CN2720707Y - Intelligent servo push-rod - Google Patents
Intelligent servo push-rod Download PDFInfo
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- CN2720707Y CN2720707Y CN 200420084197 CN200420084197U CN2720707Y CN 2720707 Y CN2720707 Y CN 2720707Y CN 200420084197 CN200420084197 CN 200420084197 CN 200420084197 U CN200420084197 U CN 200420084197U CN 2720707 Y CN2720707 Y CN 2720707Y
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Abstract
The utility model provides an intelligent servo push-rod, comprising a push rod controller, a parameter installation device, push rod executors, a transducer and a motion state displayer. The push rod controller is connected with a plurality of dispersive push rod executors through a servo controller. The push rod executor comprises a servo motor, and a planet speed reducer, which is connected between the output shaft of the servo motor and a shaft coupling; a ball screw, one end of which is fixed on the shaft coupling, and cap nuts, which are sheathed on the ball screw and are fixed on the inner wall of a working rod; a slide rail, which controls the working rod to do the linear and returned operation, a bearing for the ball screw, and a side supporting shaft, which can accomplish the connection with the other push rod. One push rod and the other push rod connected through the side supporting shaft comprise together a push rod control unit which finishes the X-Y flat-surface locus movement through an output head; the utility model is suitable to the industrial process with focusing control and dispersing performance, can accomplish the position control and the speed control, without running maintenance, increasing the communication function, and can be networked with the upper controlling machine.
Description
Technical field
The utility model relates to the intelligent servo push-rod of a kind of optical, mechanical and electronic integration mechanism.
Background technology
At present, liquid cylinder or pneumatic linear actuator are all adopted in the reciprocating of determining on most of separate unit manufacturing machines or the production line.Liquid cylinder can produce very big thrust, and pneumatic linear actuator can produce very fast movement velocity.Their equipment is formed very close, in general all will comprise Hydraulic Station (air pressure station), hydraulic valve, control servo valve, pipeline, oil filter, hydraulic cylinder or pneumatic linear actuator.The drawn simple and easy hydraulic scheme of three hydraulic cylinders of accompanying drawing 1.Parts the 1,2, the 3rd in the accompanying drawing 1, hydraulic cylinder; Parts 4 are that one-way throttle valve, parts 5 are that operation control section, parts 6 are that active force pump, parts 7 are fuel tanks.
Generally speaking, the power output of hydraulic system is constant.The variation of external drag will cause the fluctuation of speed, the production technology that like this some is needed constant airspeed needs the pressure of regulator solution cylinder pressure real-time, for the application scenario of many hydraulic cylinder interlocks, it is very complicated that the control of hydraulic system becomes, and control precision is not high yet.On the other hand, the influence that the pressure of same Hydraulic Station is subjected to each hydraulic cylinder works situation is big, has increased the difficulty of control.The most important thing is, if when on a production process or production line, needing several or the tens hydraulic cylinder coordinated movements of various economic factors and their mutual distances far, hundreds of rice for example, existing hydraulic system just is difficult to competent.The Maintenance of Hydraulic System workload is big, and environment is poor, noise is big.However and since the technology maturation of hydraulic system, equipment can letter can be numerous, price is not high, safeguard simple advantage, it still is widely used at present, just has been not suitable for for the occasion of the remote interlock of some multistation.
Along with the raising of metallurgy, building materials, light industry, automobile and other industries speed of production, product quality, more and more higher to the requirement of Automation of Manufacturing Process.Requirement to the movement velocity of each moving component, acceleration, positioning accuracy, coordinated movement of various economic factors relation is also more and more higher.The comprehensive control of under centralized control, controlling schemes that disperse to carry out, must moving to single motion, i.e. movement velocity, acceleration, positioning accuracy, control simultaneously or timesharing.The movement executing mechanism that is dispersed in production line is at a distance of tens meters or hundreds of rice.Existing drive technology exists following defective or deficiency:
1, is unsuitable for the centralized control of doing more physical exercises at a distance
Present hydraulic drive only can be supplied with the hydraulic pressures of a few table oil cylinders under a Hydraulic Station, when hydraulic cylinder quantity increases, Hydraulic Station equipment rolls up, the hydraulic pressures fluctuation was bigger when a few table oil cylinders were worked respectively, each oil cylinder harmoniously working capability is poor, and servo valve is difficult to finish complicated coordinated movement of various economic factors control.Simultaneously, fluid pressure line length is not easy to lay when distance is far away, and investment is big.
2, working methods such as speed, acceleration, displacement, thrust can not be switched in same equipment at any time, only have one or both working methods optional usually.
