CN212494778U - Servo hydraulic cushion electrohydraulic system - Google Patents
Servo hydraulic cushion electrohydraulic system Download PDFInfo
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- CN212494778U CN212494778U CN202022014019.5U CN202022014019U CN212494778U CN 212494778 U CN212494778 U CN 212494778U CN 202022014019 U CN202022014019 U CN 202022014019U CN 212494778 U CN212494778 U CN 212494778U
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Abstract
The utility model discloses a servo hydraulic cushion electricity liquid system and control method, servo hydraulic cushion electricity liquid system mainly include tee bend control valve, first shuttle valve, support cartridge valve, guide's electromagnetism ball valve, first relief valve, second shuttle valve, second relief valve, hydraulic cushion displacement sensor, first pressure sensor, pneumatic cylinder, jar displacement sensor, energy storage ware, second pressure sensor, controller etc.. The utility model discloses system dynamic response is fast, has realized the synchronization and the blank pressing force cooperative control of multiaxis drive hydraulic cushion, and tensile in-process blank pressing force is established rapidly and stable, undulant little.
Description
Technical Field
The utility model relates to an electricity liquid system of hydraulic pressure pad, especially an electricity liquid system of servo hydraulic pressure pad.
Background
The hydraulic cushion is a side pressing force control device commonly used in the metal plate stretch forming process, and the side pressing force directly determines the quality of a stretched workpiece. The blank pressing force is generated passively by forced movement of the hydraulic cushion, the forming process is complex, the impact is often accompanied, and the control difficulty is high. Along with the development of the stretching process, the blank holder force is required to be established in a short time, accurately and controllably, and even required to be automatically changed according to a certain rule along with the development of the metal stretching state. How to control the hydraulic cushion to realize blank holder force automatic control, promote response speed, alleviate the impact that produces when drawing in-process mould and hydraulic cushion contact simultaneously, be the technological problem who awaits the solution in the hydraulic cushion drawing technology.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an electricity liquid system of servo hydraulic cushion can realize the accurate dynamic automatic control of hydraulic cushion blank pressing power, and not only blank pressing power is established fastly, can also alleviate the impact of blank pressing power formation in-process greatly.
The technical scheme of the utility model as follows:
the utility model provides a servo hydraulic cushion electricity liquid system which characterized by: the servo hydraulic cushion electro-hydraulic system mainly comprises a three-way control valve, a first shuttle valve, a supporting cartridge valve, a pilot electromagnetic ball valve, a first safety valve, a second shuttle valve, a second safety valve, a hydraulic cushion displacement sensor, a first pressure sensor, a hydraulic cylinder, a cylinder displacement sensor, an energy accumulator, a second pressure sensor and a controller; the hydraulic cushion is driven by four groups of electrohydraulic driving shafts, and the hydraulic cylinders of the four groups of electrohydraulic driving shafts are respectively arranged at four corners of the hydraulic cushion; the P port of the three-way control valve is communicated with the A port of the first shuttle valve, the oil inlet of the second safety valve, the rod cavity of the hydraulic cylinder, the oil port of the energy accumulator, the detection port of the second pressure sensor and the main oil source, the A port of the three-way control valve is communicated with the A port of the supporting cartridge valve, the B port of the supporting cartridge valve is communicated with the oil inlet of the first safety valve, the A port of the second shuttle valve, the detection port of the first pressure sensor and the rodless cavity of the hydraulic cylinder, the B port of the first shuttle valve is communicated with the control oil X port of the three-way control valve and the pilot control oil source, the C port of the first shuttle valve is communicated with the B port of the second shuttle valve, and the C port of the second shuttle valve is communicated with the pilot electromagneticThe port P of the ball valve is communicated, the port A of the pilot electromagnetic ball valve is communicated with a control cavity of the supporting cartridge valve, and the hydraulic oil tank is communicated with the port T of the three-way control valve, the port Y of the control oil, the port T of the pilot electromagnetic ball valve, the oil outlet of the first safety valve and the oil outlet of the second safety valve; the detection end of the hydraulic cushion displacement sensor is arranged on the hydraulic cushion, the