CN218760740U - Cylinder position control device and system - Google Patents
Cylinder position control device and system Download PDFInfo
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- CN218760740U CN218760740U CN202222397271.8U CN202222397271U CN218760740U CN 218760740 U CN218760740 U CN 218760740U CN 202222397271 U CN202222397271 U CN 202222397271U CN 218760740 U CN218760740 U CN 218760740U
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Abstract
The utility model discloses a cylinder position control device and system. The device control unit is electrically connected with the position sensor, the pneumatic electromagnetic valve and the pressure sensor; the control unit is used for receiving a position signal of the position sensor and a pressure signal of the pressure sensor under the state of being connected with an external signal source, comparing the position signal and the pressure signal with a target position signal and a target pressure signal input by the signal source to generate a deviation signal, and controlling the opening or closing of the pneumatic electromagnetic valve according to the deviation signal; the pressure sensors are arranged on the air outlet pipeline and the air inlet pipeline of the pneumatic electromagnetic valve and used for acquiring pressure signals of the air inlet and the air outlet of the pneumatic electromagnetic valve and transmitting the pressure signals to the control unit; the position sensor is used for receiving a position signal of the pneumatic equipment in a state of being arranged on the pneumatic equipment. The device can realize the control of any position of the cylinder equipment within the travel range of the pneumatic equipment according to the real-time position information fed back by the position sensor.
Description
Technical Field
The utility model relates to a cylinder automatic control technical field, in particular to cylinder position control device and system.
Background
In the industrial production process, the precise positioning of the workpiece is involved in the processes of grabbing, transporting, placing and the like of the workpiece. The actuator is usually driven to move by using gas, liquid or electric energy as a power source. The electric actuator has the advantages of high response speed, accurate positioning and the like, but has a complex structure and strong rigidity, and is not suitable for occasions with electromagnetic interference and needing flexible positioning. The traditional cylinder positioning control method has the following characteristics: 1. the mechanical structure is adopted to realize positioning, and the multi-piston-rod gear cylinder is designed, so that the positioning of fixed points belongs to an open-loop control mode, the positioning of any position cannot be realized, and the adjustment of an action stroke is difficult; 2. the displacement of the piston is recorded by adopting a contact sensor, so that the piston is abraded, and the sensitivity to impact is high; 3. the reciprocating motion of the cylinder can generate larger impact force, which affects the service life of the cylinder and causes mechanical damage to certain stations; 4. when the oil cylinder is used for positioning in combination with the air cylinder, the oil leakage problem exists, and the maintenance is not easy. And because the air has the advantages of cleanness, compressibility, large output force and the like, the pneumatic control is more advantageous for large actuators and occasions requiring flexible positioning.
SUMMERY OF THE UTILITY MODEL
The inventor finds that the traditional cylinder position control device has the problem that the positioning of any position of the cylinder in the stroke range of the cylinder cannot be realized.
In view of the above, the present invention has been made to provide a cylinder position control apparatus and system that overcome or at least partially solve the above problems.
An embodiment of the utility model provides a cylinder position control device, a serial communication port, include: the device comprises a control unit, a position sensor, a pneumatic electromagnetic valve and a pressure sensor;
the control unit is electrically connected with the position sensor, the pneumatic electromagnetic valve and the pressure sensor;
the control unit is used for receiving a position signal of the position sensor and a pressure signal of the pressure sensor under the state of being connected with an external signal source, comparing the position signal and the pressure signal with a target position signal and a target pressure signal input by the signal source to generate a deviation signal, and controlling the opening or closing of the pneumatic electromagnetic valve according to the deviation signal;
the pressure sensors are arranged on the air outlet pipeline and the air inlet pipeline of the pneumatic electromagnetic valve and used for collecting pressure signals of the air inlet and the air outlet of the pneumatic electromagnetic valve and transmitting the pressure signals to the control unit;
the position sensor is used for receiving a position signal of the pneumatic equipment and transmitting the position signal to the control unit under the state of being arranged on the pneumatic equipment.
In some alternative embodiments, the pneumatic solenoid valve is a three-position, five-way solenoid valve.
In some alternative embodiments, the pressure sensor comprises a first pressure sensor and a second pressure sensor;
the first pressure sensor is arranged on an air outlet pipeline of the three-position five-way electromagnetic valve;
the second pressure sensor is arranged on an air inlet pipeline of the three-position five-way electromagnetic valve.
In some optional embodiments, the first pressure sensor is disposed on the left air outlet pipeline and/or the right air outlet pipeline of the three-position five-way solenoid valve.
In some optional embodiments, the control unit, the input interface with the signal source, includes:
analog signal input interface, communication input interface and digital input interface.
In some optional embodiments, the analog signal input interface is for inputting an analog voltage or an analog current.
In some optional embodiments, the cylinder position control apparatus further comprises: a muffler;
the silencer is connected with the three-position five-way electromagnetic valve.
In some alternative embodiments, the muffler is connected to the exhaust of the three-position, five-way solenoid valve.
Based on the same invention design, the embodiment of the utility model provides a cylinder position control system, include: the pneumatic device, the air source device, the signal source device and the cylinder position control device are arranged on the air source device;
the pneumatic equipment is connected with the air outlet of the three-position five-way electromagnetic valve, and the position sensor is arranged on the pneumatic equipment;
the air source device is connected with an air inlet of the three-position five-way electromagnetic valve;
the signal source device is connected with the control device.
In some alternative embodiments, the pneumatic device is a pneumatic cylinder.
The embodiment of the utility model provides an above-mentioned technical scheme's beneficial effect includes at least:
the embodiment of the utility model provides a cylinder position control device, the control unit is connected with position sensor, pneumatic solenoid valve and pressure sensor electricity, its the control unit, a state for be connected with outside signal source is under, receive position sensor's position signal and pressure sensor's pressure signal, and carry out comparison with the target position signal and the target pressure signal of position signal and pressure signal and signal source input and generate the deviation signal, according to opening or closing of deviation signal control pneumatic solenoid valve, with the motion of drive pneumatic equipment. The control device is provided with a position sensor, the position sensor can record position data of the pneumatic equipment in real time and transmit signals of the position data to the control unit, and the control unit realizes control over any position of the pneumatic equipment within a travel range of the pneumatic equipment according to position data signals transmitted by the position sensor and target position signals input by a signal source.
Meanwhile, the control device is provided with a pressure sensor, pressure data on the air outlet pipeline and the air inlet pipeline of the pneumatic electromagnetic valve can be recorded in real time, signals of the pressure data are transmitted to the control unit, and the control unit controls and adjusts the pressure of the pneumatic equipment according to the pressure signals of the pneumatic electromagnetic valve and target pressure signals, so that the effect of flexible clamping is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a diagram of a cylinder position control system according to an embodiment of the present invention;
fig. 2 is a flow chart of pressure control of the cylinder position control device according to the embodiment of the present invention;
FIG. 3 is a block diagram of a cylinder position control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a cylinder position control process of the cylinder position control device according to an embodiment of the present invention;
fig. 5 is a flow chart of cylinder position control of the cylinder position control device according to the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.
In order to solve the problem that exists among the prior art, the embodiment of the utility model provides a cylinder position control device and system.
As shown in fig. 1, the embodiment of the present invention provides a cylinder position control device 1, including: the control unit 4, the position sensor 7, the pneumatic electromagnetic valve 5 and the pressure sensor;
the control unit 4 is electrically connected with the position sensor 7, the pneumatic electromagnetic valve 5 and the pressure sensor;
a control unit 4 for receiving a position signal of the position sensor 7 and a pressure signal of the pressure sensor in a state of being connected to an external signal source, comparing the position signal and the pressure signal with a target position signal and a target pressure signal inputted from the signal source to generate a deviation signal, and controlling the pneumatic solenoid valve 5 to be opened or closed according to the deviation signal;
the pressure sensors are arranged on the air outlet pipeline and the air inlet pipeline of the pneumatic electromagnetic valve and used for acquiring pressure signals of the air inlet and the air outlet of the pneumatic electromagnetic valve and transmitting the pressure signals to the control unit;
the position sensor 7 is used for receiving a position signal of the pneumatic equipment and transmitting the position signal to the control unit under the state of being arranged on the pneumatic equipment.