3, be not easy to carry out communication with upper control machine.
Over past ten years, smart motion control technology, high-precision sensor, distant signal transmission technology, servo-drive technology, very big progress has been arranged; High thrust ball-screw, small size reductor all the commodity technological improvement that turns to this area provide material base.
Summary of the invention
The purpose of this utility model is that the smart motion control technology is combined with the high-accuracy mechanical process equipment, and control technology and novel power device are combined, and is formed with the electromechanical integrated product that is beneficial to centralized control, disperses the production process of execution.
A kind of intelligent servo push-rod under the utility model, it comprises that push rod controller, parameter are provided with device, push rod actuator, transducer and motion state display; Described push rod controller comprises Programmable Logic Controller PLC, analogue signal processor SP two parts composition, the push rod controller is connected with the parameter that is made of single-chip microcomputer, display device, motion state display and one group of transducer is set, and described push rod controller comprises communication interface; It is characterized in that: being connected by servo controller with the push rod actuator of a plurality of dispersions by described push rod controller, is speed, displacement and thrust working method with the motion that the push rod actuator is set; Described push rod actuator comprises the servomotor that is fixed in the collet, the rear bearing sheet of collet rear end, be connected in the planetary reducer between servomotor output shaft and the shaft coupling, one end is fixed in the ball-screw on the shaft coupling, be placed on the ball-screw and be fixed on nut on the working beam inwall, the Control work bar is made the slide rail of linear reciprocation operation, the bearing of ball screw, the sealing shroud that install in the anterior exit of working beam, sealing ring and the side back shaft that is connected with another push rod realization; Form the push rod control unit that delivery is finished the X-Y plane orbiting motion jointly by a push rod with by joining another push rod of side back shaft; Described leading screw adopts an end bearing to fix, other end free way, and described bearing adopts the back-to-back mounting structure of duplex bearing; Be processed with groove in described working beam rear and front end, the sheath rear and front end is processed with circular hole, and two limit switches are installed in the outside at the corresponding circular hole of sheath place.
Aforesaid intelligent servo push-rod, circulation single nut ball-screw in described ball-screw adopts.
Aforesaid intelligent servo push-rod, described slide rail are slide rail and rectangle glidepath on the triangle, and described slide rail is a segmental structure, leaves the space between two sections.
Aforesaid intelligent servo push-rod, described servo drive unit comprise friendship-straight conversion electric power circuit that signal processor DSP, pulse width modulation frequency changing circuit and rectified three-phase circuit are formed; Hall current device IS forms current detection circuit, the current detecting end of its output termination signal processor DSP; The rotating speed test side of the output termination signal processor DSP of the photoelectric encoder EN that rotates synchronously with motor shaft; The serial connection branch road of being made up of high-power resistance and power switch pipe is attempted by the output of DC power supply, and the power switch tube grid connects the brake signal drive end of signal processor DSP; Hall voltage device Vs forms voltage detecting circuit, the brake signal adjustment end of its output termination signal processor DSP; Between dc output end, be connected to the pulse width modulation frequency changing circuit, this frequency changer circuit constitutes a phase control unit after by the power tube of two series connection and two diode in series parallel connections, power tube grid wherein connects the frequency conversion drive end of signal processor DSP respectively, two power tubes of every phase control unit and the link of two diodes all connect on the corresponding phase line of motor, when braking, described diode constitutes the braking rectification circuit.
The utility model is compared with traditional device, has following advantage and positive effect:
The production process of 1, help centralized control, disperseing execution;
2, but the single control of traditional power output is become Position Control and speed control;
3, cancelled traditional hydraulic control, changed Electromechanical Control into, therefore need not often keep in repair;
4, increased communication function, can network with upper control machine.
Description of drawings
Fig. 1 is traditional three hydraulic cylinders control system diagram.
Fig. 2 is the principle composition frame chart of the servo padding device of intelligence of the present utility model.
Fig. 3 is that push rod controller of the present utility model is formed structure chart.
Fig. 4 is a push rod controller control flow chart of the present utility model.
Fig. 5 is a push rod drive circuit schematic diagram of the present utility model.
Fig. 6 is a push rod driver control flow chart of the present utility model.
Fig. 7 is push rod actuator structure figure of the present utility model.
Fig. 8 is a slide rail installation diagram in the push rod actuator of the present utility model.