detection end of the cylinder displacement sensor is arranged in the hydraulic cylinder, and the controller is electrically connected with the three-way control valve amplifier, the pilot electromagnetic ball valve electromagnet, the hydraulic cushion displacement sensor circuit, the first pressure sensor circuit, the cylinder displacement sensor circuit and the second pressure sensor circuit; the first shuttle valve and the second shuttle valve communicate the highest pressure in the pilot control oil source, the main oil source and the rodless cavity of the hydraulic cylinder with the port P of the pilot electromagnetic ball valve, and when the pilot electromagnetic ball valve is de-energized, the support cartridge valve is effectively stopped; hydraulic cushion displacement sensor for detecting displacement of hydraulic cushionscAnd converted into electric signals to be transmitted to a controller, and the controller can calculate the speed of the hydraulic cushionvc(ii) a The first pressure sensor detects the rodless cavity pressure of the hydraulic cylinderPaAnd converted into an electric signal to be transmitted to the controller; cylinder displacement sensor for detecting displacement of hydraulic cylindersaAnd converted into an electric signal to be transmitted to a controller, and the controller can calculate the speed of the hydraulic cylinderva(ii) a The second pressure sensor detects the pressure of the rod cavity of the hydraulic cylinderPbAnd converted into an electric signal to be transmitted to the controller; the controller receives the sensor signal, executes a control algorithm and converts a control instruction into an electric signal to control the hydraulic valve; the flow coefficient of the three-way control valve iskv(ii) a The rodless chamber of the hydraulic cylinder has an effective area ofAaThe action area of the rod cavity isAb. The hydraulic cushion displacement sensor (8), the first pressure sensor (9), the cylinder displacement sensor (11) and the second pressure sensor (13) are respectively in electric signal connection with the controller (14).
Further, the utility model relates to a control method of servo hydraulic cushion electricity liquid system, include at least following step:
jacking a hydraulic cushion: after the last stretching is finished, the hydraulic cushion needs to be jacked to an initial set position, the pilot electromagnetic ball valve is electrified in the process, the port A and the port B of the support cartridge valve are communicated in two directions, and the tee joint controls the valve operatorWhen the hydraulic circuit is operated in a working position with the port P communicated with the port A, hydraulic oil from a main oil source enters a rodless cavity of the hydraulic cylinder, a piston rod of the hydraulic cylinder extends out, and the hydraulic circuit recycles the hydraulic oil flowing out of the rod cavity of the hydraulic cylinder, so that the rated input flow of the system is reduced, the installed power is reduced, and the energy is saved; displacement of the controller by means of a hydraulic cushionscSpeed, velocityvcAnd displacement of the hydraulic cylindersaSpeed, velocityvaCalculating a control instruction, and controlling the three-way control valve so as to adjust the speed of the hydraulic cylinder and the hydraulic cushion and perform final positioning; the control instructions include motion control instructionsumAnd synchronizing leveling control commandsul. Assume a desired trajectory of the hydraulic pad isscdThen, thenumComprises the following steps:
mPIDlet movement errorsesc、evcPID control functions as small as possible.umThe hydraulic pads are moved according to the expected track.
ulThe calculation formula is as follows:
θ x 、θ y the inclination angles of the hydraulic cushion in the front-back direction and the left-right direction are respectively.lPIDIs to letθ x 、θ y PID control functions as small as possible.ulThe four groups of hydraulic shafts are enabled to move synchronously.
The control signal of the three-way control valve when the hydraulic cushion is jacked is as follows:
pre-accelerating a hydraulic cushion: before the upper die is downwards contacted with the edge pressing device, the hydraulic cushion drives the edge pressing device to downwards move in advance, and at the moment, the pilot electromagnetic ball valve is electrified to support the port A and the port B of the cartridge valveThe hydraulic cylinder is communicated in two directions, the three-way control valve works at a working position where the port A is communicated with the port T, hydraulic oil from a main oil source enters a rod cavity of the hydraulic cylinder, and a piston rod of the hydraulic cylinder retreats; at this stage to achieve the desired blank holding force of the hydraulic padFcCalculating control commands with reference to theoretical calculation speed of time, including pre-acceleration commandsufAnd synchronizing leveling control commandsul。ulAs calculated by the formula 2, the method,ufthe calculation formula of (A) is as follows:
kvmay be obtained from a product sample.