In the cylinder position control device 1, after the control unit 4 receives a target position signal input by a signal source, a control algorithm in the control unit 4 controls the opening or closing of an electromagnetic valve by adopting a mode of combining on-off control and pulse control according to a deviation between a real-time position signal of the pneumatic equipment 6 fed back by the position sensor 7 and the target position signal, so that the pneumatic equipment is driven to move to a target position; meanwhile, the pressure value of the pipeline at the air outlet of the pneumatic electromagnetic valve can be adjusted through a pressure signal fed back by the pressure sensor, so that flexible clamping of pneumatic equipment is realized.
Optionally, the utility model discloses pneumatic solenoid valve in the cylinder position control device of embodiment is tribit five-way solenoid valve 5.
The pressure sensor of the utility model comprises a first pressure sensor 9 and a second pressure sensor 8;
the first pressure sensor 9 is arranged on the air outlet pipeline of the three-position five-way electromagnetic valve 5 and can be arranged on the left air outlet pipeline and/or the right air outlet pipeline of the three-position five-way electromagnetic valve 5, namely, the first pressure sensor can be arranged on the left air outlet pipeline of the three-position five-way electromagnetic valve 5 and also can be arranged on the right air outlet pipeline of the three-position five-way electromagnetic valve 5 or both the left air outlet pipeline and the right air outlet pipeline of the three-position five-way electromagnetic valve 5 are provided with the first pressure sensor 9 so as to collect pressure signals on the air outlet pipeline of the three-position five-way electromagnetic valve 5.
The working process of the first pressure sensor 9 is shown in fig. 2, when the position of the pneumatic equipment is adjusted, the first pressure sensor 9 collects pressure information on a pipeline at an air outlet of the three-position five-way solenoid valve, and when pressure abnormality occurs and the like, the control unit cuts off the solenoid valve according to a pressure signal transmitted by the first pressure sensor 9, so that the pneumatic equipment is prevented from being damaged under the condition of pressure loss; under the condition that the pneumatic equipment reaches a target position and the pressure of an air outlet of the three-position five-way electromagnetic valve needs to be adjusted, the control unit compares a real-time pressure signal transmitted by the first pressure sensor 9 on the air outlet pipeline of the three-position five-way electromagnetic valve with a target pressure signal input by a signal source to generate a deviation signal, drives the three-position five-way electromagnetic valve according to the deviation signal to adjust the pressure in a driving cavity of the pneumatic equipment until the pressure signal transmitted by the first pressure sensor does not deviate from the target pressure signal, and controls the middle sealing of the electromagnetic valve.
The second pressure sensor 8 is arranged on an air inlet pipeline of the three-position five-way electromagnetic valve 5 to record pressure data on the air inlet pipeline of the three-position five-way electromagnetic valve, can timely sense the pressure change of an air inlet under the condition that the pressure of the air inlet of the three-position five-way electromagnetic valve 5 is lost, and transmits a change signal to the control unit 4, and the control unit 4 controls the three-position five-way electromagnetic valve 5 to be closed, namely, the three-position five-way electromagnetic valve is in a middle sealing state, so that the position of the pneumatic equipment is kept unchanged in an original state.
The control unit 4 of the cylinder position control device, the input interface with the signal source includes: analog signal input interface, communication input interface and digital input interface. The analog signal input interface is used for inputting analog voltage or analog current, namely, the input mode of a target value comprises the following steps: an analog voltage (0-10V) input mode, an analog current (4-20 mA) input mode, a modbus communication input mode and a digital I/O input mode, wherein the input modes can be selected by self when the target position signal and the target pressure signal of the cylinder are input.
The cylinder position control device further includes: a muffler 10; silencer 10 links to each other with three-position five-way solenoid valve 5, specifically speaking, silencer 10 links to each other with three-position five-way solenoid valve 5 gas vent, can arouse gaseous vibrations at the carminative in-process of controlling means to produce strong noise, the noise can the polluted environment to a certain extent and can damage health, sets up the noise that the silencer can be under the carminative circumstances of not influencing three-position five-way solenoid valve, the noise that produces when eliminating the solenoid valve and exhausting.
Based on the same invention concept, the embodiment of the utility model also provides a cylinder position control system, include: the pneumatic device 6, the air source device 2, the signal source device 3 and the cylinder position control device provided in the embodiment of the utility model; the pneumatic equipment is connected with the air outlet of the three-position five-way electromagnetic valve 5, and the position sensor is arranged on the pneumatic equipment; the air source device is connected with an air inlet of the three-position five-way electromagnetic valve 5; the signal source device 3 is connected to the control device.
Alternatively, the pneumatic device of the present invention may be a cylinder, and as shown in fig. 1 for example, the cylinder 6 may include a rodless chamber 61, a rod chamber 62, and a piston 63, for example. The air outlet of the three-position five-way electromagnetic valve 5 is respectively connected with the rodless cavity end and the rod cavity end; the rodless chamber 61 or the rod chamber 62 is charged by the three-position five-way solenoid valve 5 to control the movement of the piston 63.
As shown in fig. 3, in the cylinder position control system, the pressure sensor and the position sensor transmit the obtained real-time data signals to the control unit, the signal source device can input a target value to the control unit through any target value input mode, and the control unit drives the three-position five-way electromagnetic valve to be opened or closed according to the difference value between the real-time data signals transmitted by the pressure sensor and the position sensor and the input target value signals so as to control the cylinder to move. The control unit 4 includes: the device comprises an amplifying circuit, a CPU and a driving circuit, wherein the amplifying circuit amplifies signals transmitted by a pressure sensor and a position sensor and an input target value signal and inputs the signals to the CPU; the CPU performs PID control operation on the signals fed back by the pressure sensor and the position sensor and the target value signal and outputs the PID operation to the driving circuit; the driving circuit drives three-position five-way electromagnetic action, such as: if the driving circuit outputs 24V, the three-position five-way electromagnetic valve is electrified and opened, and if the driving circuit outputs 0V, the three-position five-way electromagnetic valve is deenergized and closed.
The above-mentioned specific implementation of PID calculation can refer to the prior art, and is not described herein again.
Alternatively, as shown in fig. 4, the cylinder position control process of the control system may be, for example: the control unit is caused to control the movement of the cylinder by comparing the target value information with the real-time position information fed back by the position sensor.
For example, as shown in fig. 5, a specific position control process may obtain a current position and a speed signal of the air cylinder in real time, the control unit compares the current position with a target position, and if a deviation between the current position and the target position is 0, the control unit controls the solenoid valve to seal, and ends the position control process; and if the deviation between the current position and the target position is not 0, comprehensively considering the position deviation and the speed, calculating the opening time of the electromagnetic valve in each control period, and further driving the cylinder to move to the target position.
The utility model provides a cylinder position control device, for example can adopt PID's among the prior art mode, or adopt again PID + PWM + PFM control mode among the prior art, and to the cylinder of different specifications, air feed pressure etc. this controlling means's control parameter is different, and these control parameters include P-Gain, I-Gain and D-Gain of PID control, and the threshold value of business turn over PWM control, PFM control and blind spot.
Meanwhile, the control device does not need to add other one-way valves and bypasses, and can keep the position of the workpiece in the original position under the conditions of no voltage, power failure and signal interruption, so that the safety is high; specifically, for example, when the air inlet of the three-position five-way electromagnetic valve is closed, the pressure sensor arranged on the air inlet pipeline senses the pressure, so that a pressure loss alarm is sent out, 2 air outlet electromagnetic valves of the three-position 5-way electromagnetic valve are closed at the same time, the three-position five-way electromagnetic valve is in a middle sealing state (namely 2 cavities of the air cylinder are sealed), and the position of the air cylinder is kept in a normal position; for example, when the three-position five-way electromagnetic valve is powered off, the three-position five-way valve is in a middle sealing state, and the position of the cylinder is kept in the original position; and the following steps: the target value is converted and input into the CPU, a normal range exists, once the target value exceeds the normal range, the alarm of the target value exceeding the range is sent out, the control unit controls the electromagnetic valve to be closed, the three-position five-way valve is in a middle sealing state, and the position of the air cylinder is kept in the original position.
The control device of the embodiment realizes the control of any position of the cylinder in the stroke range of the cylinder by the simplest piping and wiring and lower cost; and after the target position is reached, the pressure sensor is arranged on the air outlet pipeline of the three-position five-way electromagnetic valve, the pressure sensor can record pressure data on the air outlet pipeline in real time and transmit a pressure data signal to the control unit, so that the pressure of the output port of the three-position five-way electromagnetic valve can be adjusted to reach a specified pressure value through the high-frequency on-off electromagnetic valve, and the flexible clamping function of the air cylinder is realized.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, the invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Claims (10)
1. A cylinder position control apparatus, characterized by comprising: the device comprises a control unit, a position sensor, a pneumatic electromagnetic valve and a pressure sensor;
the control unit is electrically connected with the position sensor, the pneumatic electromagnetic valve and the pressure sensor;
the control unit is used for receiving a position signal of the position sensor and a pressure signal of the pressure sensor under the state of being connected with an external signal source, comparing the position signal and the pressure signal with a target position signal and a target pressure signal input by the signal source to generate a deviation signal, and controlling the opening or closing of the pneumatic electromagnetic valve according to the deviation signal;
the pressure sensors are arranged on the air outlet pipeline and the air inlet pipeline of the pneumatic electromagnetic valve and used for collecting pressure signals of the air inlet and the air outlet of the pneumatic electromagnetic valve and transmitting the pressure signals to the control unit;
the position sensor is used for receiving a position signal of the pneumatic equipment and transmitting the position signal to the control unit under the state of being arranged on the pneumatic equipment.
2. The cylinder position control device according to claim 1, wherein the pneumatic solenoid valve is a three-position five-way solenoid valve.
3. The cylinder position control apparatus according to claim 2, wherein the pressure sensor includes a first pressure sensor and a second pressure sensor;
the first pressure sensor is arranged on an air outlet pipeline of the three-position five-way electromagnetic valve;
and the second pressure sensor is arranged on an air inlet pipeline of the three-position five-way electromagnetic valve.
4. The cylinder position control device according to claim 3, wherein the first pressure sensor is provided on a left outlet port pipe and/or a right outlet port pipe of a three-position five-way solenoid valve.
5. The cylinder position control apparatus according to claim 1, wherein the control unit, the input interface with the signal source, comprises:
analog signal input interface, communication input interface and digital input interface.
6. The cylinder position control device according to claim 5, wherein the analog signal input interface is configured to input an analog voltage or an analog current.
7. The cylinder position control device according to any one of claims 2 to 4, further comprising: a muffler;
the silencer is connected with the three-position five-way electromagnetic valve.
8. The cylinder position control device according to claim 7, wherein the muffler is connected to an exhaust port of the three-position five-way solenoid valve.
9. A cylinder position control system, comprising: pneumatic equipment, air supply means, signal source means and cylinder position control means according to any of claims 2 to 4 and 7 to 8;
the pneumatic equipment is connected with the air outlet of the three-position five-way electromagnetic valve, and the position sensor is arranged on the pneumatic equipment;
the air source device is connected with an air inlet of the three-position five-way electromagnetic valve;
the signal source device is connected with the control device.
10. The cylinder position control system of claim 9, wherein the pneumatic device is a pneumatic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222397271.8U CN218760740U (en) | 2022-09-09 | 2022-09-09 | Cylinder position control device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222397271.8U CN218760740U (en) | 2022-09-09 | 2022-09-09 | Cylinder position control device and system |
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| Publication Number | Publication Date |
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| CN218760740U true CN218760740U (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222397271.8U Active CN218760740U (en) | 2022-09-09 | 2022-09-09 | Cylinder position control device and system |
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| CN (1) | CN218760740U (en) |
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