EP0769132A1 - Device for position measurement for cylinder drives - Google Patents
Device for position measurement for cylinder drivesInfo
- Publication number
- EP0769132A1 EP0769132A1 EP96909920A EP96909920A EP0769132A1 EP 0769132 A1 EP0769132 A1 EP 0769132A1 EP 96909920 A EP96909920 A EP 96909920A EP 96909920 A EP96909920 A EP 96909920A EP 0769132 A1 EP0769132 A1 EP 0769132A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- piston rod
- piston
- line pattern
- cylinder
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B3/00—Measuring instruments characterised by the use of mechanical techniques
- G01B3/002—Details
- G01B3/004—Scales; Graduations
Definitions
- Position measuring device for cylinder drives
- the invention relates to a device for measuring the position of the piston (5) and thus also the piston rod (6) for pneumatically and hydraulically actuated cylinders (1) according to the preamble of claim 1.
- This positioning system consists of a cylinder (1), a position measuring device with sensor (2), a proportional valve (3) and a (mostly electronic) controller (4) that compares the current position of the cylinder (1) with the target position and the proportional valve (3) operated so that the target position is reached (see Figure 1).
- the cylinder (1) generally has 2 pressure chambers (7,8) into which the pressure medium (compressed air or hydraulic fluid) is admitted or pushed out, depending on the direction of travel.
- the proportional valve (3) connects one of the two pressure chambers (7, 8) of the cylinder (1) via hose lines (9, 10) to the pressure supply (11), while at the same time the other pressure chamber is connected to a low pressure, so that the pressure medium can escape from this chamber.
- the sensor (2) is connected to the piston rod (6) of the cylinder (1) and determines the current position of the piston rod (6) so that the controller (4) can carry out the target / actual comparison of the position.
- Such pneumatic or hydraulic positioning systems can develop significantly greater forces than electrical ones, and can achieve higher speeds, accelerations and decelerations (higher dynamics).
- Bazenet proposed to apply a line pattern (16) on the piston rod (6) and to use a sensor (15) attached to the cylinder (1) to contact this line pattern (16) without contact. to use the piston rod (6) itself as a measuring system.
- the line pattern (16) consists of black, poorly reflecting lines, which are arranged approximately perpendicular to the direction of movement of the piston rod.
- the line pattern (16) can be made from closed circles around the circumference of the piston rod (6) or as a spiral.
- the line width determines the accuracy of the positioning. The result is a uniform pattern in which well-reflecting and poorly reflecting areas alternate.
- the sensor (14, 15) uses this different reflection by illuminating the line pattern (16) on the piston rod (6) (visible or infrared light) and measuring the reflected light intensity (see FIG. 2). If a bare spot on the piston rod (6) is illuminated, this is reflected
- REPLACEMENT BLA ⁇ (RULE 26) Light is more intense than when lighting a dark line and the sensor output signal is accordingly different in size. If the piston rod (6) moves, bare spots and dark lines are alternately recognized by the sensor (14, 15) and converted into a wave-shaped output signal. The frequency of this output signal depends on the fineness of the line pattern (16) (resolution) and the speed of the piston rod (6). This method is already known and is used, among other things, with angle encoders.
- Bazenet also described 3 methods of how the line pattern (16) can be applied to the piston rod (6).
- a light-sensitive varnish is applied to the piston rod (6), which is exposed in those places where the dark lines are to be created.
- the lacquer is developed, the areas that have been exposed are detached and the piston rod (6) is removed by a subsequent chemical etching process at the locations where the lines are to be placed.
- These depressions are then filled with a black substance, so that the line pattern (16) is formed and at the same time the roughness of the piston rod is not increased.
- the novelty of this invention consists in applying the line pattern to the piston rod (6) by using laser radiation.
- FIGURE 1 Schematic representation of a position control loop for cylinder drives.
- FIGURE 2 sectional view of a cylinder drive (1) with line pattern (16) on the piston rod (6) and optical reflex sensor (14, 15).