The control signal of the three-way control valve when the hydraulic cushion is pre-accelerated is as follows:
stretching a hydraulic cushion: when a workpiece is stretched, the upper die presses the edge pressing device to move downwards, the piston rod of the hydraulic cylinder is forced to move downwards, the pilot electromagnetic ball valve is electrified at the moment, the port A and the port B of the support cartridge valve are communicated in two directions, the three-way control valve works at a working position of the port A communicated with the port T, hydraulic oil from a main oil source is fed into the rod cavity of the hydraulic cylinder, and the piston rod of the hydraulic cylinder retreats; the hydraulic cylinder and the hydraulic cushion are forced to move during stretching, the blank holding force and the hydraulic cushion are controlled to be parallel at the stage, and the control instruction is a pre-acceleration instructionufSynchronous leveling control commandulEdge pressure control commanducThe three parts are as follows.ulAs calculated by the formula 2, the method,ufas calculated by the formula 4, the method,ucthe calculation formula of (A) is as follows:
fPIDlet the edge pressing force error of the hydraulic cushionefPID control functions as small as possible. Sigma (Pa×Aa-Pb×Ab) The total force of the 4 sets of hydraulic cylinders is shown.
The control signal of the three-way control valve when the hydraulic cushion is stretched is as follows:
and (3) retracting the hydraulic cushion: when the hydraulic cushion needs to actively move downwards, the pilot electromagnetic ball valve is electrified to support the bidirectional communication between the port A and the port B of the cartridge valve, the three-way control valve works at the working position of the port A communicated with the port T, hydraulic oil from a main oil source enters a rod cavity of the hydraulic cylinder, a piston rod of the hydraulic cylinder retreats, the control method at the stage is the same as that during jacking of the hydraulic cushion, and the control signal of the three-way control valve is the same as that in the formula 3.
Hovering of the hydraulic cushion: when the hydraulic cushion stops moving, the pilot electromagnetic ball valve is powered off, the first shuttle valve and the second shuttle valve ensure that the highest pressure of the system acts on a control cavity of the supporting cartridge valve, the supporting cartridge valve is in a reliable stop state, the three-way control valve works in a working position of the port A and the port T, a rodless cavity of the hydraulic cylinder is stopped, and a piston rod of the hydraulic cylinder is static.
The utility model has the advantages as follows:
1. the utility model discloses an impact that produces when pre-accelerating control can effectively alleviate the contact of last mould and blank holder device reduces the blank holder power fluctuation at tensile initial stage, improves the tensile shaping quality of work piece.
2. The utility model discloses a cooperative control of hydraulic cushion blank pressing power and motion, blank pressing power can be according to the automatic accurate regulation of expectation, can adapt to more complicated stretch forming process.
Drawings
Fig. 1 is the principle schematic diagram of the hydraulic cushion electrohydraulic system of the utility model.
Fig. 2 is a flowchart of the control method of the present invention.