Embodiment
The utility model belongs to intelligent light mechanical and electrical integration field.Can be used for metallurgical equipment, chemical process, tiered warehouse facility, etc. those need high position precision, response fast, thrust, displacement, speed, the frequent occasions switched of Acceleration Control in separate unit or the multiple devices.System principle of the present utility model is seen accompanying drawing 2.Form by four parts by accompanying drawing 2 visible the utility model.The push rod controller that first is made up of circuit 1-1,1-2,1-3,1-4,1-5 among the figure.Second portion is that parameter is provided with device 2.Third part is push rod actuator 3-1,3-2,3-3,3-4.The 4th part is a motion state display 4.Various kinds of sensors 7,8,9,10 among the figure does not belong to content of the present utility model.
Operation principle of the present utility model is:
In accompanying drawing 2, the push rod controller is the core and the power source of the utility model Based Intelligent Control.Circuit 1-5 is a control unit, and its hardware is made up of universal Programmable Logic Controller PLC, universal SP, sees accompanying drawing 3.Programmable Logic Controller is by the PS module, the CPU module, and AI module, AO module, DI module, DO module, PC module, COM module constitute.The PS module provides power supply for other modules, and the CPU module is that center processor holds the main flow Control Software.DI, DO, AI, AO module are respectively the input/output interfaces of digital quantity and switching value.COM is a communication module.The signal of each module connects the universal total line template of employing.
Accompanying drawing 4 is main flow Control Software of CPU module, and the function that it is finished is: the first, receive the setting program of each push rod.Be their operating states that should finish and real-time manual intervention states, comprise the preset programs such as logical relation that start between moment, moving displacement amount, startup braking time, each push rod.The second, the resolving of program.It is converted into the setting program of each push rod the speed command of each push rod.The 3rd, accept each physical quantity of external sensor so that constantly revise parameter in the program of former input.The 4th, carry out the logical operation between push rod system and host computer, each push rod of push rod internal system.The 5th. be Presentation Function, it is with the running status of each push rod, and failure logging all shows.The 6th is communication function.
In accompanying drawing 2, the servo-driver that another unit of push rod controller is made up of circuit 1-1,1-2,1-3,1-4.Speed command after control unit is handled is added to the input of servo drive unit.The main circuit of servo drive unit, control circuit and control flow are seen accompanying drawing 5.In accompanying drawing 5 figure, the main circuit of servo drive unit contains by diode D1, D2, D3, D4, D5, the rectified three-phase circuit that D6 forms; The servo control circuit of forming by DSP; By C1, the filter circuit that C2 forms; By power tube M1, M2, M3, M4, M5, diode D11, D12, D13, D14, D15, the frequency changer circuit that D16 forms; By resistance R 1, the braking circuit that power tube M7 forms; The current detection circuit of forming by Hall current device Is; The voltage detecting circuit of forming by Hall voltage device Vs; The speed detect circuit of forming by photoelectric encoder En.In accompanying drawing 5, the control circuit of servo drive unit contains the servo control circuit that is made of signal processor DSP and peripheral chip.Its control program by DSP reset, vector variable resets, CPU initialization, major cycle, position processing, speed ring control, current loop control, PWM generate, etc. functional block form.The connection of each functional block as shown in Figure 5.
In accompanying drawing 2, parameter is provided with device 2 and is made of 8098 chips, soft key and display.Finish the parameter setting of control unit and servo-driver and show their working condition.
In accompanying drawing 2, the structure of push rod actuator 3-1,3-2,3-3,3-4 is seen accompanying drawing 7, and servomotor 3 is placed in above the ball-screw and is fixed on working beam 11 inwalls through planetary reducer 4, shaft coupling 5 nut 8 that links to each other with ball-screw 9 in Fig. 7.
When servomotor rotated under the driving of push rod controller, working beam 11 will be along triangle slide rail 16 and 7 straight reciprocating motions of rectangle slide rail, thrust output.Two ball-screw special bearings 6, the support that not only can produce radially can also produce axial support.For solving two-way support problem, the utility model adopts the back-to-back installation method of duplex bearing.Be simplified structure, the other end that ball-screw 9 of the present utility model links to each other is not installed bearing.The rear and front end of working beam 11 is processed with groove, and sheath 15 rear and front ends are processed with circular hole limit switch 14,17 is installed in the sheath outside.Enter for solution prevents dust liquid, sealing shroud 18 and sealing ring 19 have been installed in the front portion of working beam 11.Side back shaft 10 can be installed another intelligent servo push-rod, and like this, interlock control can make delivery 12 finish motion at any track in X---Y plane down.