- FIGURE 3 Enlarged view of the surface of the piston rod (6) with a recessed line (18) and exposure to laser radiation (20).
Abstract
If pneumatically or hydraulically actuated cylinders (1) are to be continuously positioned, a position sensor (15) must provide the controller with the current position of the piston (5). The proposed invention makes use of the moving piston rod (6) as a travel measuring system, graduations (16) being produced only by the effect of laser radiation (similar to the prior art laser printing method). A sensor (15) based on optical reflection recognises the dark graduations and light spaces and is thus able to determine the position of the piston (5). Generating the graduations pattern (16) by laser radiation directly on the surface of the piston rod (6) reduces production costs and is more environmentally acceptable than prior art photochemical processes.
Description
Vorrichtung zur Positionsmessung für ZylinderantriebePosition measuring device for cylinder drives
Die Erfindung betrifft eine Vorrichtung zur Messung der Position des Kolbens (5) und damit auch der Kolbenstange (6) für pneumatisch und hydraulisch betätigte Zylinder (1) gemäß Oberbegriff des Anspruchs 1. Die Entwicklung der Proportionaltechnik in der Pneumatik und Hydraulik hat in den letztenThe invention relates to a device for measuring the position of the piston (5) and thus also the piston rod (6) for pneumatically and hydraulically actuated cylinders (1) according to the preamble of claim 1. The development of proportional technology in pneumatics and hydraulics has in recent years
Jahren einen enormen Aufschwung erfahren. Dabei ist es möglich mit einem speziell entwickelten Proportionalventil (3) einen pneumatisch oder hydraulisch betätigten Zylinder (1) auf eine bestimmte Position zu verfahren und zu fixieren. Dieses Positionierungssystem besteht aus einem Zylinder (1), einer Wegmeßeinrichtung mit Sensor (2), einem Proportionalventil (3) und einem (meist elektronischen) Regler (4), der die derzeitige Position des Zylinders (1) mit der Zielposition vergleicht und das Proportionalventil (3) derart betätigt, daß die Zielposition erreicht wird (siehe Figur 1). Der Zylinder (1) besitzt im allgemeinen 2 Druckkammern (7,8), in welche je nach Verfahrrichtung das Druckmedium (Druckluft oder Hydraulikflüssigkeit) eingelassen oder herausgedrückt wird. Das Proportionalventil (3) verbindet eine der beiden D ckkarnmern (7,8) des Zylinders (1) über Schlauchleitungen (9,10) mit der Druckversorgung (11), während gleichzeitig die andere Druckkammer mit einem niedrigen Druck verbunden wird, sodaß das Druckmedium aus dieser Karnmer entweichen kann. Der Sensor (2) ist mit der Kolbenstange (6) des Zylinders (1) verbunden und bestimmt die aktuelle Position der Kolbenstange (6), damit der Regler (4) den Soll- Ist-Vergleich der Position durchfuhren kann. Derartige pneumatische oder hydraulische Positioniersysteme können im Vergleich zu den elektrischen wesentlich größere Kräfte entfalten, höhere Geschwindigkeiten, Beschleunigungen und Verzögerungen erzielen (höhere Dynamik).Years of tremendous upswing. It is possible to use a specially developed proportional valve (3) to move and fix a pneumatically or hydraulically actuated cylinder (1) to a specific position. This positioning system consists of a cylinder (1), a position measuring device with sensor (2), a proportional valve (3) and a (mostly electronic) controller (4) that compares the current position of the cylinder (1) with the target position and the proportional valve (3) operated so that the target position is reached (see Figure 1). The cylinder (1) generally has 2 pressure chambers (7,8) into which the pressure medium (compressed air or hydraulic fluid) is admitted or pushed out, depending on the direction of travel. The proportional valve (3) connects one of the two pressure chambers (7, 8) of the cylinder (1) via hose lines (9, 10) to the pressure supply (11), while at the same time the other pressure chamber is connected to a low pressure, so that the pressure medium can escape from this chamber. The sensor (2) is connected to the piston rod (6) of the cylinder (1) and determines the current position of the piston rod (6) so that the controller (4) can carry out the target / actual comparison of the position. Such pneumatic or hydraulic positioning systems can develop significantly greater forces than electrical ones, and can achieve higher speeds, accelerations and decelerations (higher dynamics).
