (1), flow proportional variable valve (2), flow sensor (3), rotate forward switch valve (4), reversal switch valve (5) forms, described air inlet switch valve (1) successively with described flow proportional variable valve (2), rotate forward switch valve (4) to be connected with reversal switch valve (5), described flow proportional variable valve (2) and be also provided with flow sensor (3) between described rotating forward switch valve (4) and reversal switch valve (5), this flow and direction regulator control by pneumatic servo controller, realize starting or stoping of air servo-motor, rotation direction controls, and the adjustment of charge flow rate and detection,
Described pneumatic servo control device is made up of CPU module (9), A/D acquisition module (10), D/A output module (11) and communication module (12);
Described CPU module (9) is the control module of whole pneumatic servo system, the external control command informations such as the motor starting that this CPU module (9) reading communication module (12) obtains or stopping, rotation direction, setting speed, make different disposal according to different command information;
Described A/D acquisition module (10) realizes the flow signal that the flow sensor (3) in tach signal, flow and the direction regulator sent the speed probe (8) in air servo-motor sends and carries out A/D conversion, these simulating signals are converted to digital signal, and give CPU module (9) analysis;
Described D/A output module (11) provides Analog control signal to the flow proportional variable valve (2) in flow and direction regulator, and to realize the adjustment of charge flow rate, final realization controls the rotating speed of air motor (6);
Described communication module (12) realizes the reception of the external control command information such as motor starting or stopping, rotation direction, setting speed, and gives CPU module (9) and process further.
2. a kind of air motor servo-drive system according to claim 1, is characterized in that: described air inlet switch valve (1), rotating forward switch valve (4), reversal switch valve (5), flow proportional variable valve (2) all adopt motorized valve.
3. a kind of air motor servo-drive system according to claim 1 and 2, is characterized in that: the inlet end of described air inlet switch valve (1) is connected with compressed air gas source.
4. a kind of air motor servo-drive system according to claim 1, is characterized in that: described CPU module (9) adopts single-chip microcomputer or PLC control module.
5. a kind of air motor servo-drive system according to claim 1, is characterized in that: described pneumatic servo control device adopts closed loop adjustment mode to control the rotating speed of described air servo-motor.
6. a kind of air motor servo-drive system according to claim 1, it is characterized in that: the flow signal that the tach signal sent by described A/D acquisition module (10) collection speed probe (8), flow sensor (3) are sent, carry out A/D conversion, and give CPU module (9) after these simulating signals are converted to digital signal, required charge flow rate is calculated by CPU module (9), the delivery rate of flow ratio adjusting valve (2) is controlled again, to control the constant of air motor (6) rotating speed by D/A output module (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521006973.2U CN205193605U (en) | 2015-12-08 | 2015-12-08 | Pneumatic motor servo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521006973.2U CN205193605U (en) | 2015-12-08 | 2015-12-08 | Pneumatic motor servo |
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| Publication Number | Publication Date |
|---|---|
| CN205193605U true CN205193605U (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521006973.2U Expired - Fee Related CN205193605U (en) | 2015-12-08 | 2015-12-08 | Pneumatic motor servo |
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| CN (1) | CN205193605U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI584919B (en) * | 2016-05-19 | 2017-06-01 | 中國氣動工業股份有限公司 | Programmable air servo motor |
| CN106970323A (en) * | 2017-01-24 | 2017-07-21 | 杭州威衡科技有限公司 | Robot servo driver testing calibration device |
-
2015
- 2015-12-08 CN CN201521006973.2U patent/CN205193605U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI584919B (en) * | 2016-05-19 | 2017-06-01 | 中國氣動工業股份有限公司 | Programmable air servo motor |
| CN106970323A (en) * | 2017-01-24 | 2017-07-21 | 杭州威衡科技有限公司 | Robot servo driver testing calibration device |
| CN106970323B (en) * | 2017-01-24 | 2019-07-26 | 杭州威衡科技有限公司 | Robot servo driver testing calibration device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160427 Termination date: 20161208 |