In fig. 1: the hydraulic control system comprises a 1-three-way control valve, a 2-first shuttle valve, a 3-support cartridge valve, a 4-pilot electromagnetic ball valve, a 5-first safety valve, a 6-second shuttle valve, a 7-second safety valve, an 8-hydraulic cushion displacement sensor, a 9-first pressure sensor, a 10-hydraulic cylinder, an 11-cylinder displacement sensor, a 12-energy accumulator, a 13-second pressure sensor, a 14-controller, a 301-hydraulic cushion, a 302-main oil source and a 303-pilot control oil source.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, the present invention mainly comprises: the servo hydraulic cushion electro-hydraulic system mainly comprises a three-way control valve 1, a first shuttle valve 2, a supporting cartridge valve 3, a pilot electromagnetic ball valve 4, a first safety valve 5, a second shuttle valve 6, a second safety valve 7, a hydraulic cushion displacement sensor 8, a first pressure sensor 9, a hydraulic cylinder 10, a cylinder displacement sensor 11, an energy accumulator 12, a second pressure sensor 13 and a controller 14; the hydraulic cushion 301 is driven by four groups of electrohydraulic driving shafts, and the hydraulic cylinders 10 of the four groups of electrohydraulic driving shafts are respectively arranged at four corners of the hydraulic cushion 301; the port P of the three-way control valve 1 is communicated with the port A of the first shuttle valve 2, the oil inlet of the second safety valve 7, the rod cavity of the hydraulic cylinder 10, the oil port of the energy accumulator 12, the detection port of the second pressure sensor 13 and the main oil source 302, the port A of the three-way control valve 1 is communicated with the port A of the support cartridge valve 3, the port B of the support cartridge valve 3 is communicated with the oil inlet of the first safety valve 5, the port A of the second shuttle valve 6, the detection port of the first pressure sensor 9 and the rodless cavity of the hydraulic cylinder 10, the port B of the first shuttle valve 2 is communicated with the control oil port X of the three-way control valve 1 and the pilot control oil source 303, the port C of the first shuttle valve 2 is communicated with the port B of the second shuttle valve 6, the port C of the second shuttle valve 6 is communicated with the port P of the pilot electromagnetic ball valve 4, the port A of the pilot electromagnetic ball valve 4 is communicated with the control cavity of the support cartridge valve 3, the hydraulic oil tank is communicated with the port T, the, A T port of the pilot electromagnetic ball valve 4, an oil outlet of the first safety valve 5 and an oil outlet of the second safety valve 7 are communicated; the detection end of a hydraulic cushion displacement sensor 8 is arranged on a hydraulic cushion 301, the detection end of a cylinder displacement sensor 11 is arranged in a hydraulic cylinder 10, and a controller 14, an amplifier of a three-way control valve 1, a pilot electromagnetic ball valve 4 electromagnet, a hydraulic cushion displacement sensor 8 circuit, a first pressure sensor 9 circuit and a cylinder positionThe circuit of the motion sensor 11 and the circuit of the second pressure sensor 13 are electrically connected; the first shuttle valve 2 and the second shuttle valve 6 communicate the highest pressure in the rodless cavities of the pilot control oil source 303, the main oil source 302 and the hydraulic cylinder 10 with the port P of the pilot electromagnetic ball valve 4, and when the pilot electromagnetic ball valve 4 is de-energized, the support cartridge valve 3 is effectively cut off; the pad displacement sensor 8 detects the displacement of the pad 301scAnd converted into an electric signal to be transmitted to the controller 14, and the controller 14 can calculate the speed of the hydraulic pad 301vc(ii) a The first pressure sensor 9 detects the rodless chamber pressure of the hydraulic cylinder 10PaAnd converted into an electric signal to be transmitted to the controller 14; the cylinder displacement sensor 11 detects the displacement of the hydraulic cylinder 10saAnd converted into an electric signal to be transmitted to the controller 14, and the controller 14 can calculate the speed of the hydraulic cylinder 10va(ii) a The second pressure sensor 13 detects the rod chamber pressure of the hydraulic cylinder 10PbAnd converted into an electric signal to be transmitted to the controller 14; the controller 14 receives the sensor signals, executes a control algorithm, and converts the control instructions into electrical signals to control the hydraulic valve; the flow coefficient of the three-way control valve 1 iskv(ii) a The rodless chamber of hydraulic cylinder 10 has an effective area ofAaThe action area of the rod cavity isAb。
Referring to the attached figures 1 and 2, the control method of the servo hydraulic cushion electro-hydraulic system is characterized in that: at least comprises the following steps:
a) jacking a hydraulic cushion: after the last stretching is finished, the hydraulic cushion 301 needs to be lifted to an initial set position, in the process, the pilot electromagnetic ball valve 4 is electrified, the port A and the port B of the support cartridge valve 3 are communicated in a two-way mode, the three-way control valve 1 works in a working position with the port P communicated with the port A, hydraulic oil from the main oil source 302 enters the rodless cavity of the hydraulic cylinder 10, the piston rod of the hydraulic cylinder 10 extends out, and a hydraulic loop recycles the hydraulic oil flowing out of the rod cavity of the hydraulic cylinder 10, so that the rated input flow of the system is reduced, the installed power is reduced, and the energy is saved; displacement of the controller 14 by the hydraulic pads 301scSpeed, velocityvcAnd displacement of hydraulic cylinder 10saSpeed, velocityvaCalculating a control command, and controlling the three-way control valve 1 so as to adjust the speed of the hydraulic cylinder 10 and the hydraulic cushion 301 and perform final positioning; the control instructions include motion control instructionsumAnd synchronizing leveling control commandsul. FalseLet the desired trajectory of the pad 301 bescdThen, thenumComprises the following steps:
mPIDlet movement errorsesc、evcPID control functions as small as possible.umAllowing the pad 301 to move in a desired path.
ulThe calculation formula is as follows:
θ x 、θ y the inclination angles of the hydraulic pads 301 in the front-rear direction and the left-right direction are respectively.lPIDIs to letθ x 、θ y PID control functions as small as possible.ulThe four groups of hydraulic shafts are enabled to move synchronously.
When the hydraulic cushion 301 is jacked up, the control signal of the three-way control valve 1 is
b) Pre-accelerating a hydraulic cushion: before an upper die is downwards contacted with a blank holder, a hydraulic cushion 301 drives the blank holder to move downwards in advance, at the moment, a pilot electromagnetic ball valve 4 is electrified, a port A and a port B of a support cartridge valve 3 are communicated in a two-way mode, a three-way control valve 1 works at a working position of a port A communicated with a port T, hydraulic oil from a main oil source 302 enters a rod cavity of a hydraulic cylinder 10, and a piston rod of the hydraulic cylinder 10 retreats; at this stage to achieve the desired blank holding force of the hydraulic padFcCalculating control commands with reference to theoretical calculation speed of time, including pre-acceleration commandsufAnd synchronizing leveling control commandsul。ulAs calculated by the formula 2, the method,ufis calculated as
kvMay be obtained from a product sample.
When the hydraulic cushion 301 is pre-accelerated, the control signal of the three-way control valve 1 is
c) Stretching a hydraulic cushion: when a workpiece is stretched, the upper die presses the edge pressing device to move downwards, the piston rod of the hydraulic cylinder 10 is forced to move downwards, the pilot electromagnetic ball valve 4 is electrified at the moment, the port A and the port B of the support cartridge valve 3 are communicated in a two-way mode, the three-way control valve 1 works at a working position of the port A communicated with the port T, hydraulic oil from a main oil source 302 is fed into the rod cavity of the hydraulic cylinder 10, and the piston rod of the hydraulic cylinder 10 retreats; during stretching, the hydraulic cylinder 10 and the hydraulic cushion 301 are forced to move, the blank holding force and the hydraulic cushion 301 are controlled to be parallel at the same time at the stage, and the control command is a pre-acceleration commandufSynchronous leveling control commandulEdge pressure control commanducThe three parts are as follows.ulAs calculated by the formula 2, the method,ufas calculated by the formula 4, the method,ucis calculated as
fPIDLet the edge pressing force error of the hydraulic cushionefPID control functions as small as possible. Sigma (Pa×Aa-Pb×Ab) The total force of the 4 sets of hydraulic cylinders 10 is shown.
When the hydraulic cushion 301 is stretched, the control signal of the three-way control valve 1 is
d) And (3) retracting the hydraulic cushion: when the hydraulic cushion 301 needs to actively move downwards, the pilot electromagnetic ball valve 4 is electrified to support the bidirectional communication between the port A and the port B of the cartridge valve 3, the three-way control valve 1 works at the working position of the port A communicated with the port T, hydraulic oil from the main oil source 302 enters the rod cavity of the hydraulic cylinder 10, the piston rod of the hydraulic cylinder 10 retreats, the control method at the stage is the same as that during jacking of the hydraulic cushion 301, and the control signal of the three-way control valve 1 is the same as that in the formula 3.
e) Hovering of the hydraulic cushion: when the hydraulic cushion 301 stops moving, the pilot electromagnetic ball valve 4 is powered off, the first shuttle valve 2 and the second shuttle valve 6 ensure that the highest pressure of the system acts on the control cavity of the support cartridge valve 3, the support cartridge valve 3 is in a reliable stop state, the three-way control valve 1 works at a working position with an opening A and an opening T, a rodless cavity of the hydraulic cylinder 10 is stopped, and a piston rod of the hydraulic cylinder 10 is still.
Claims (1)
1. A servo hydraulic cushion electro-hydraulic system is characterized by mainly comprising a three-way control valve (1), a first shuttle valve (2), a supporting cartridge valve (3), a pilot electromagnetic ball valve (4), a first safety valve (5), a second shuttle valve (6), a second safety valve (7), a hydraulic cushion displacement sensor (8), a first pressure sensor (9), a hydraulic cylinder (10), a cylinder displacement sensor (11), an energy accumulator (12), a second pressure sensor (13) and a controller (14); the hydraulic cushion is driven by four groups of electro-hydraulic driving shafts, and the hydraulic cylinders (10) of the four groups of electro-hydraulic driving shafts are respectively arranged at four corners of the hydraulic cushion; a port P of the three-way control valve (1) is communicated with a port A of the first shuttle valve (2), an oil inlet of the second safety valve (7), a rod cavity of the hydraulic cylinder (10), an oil port of the energy accumulator (12), a detection port of the second pressure sensor (13) and a main oil source, the port A of the three-way control valve (1) is communicated with the port A of the supporting cartridge valve (3), the port B of the supporting cartridge valve (3) is communicated with an oil inlet of the first safety valve (5), the port A of the second shuttle valve (6), a detection port of the first pressure sensor (9) and a rodless cavity of the hydraulic cylinder (10), the port B of the first shuttle valve (2) is communicated with a control oil port X and a pilot control oil source of the three-way control valve (1), the port C of the first shuttle valve (2) is communicated with the port B of the second shuttle valve (6), the port C of the second shuttle valve (6) is communicated with a port P of the pilot electromagnetic solenoid valve (4), and the port A of the solenoid ball valve (4) is communicated with the pilot control valve control chamber of the supporting cartridge valve (3), the hydraulic oil tank is communicated with a T port and a control oil Y port of the three-way control valve (1), a T port of the pilot electromagnetic ball valve (4), an oil outlet of the first safety valve (5) and an oil outlet of the second safety valve (7); the detection end of a hydraulic cushion displacement sensor (8) is arranged on a hydraulic cushion, the detection end of a cylinder displacement sensor (11) is arranged in a hydraulic cylinder (10), and a controller (14) is electrically connected with an amplifier of a three-way control valve (1), an electromagnet of a pilot electromagnetic ball valve (4), a circuit of the hydraulic cushion displacement sensor (8), a circuit of a first pressure sensor (9), a circuit of the cylinder displacement sensor (11) and a circuit of a second pressure sensor (13); the first shuttle valve (2) and the second shuttle valve (6) communicate the highest pressure in the rodless cavities of the pilot control oil source, the main oil source and the hydraulic cylinder (10) with the P port of the pilot electromagnetic ball valve (4), and when the pilot electromagnetic ball valve (4) is de-energized, the supporting cartridge valve (3) is effectively cut off; the hydraulic cushion displacement sensor (8), the first pressure sensor (9), the cylinder displacement sensor (11) and the second pressure sensor (13) are respectively in electric signal connection with the controller (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022014019.5U CN212494778U (en) | 2020-09-15 | 2020-09-15 | Servo hydraulic cushion electrohydraulic system |
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| CN202022014019.5U CN212494778U (en) | 2020-09-15 | 2020-09-15 | Servo hydraulic cushion electrohydraulic system |
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| CN212494778U true CN212494778U (en) | 2021-02-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400710A (en) * | 2021-04-30 | 2021-09-17 | 天津市天锻压力机有限公司 | Four-axis servo hydraulic cushion special for high-precision die testing hydraulic machine |
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- 2020-09-15 CN CN202022014019.5U patent/CN212494778U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400710A (en) * | 2021-04-30 | 2021-09-17 | 天津市天锻压力机有限公司 | Four-axis servo hydraulic cushion special for high-precision die testing hydraulic machine |
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