Bazenet hat in seiner Patentanmeldung am 17. Dezember 1985 (FR 2 591 736) vorgeschlagen, ein Strichmuster (16) auf der Kolbenstange (6) anzubringen und mit einem am Zylinder (1) angebrachten berührungslos dieses Strichmuster (16) abtastenden Sensors (15) die Kolbenstange (6) selbst als Wegmeßsystem zu nutzen. Dadurch entfällt der zusätzliche externe Anbau eines Wegmeßsystems, welches für Positionierungsaufgaben notwendig ist. Das Strichmuster (16) besteht aus schwarzen, schlecht reflektierenden Strichen, welche ca. senkrecht zur Bewegungsrichtung der Kolbenstange angeordnet sind. Dabei kann das Strichmuster (16) aus geschlossenen Kreisen um den Umfang der Kolbenstange (6) oder als Spirale ausgeführt sein. Die Strichstärke bestimmt die Genauigkeit der Positionierung. Es ergibt sich somit ein gleichmäßiges Muster in dem sich gut reflektierende und schlecht reflektierende Bereiche abwechseln. Der Sensor (14,15) nutzt diese unterschiedliche Reflexion aus, indem er das Strichmuster (16) auf der Kolbenstange (6) beleuchtet (sichtbares oder infrarotes Licht) und die reflektierte Lichtintensität mißt (siehe Figur 2). Wird eine blanke Stelle der Kolbenstange (6) beleuchtet ist das reflektierteIn its patent application on December 17, 1985 (FR 2 591 736), Bazenet proposed to apply a line pattern (16) on the piston rod (6) and to use a sensor (15) attached to the cylinder (1) to contact this line pattern (16) without contact. to use the piston rod (6) itself as a measuring system. This eliminates the additional external mounting of a position measuring system, which is necessary for positioning tasks. The line pattern (16) consists of black, poorly reflecting lines, which are arranged approximately perpendicular to the direction of movement of the piston rod. The line pattern (16) can be made from closed circles around the circumference of the piston rod (6) or as a spiral. The line width determines the accuracy of the positioning. The result is a uniform pattern in which well-reflecting and poorly reflecting areas alternate. The sensor (14, 15) uses this different reflection by illuminating the line pattern (16) on the piston rod (6) (visible or infrared light) and measuring the reflected light intensity (see FIG. 2). If a bare spot on the piston rod (6) is illuminated, this is reflected
ERSATZBLAπ (REGEL 26)
Licht intensiver als bei der Beleuchtung eines dunklen Striches und das Sensorausgangssignal ist dementsprechend unterschiedlich groß. Bewegt sich die Kolbenstange (6), so werden abwechselnd blanke Stellen und dunkle Striche vom Sensor (14,15) erkannt und in ein wellenförmiges Ausgangssignal umgesetzt. Die Frequenz dieses Ausgangssignales ist abhängig von der Feinheit des Strichmusters (16) (Auflösung) und der Geschwindigkeit der Kolbenstange (6). Dieses Verfahren ist bereits bekannt und wird u.a. bei Winkelencodern eingesetzt.REPLACEMENT BLAπ (RULE 26) Light is more intense than when lighting a dark line and the sensor output signal is accordingly different in size. If the piston rod (6) moves, bare spots and dark lines are alternately recognized by the sensor (14, 15) and converted into a wave-shaped output signal. The frequency of this output signal depends on the fineness of the line pattern (16) (resolution) and the speed of the piston rod (6). This method is already known and is used, among other things, with angle encoders.