In the blast furnace material distribution flow process, adopted the utility model to replace original hydraulic jack, finish bell-less blast furnace cloth function.Adopted four padding actuators in this example, promoted upper sealing valve, lower seal valve, material flow gate, chute respectively and fascinate.Because the motion interlock connection between them, all there is different working methods in each actuator.Upper sealing valve, lower seal valve are operated in constant speed, fixed point working method.Material flow gate work control on the throne or thrust control alternate mode.Chute fascinates and is operated in accurate position prosecutor formula, requires quick start-up control simultaneously.
In this example, strict motion interlock connection is arranged between four actuators not only, they also partly have interlock connection with charging of blast furnace respectively.So this example has adopted the system of accompanying drawing 2 to form.System for the motion control unit of frame 1-5, has adopted the PLC controller of the S7-300 series of Siemens in forming.Selected the PS module for use, CPU module, AI module, AO module, DI module, DO module, PC module, COM module.The function of each module is: the PS module provides power supply for other modules; The CPU module is that center processor holds the main flow Control Software; DI, DO, AI, AO module are respectively the input/output interfaces of digital quantity and switching value; COM is a communication module.The connection of each module also is to have adopted the total line template of universal S7-300.
Because chute fascinates and material flow gate needs accurate position control, so at the motion control unit of present embodiment, two position control module PC have been installed, their acceptance is from the actual position signal of absolute encoder.The operational order of accompanying drawing 2 and motion interlocking comprise automatically, the high-low limit position of each actuator, each mechanism action completion status, material loading part interlocking etc. are switched in manual operation.Amount to each switching value 82 point, the selection computing of these switching values is all finished by the logical operation in the motion controller.For this reason, be provided with DI, DO module at 96.In order to carry out communication with upper control machine, the communication interface circuit of the motion controller in the present embodiment has adopted the RS485 interface.The control main flow of accompanying drawing 4 has partly been adopted in motion control.For handling pressure, temperature, sealing nitrogen pressure, the temperature of cooling water, universal analogue signal processor SP has singly been adopted in the push rod control of this example, as shown in Figure 3.
Present embodiment has all adopted identical servo-driver for four actuators.Adopted the padding activation configuration of accompanying drawing 5, rectifying part has adopted 600V in example, and six of the rectifier diodes of 50A, frequency changer circuit have adopted 7 encapsulation 150A, the IPM intelligent object of 600V.The brake resistance of braking circuit has been selected 200W for use, and the noninductive resistance of 25 Ω has adopted 2000 μ f, two of the filter capacitors of 600V.In the Control Software of control circuit, adopt accompanying drawing 5 control flows.It has finished that DSP resets, vector variable resets, CPU initialization, major cycle, position processing, speed ring control, current loop control, PWM generate, etc. function.For (status requirement of chute and material valve has been put among the PLC of motion controller and has done, and makes four padding drivers all adopt identical structure and Control Software like this).
In example, the 4th componental movement display in the accompanying drawing 2 has adopted conventional CRT picture to show.The part 2 parameter is provided with device and is made of 8098 chips, soft key and display.It finishes right working method switching to the padding driver, and the P.I parameter of the slope of speed command, electric current loop, speed ring is provided with.Simultaneously can also write down, show padding driver operation troubles.
The 7th part in the accompanying drawing 2 is a transducer, is provided with four transducers in this example, detects the pressure and temperature of pressure box nitrogen gas pressure, temperature and cooling water respectively, and their output variable is ± the 10V analog quantity.
The general assembly drawing of push rod actuator is seen accompanying drawing 7 in this example.In accompanying drawing 7, its technical data of the AC servomotor that this example is selected for use is: nominal torque Tr=35Nm, nominal torque Ts=37.3Nm, spike breakdown torque Tp=88.3Nm, rated speed Nr=1500r/m, the highest commentaries on classics Tm=2000r/m.Spiral planetary gear speed reducing mechanism 4 in the accompanying drawing 7, its specified output torque position 115Nm, max. output torque 345Nm, specified input speed 4000r/m, speed reducing ratio 3: 1.
Present embodiment has the control of fascinating of chute that four work push rods are equipped in blast furnace upper-lower seal valve, material flow gate and distributing device, finishes the full-automatic distributing technique of blast furnace.