Bazenet hat in seiner Patentanmeldung auch 3 Methoden beschrieben, wie das Strichmuster (16) auf der Kolbenstange (6) aufgebracht werden kann. Bei diese Methoden wird ein lichtempfindlicher Lack auf die Kolbenstange (6) aufgetragen, welcher an jenen Stellen belichtet wird, wo die dunklen Striche erzeugt werden sollen. Dann wird der Lack entwickelt, die Stellen die belichtet wurden, werden herausglöst und durch einen nachfolgende chemischen Ätzvorgang wird an den Stellen, wo die Striche platzfinden sollen, die Kolbenstange (6) abgetragen. Diese Vertiefungen werden danach mit einer schwarzen Substanz aufgefüllt, sodaß das Strichmuster (16) entsteht und gleichzeitig die Rauhtiefe der Kolbenstange nicht erhöht wird. Die Neuheit dieser Erfindung besteht im Aufbringen des Strichmusters auf die Kolbenstange (6), durch Verwendung von Laserstrahlung. Wird ein energiereicher Laserstrahl (20) direkt auf die Oberfläche der Kolbenstange (6) gerichtet, wird eine geringe Menge Material von der Kolbenstange (6) abgetragen und das unter dem Laserstrahl (20) verbleibende Material gleichzeitig geschwärzt. Es entstehen somit geringe Vertiefungen (18) auf der Kolbenstange (6), welche gleichzeitig dunkel gefärbt sind. Wird der Laserstrahl (20) über der Oberfläche derIn its patent application, Bazenet also described 3 methods of how the line pattern (16) can be applied to the piston rod (6). In these methods, a light-sensitive varnish is applied to the piston rod (6), which is exposed in those places where the dark lines are to be created. Then the lacquer is developed, the areas that have been exposed are detached and the piston rod (6) is removed by a subsequent chemical etching process at the locations where the lines are to be placed. These depressions are then filled with a black substance, so that the line pattern (16) is formed and at the same time the roughness of the piston rod is not increased. The novelty of this invention consists in applying the line pattern to the piston rod (6) by using laser radiation. If an energy-rich laser beam (20) is directed directly onto the surface of the piston rod (6), a small amount of material is removed from the piston rod (6) and the material remaining under the laser beam (20) is blackened at the same time. There are thus small depressions (18) on the piston rod (6), which are dark in color at the same time. If the laser beam (20) over the surface of the
Kolbenstange (6) geführt, erzeugt er ein Strichmuster (16), wobei die geschwärzten Stellen (18) geringfügig tiefer hegen als die unbearbeitete Oberfläche der Kolbenstange (19) (siehe Figur 3). Je energiereicher der Laserstrahl (20), desto schneller kann er über die Oberfläche geführt werden und desto schneller kann das Strichmuster (16) erzeugt werden. Es muß aber darauf geachtet werden, daß die Rauhtiefe der Kolbenstange (6) nicht zu groß wird, um den Verschließ derGuided piston rod (6), it produces a line pattern (16), the blackened areas (18) being slightly deeper than the unprocessed surface of the piston rod (19) (see Figure 3). The more energetic the laser beam (20), the faster it can be guided over the surface and the faster the line pattern (16) can be generated. However, care must be taken to ensure that the roughness of the piston rod (6) is not too great in order to close the
Dichtungen zwischen Zylinder (1) und Kolbenstange (6) nicht unnötig zu erhöhen. Diese Methode schwarze Stellen auf Metalloberflächen zu erzeugen, wird schon seit einigen Jahren bei der Laserbeschriftung verwendet.Do not unnecessarily increase seals between cylinder (1) and piston rod (6). This method of creating black spots on metal surfaces has been used in laser marking for several years.
Durch diese neue, hier beschriebene Methode der Aufbringung des Strichmusters (16) auf die Oberfläche der Kolbenstange (6) wird der Herstellungsaufwand und damit die Herstellungskosten erheblich vermindert. Statt der Behandlung mit Fotolack, Belichten, Entwickeln, Ätzen und Auffüllen wird nur mehr die Bewegung eines Laserstrahls über der Oberfläche benötigt. Außerdem entfallt die Verwendung, Aufbereitung und Entsorgung der chemischen Substanzen und es wird mit dieser Patentanmeldung ein Beitrag zum Umweltschutz geleistet.
Durch diese Erfindung wird ein wesenthcher Beitrag zur Reduzierung der Herstellkosten von pneumatischen oder hydraulischen Positioniersystemen geleistet, da das notwendige Positionsmeßsystem zur Umstellung auf die Proportionaltechnik einfach und mit geringem finanziellen Aufwand auf dem Zylinderantrieb integriert werden kann.This new method of applying the line pattern (16) to the surface of the piston rod (6), as described here, considerably reduces the manufacturing effort and thus the manufacturing costs. Instead of treatment with photoresist, exposure, development, etching and filling, only the movement of a laser beam over the surface is required. In addition, there is no need to use, process or dispose of the chemical substances, and this patent application makes a contribution to environmental protection. This invention makes a significant contribution to reducing the manufacturing costs of pneumatic or hydraulic positioning systems, since the necessary position measuring system for converting to proportional technology can be integrated easily and with little financial outlay on the cylinder drive.
FIGUR 1 : Schematische Darstellung eines Positionsregelkreises für Zylinderantriebe.FIGURE 1: Schematic representation of a position control loop for cylinder drives.
FIGUR 2: Schnittdarstellung eines Zylinderantriebes (1) mit Strichmuster (16) auf der Kolbenstange (6) und optischem Reflexsensor (14,15).FIGURE 2: sectional view of a cylinder drive (1) with line pattern (16) on the piston rod (6) and optical reflex sensor (14, 15).
FIGUR 3: Vergrößerte Darstellung der Oberfläche der Kolbenstange (6) mit vertieftem Strich (18) und Einwirkung von Laserstrahlung (20).FIGURE 3: Enlarged view of the surface of the piston rod (6) with a recessed line (18) and exposure to laser radiation (20).
Legende zu den Figuren 1 bis 3:Legend for Figures 1 to 3:
1 pneumatisch oder hydraulisch betätigter Zylinder1 pneumatically or hydraulically operated cylinder
2 Sensorsystem2 sensor system
3 Proportional ventil3 Proportional valve
4 Regler 5 verschiebbarer Kolben4 regulators 5 sliding pistons
6 am Kolben (5) befestigte Kolbenstange6 piston rod attached to the piston (5)
7, 8... Druckkammern des Zylinders ( 1 )7, 8 ... pressure chambers of the cylinder (1)
9, 10.. Schlauchleitungen zum Transport der Druckluft/Hydraulikflüssigkeit9, 10 .. Hose lines for transporting the compressed air / hydraulic fluid
11 Versorgungsleitung für Druckluft/Hydraulikflüssigkeit 12 Verbindungsleitung zwischen Sensor (2) und Regler (4)11 Supply line for compressed air / hydraulic fluid 12 Connection line between sensor (2) and controller (4)
13 Betätigungsleitungen für Proportionalventils (3 ) durch Regler (4)13 actuation lines for proportional valve (3) through controller (4)
14 Beleuchtungseinrichtung für Reflexionssensor (15)14 illumination device for reflection sensor (15)
15 Reflexionssensor15 reflection sensor
16 Strichmuster auf der Kolbenstange (6) 17 Bewegungsrichtung des Kolbens (5)16 line patterns on the piston rod (6) 17 direction of movement of the piston (5)
18 dunkle Vertiefung in der Oberfläche der Kolbenstange (6)18 dark indentation in the surface of the piston rod (6)
19 reflektierende unbearbeitete Oberfläche der Kolbenstange (6)19 reflective raw surface of the piston rod (6)
20 Laserstrahl
20 laser beam
Claims
PATENTANSPRÜCHEPATENT CLAIMS
1) Vorrichtung zur Messung der Position des Kolbens (5) und damit auch der Kolbenstange (6) relativ zum Zylinder (1) bei pneumatischen und/oder hydraulischen Zylinderantrieben durch berührungsloses Abtasten eines auf der Kolbenstange (6) (oder deren Verlängerung) angebrachten Strichmusters (16) dadurch gekennzeichnet, daß das Strichmuster (16) durch Einwirkung von Laserstrahlung direkt auf die Oberfläche der Kolbenstange (oder deren Verlängerung) erzeugt wird oder wurde.1) Device for measuring the position of the piston (5) and thus also the piston rod (6) relative to the cylinder (1) in pneumatic and / or hydraulic cylinder drives by contactless scanning of a line pattern attached to the piston rod (6) (or its extension) (16) characterized in that the line pattern (16) is or was produced by the action of laser radiation directly on the surface of the piston rod (or its extension).
2) Vorrichtung zur Messung der Position des Kolbens (5) und damit auch der Kolbenstange (6) nach Anspruch 1 dadurch gekennzeichnet, daß ein oder mehrere optische Sensoren (14,15) das Strichmuster berührungslos abtasten und aus den unterschiedlichen Reflexionsgraden des Strichmusters eine Längeninformation erzeugen.2) Device for measuring the position of the piston (5) and thus also the piston rod (6) according to claim 1, characterized in that one or more optical sensors (14, 15) scan the line pattern without contact and length information from the different degrees of reflection of the line pattern produce.
3) Vorrichtung zur Messung der Position des Kolbens (5) und damit auch der Kolbenstange (6) nach Anspruch 1 dadurch gekennzeichnet, daß die Sensoren (14,1 ) direkt am Austritt der Kolbenstange (6) am Zylinder (1) oder auf einem anderen Körper angebracht werden, welcher mit dem Zylinder fest verbunden ist.
3) Device for measuring the position of the piston (5) and thus also the piston rod (6) according to claim 1, characterized in that the sensors (14,1) directly at the outlet of the piston rod (6) on the cylinder (1) or on a other body can be attached, which is firmly connected to the cylinder.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT74595 | 1995-05-02 | ||
AT745/95 | 1995-05-02 | ||
PCT/AT1996/000077 WO1996035098A1 (en) | 1995-05-02 | 1996-04-22 | Device for position measurement for cylinder drives |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0769132A1 true EP0769132A1 (en) | 1997-04-23 |
Family
ID=3498690
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96909920A Withdrawn EP0769132A1 (en) | 1995-05-02 | 1996-04-22 | Device for position measurement for cylinder drives |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0769132A1 (en) |
AU (1) | AU5327896A (en) |
WO (1) | WO1996035098A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20315507U1 (en) * | 2003-10-06 | 2005-02-17 | Schneeberger Holding Ag | Guide body with a dimensional scale and dimensional standard of a guide body |
ITMI20042283A1 (en) * | 2004-11-25 | 2005-02-25 | Francesca Ghigini | SUPPORT DEVICE FOR THE ARM PARTICULARLY FOR USE IN AN ARTERIAL PRESSURE MEASUREMENT EQUIPMENT |
US8482607B2 (en) * | 2008-03-10 | 2013-07-09 | Timothy David Webster | Position sensing of a piston in a hydraulic cylinder using a photo image sensor |
DE102015104201A1 (en) | 2015-03-20 | 2016-09-22 | Jungheinrich Aktiengesellschaft | fluid cylinder |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH579260A5 (en) * | 1974-04-10 | 1976-08-31 | Genevoise Instr Physique | |
FR2591736A1 (en) * | 1985-12-17 | 1987-06-19 | Bazenet Jean Pierre | System for measuring the linear displacement of a cylindrical rod such as a thruster cylinder rod, thruster cylinder adapted for such a measurement and method of manufacture thereof |
-
1996
- 1996-04-22 AU AU53278/96A patent/AU5327896A/en not_active Abandoned
- 1996-04-22 EP EP96909920A patent/EP0769132A1/en not_active Withdrawn
- 1996-04-22 WO PCT/AT1996/000077 patent/WO1996035098A1/en not_active Application Discontinuation
Non-Patent Citations (1)
Title |
---|
See references of WO9635098A1 * |
Also Published As
Publication number | Publication date |
---|---|
AU5327896A (en) | 1996-11-21 |
WO1996035098A1 (en) | 1996-11-07 |
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