Claims (4)
1. intelligent servo push-rod, it comprises that push rod controller, parameter are provided with device, push rod actuator, transducer and motion state display; Described push rod controller comprises Programmable Logic Controller PLC, analogue signal processor SP two parts, the push rod controller is connected with the parameter that is made of single-chip microcomputer, display device, motion state display and one group of transducer is set, and described push rod controller has communication interface; It is characterized in that: being connected by servo controller with the push rod actuator of a plurality of dispersions by described push rod controller, is speed, displacement and thrust working method with the motion that the push rod actuator is set; Described push rod actuator comprises the servomotor that is fixed in the collet, the rear bearing sheet of collet rear end, be connected in the planetary reducer between servomotor output shaft and the shaft coupling, one end is fixed in the ball-screw on the shaft coupling, be placed on the ball-screw and be fixed on nut on the working beam inwall, the Control work bar is made the slide rail of linear reciprocation operation, the bearing of ball screw, the sealing shroud that install in the anterior exit of working beam, sealing ring and the side back shaft that is connected with another push rod realization; Form the push rod control unit that delivery is finished the X-Y plane orbiting motion jointly by a push rod with by joining another push rod of side back shaft; Described leading screw adopts an end bearing to fix, other end free way, and described bearing adopts the back-to-back mounting structure of duplex bearing; Be processed with groove in described working beam rear and front end, the sheath rear and front end is processed with circular hole, and two limit switches are installed in the outside at the corresponding circular hole of sheath place.
2. intelligent servo push-rod as claimed in claim 1 is characterized in that: circulation single nut ball-screw in described ball-screw adopts.
3. intelligent servo push-rod as claimed in claim 1 is characterized in that: described slide rail is slide rail and a rectangle glidepath on the triangle, and described slide rail is a segmental structure, leaves the space between two sections.
4. intelligent servo push-rod as claimed in claim 1 is characterized in that: described servo drive unit comprises friendship that signal processor DSP, pulse width modulation frequency changing circuit and rectified three-phase circuit form conversion electric power circuit always; Hall current device IS forms current detection circuit, the current detecting end of its output termination signal processor DSP; The rotating speed test side of the output termination signal processor DSP of the photoelectric encoder EN that rotates synchronously with motor shaft; The serial connection branch road of being made up of high-power resistance and power switch pipe is attempted by the output of DC power supply, and the power switch tube grid connects the brake signal drive end of signal processor DSP; Hall voltage device Vs forms voltage detecting circuit, the brake signal adjustment end of its output termination signal processor DSP; Between dc output end, be connected to the pulse width modulation frequency changing circuit, this frequency changer circuit constitutes a phase control unit after by the power tube of two series connection and two diode in series parallel connections, power tube grid wherein connects the frequency conversion drive end of signal processor DSP respectively, two power tubes of every phase control unit and the link of two diodes all connect on the corresponding phase line of motor, when braking, described diode constitutes the braking rectification circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420084197 CN2720707Y (en) | 2004-07-26 | 2004-07-26 | Intelligent servo push-rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420084197 CN2720707Y (en) | 2004-07-26 | 2004-07-26 | Intelligent servo push-rod |
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| Publication Number | Publication Date |
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| CN2720707Y true CN2720707Y (en) | 2005-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200420084197 Expired - Fee Related CN2720707Y (en) | 2004-07-26 | 2004-07-26 | Intelligent servo push-rod |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707672A (en) * | 2012-06-11 | 2012-10-03 | 杭州大华工控技术有限公司 | Dual-servo motor translation system |
| CN102832737A (en) * | 2012-08-23 | 2012-12-19 | 北京摩诘创新科技有限公司 | Dual-power electric push rod |
| CN103823403A (en) * | 2014-02-19 | 2014-05-28 | 镇江索达联轴器有限公司 | Pumping unit control system |
| CN105223960A (en) * | 2015-10-14 | 2016-01-06 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN108683293A (en) * | 2018-05-29 | 2018-10-19 | 饶先梅 | A kind of electric pushrod for farm automatic ventilation |
| CN108964536A (en) * | 2018-07-05 | 2018-12-07 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of DC servo drive system and driving method |
-
2004
- 2004-07-26 CN CN 200420084197 patent/CN2720707Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707672A (en) * | 2012-06-11 | 2012-10-03 | 杭州大华工控技术有限公司 | Dual-servo motor translation system |
| CN102832737A (en) * | 2012-08-23 | 2012-12-19 | 北京摩诘创新科技有限公司 | Dual-power electric push rod |
| CN102832737B (en) * | 2012-08-23 | 2014-08-13 | 北京摩诘创新科技股份有限公司 | Dual-power electric push rod |
| CN103823403A (en) * | 2014-02-19 | 2014-05-28 | 镇江索达联轴器有限公司 | Pumping unit control system |
| CN105223960A (en) * | 2015-10-14 | 2016-01-06 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN108683293A (en) * | 2018-05-29 | 2018-10-19 | 饶先梅 | A kind of electric pushrod for farm automatic ventilation |
| CN108964536A (en) * | 2018-07-05 | 2018-12-07 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of DC servo drive system and driving method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |