EP1462660B1 - Actionneur hydraulique, méthode pour faire fonctionner un actionneur hydraulique et dispositif de commande associé. - Google Patents

Actionneur hydraulique, méthode pour faire fonctionner un actionneur hydraulique et dispositif de commande associé. Download PDF

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Publication number
EP1462660B1
EP1462660B1 EP04006298A EP04006298A EP1462660B1 EP 1462660 B1 EP1462660 B1 EP 1462660B1 EP 04006298 A EP04006298 A EP 04006298A EP 04006298 A EP04006298 A EP 04006298A EP 1462660 B1 EP1462660 B1 EP 1462660B1
Authority
EP
European Patent Office
Prior art keywords
piston
working
pilot
valve
cylinder
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.)
Expired - Lifetime
Application number
EP04006298A
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German (de)
English (en)
Other versions
EP1462660A1 (fr
Inventor
Bert Brahmer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Voith Turbo H and L Hydraulic GmbH and Co KG
Original Assignee
Hartmann and Lammle GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hartmann and Lammle GmbH and Co KG filed Critical Hartmann and Lammle GmbH and Co KG
Publication of EP1462660A1 publication Critical patent/EP1462660A1/fr
Application granted granted Critical
Publication of EP1462660B1 publication Critical patent/EP1462660B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/24—Other details, e.g. assembly with regulating devices for restricting the stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/10—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor in which the controlling element and the servomotor each controls a separate member, these members influencing different fluid passages or the same passage

Definitions

  • the invention relates to a hydraulic drive device with a coupling with a machining tool Working cylinder, the one between a bottom dead center (UT) and a top dead center (OT) movable, one Piston rod comprising working piston, with a Measuring system for determining the position of the working piston, wherein the working piston via a feedback a the Working cylinder actuated working valve actuated, and wherein the feedback is a guided in a pilot cylinder, the Operating valve actuating pilot piston includes.
  • Such hydraulic drive devices as they For example, from EP 1 138 958 A2 have become known, especially in punching, embossing, nipple or Bending machines use.
  • About the usually mechanical executed feedback between the working piston and the Working valve copies the working valve movement of the working piston.
  • the working valve is in usually also referred to as a copy valve.
  • the present invention is based on the object, a hydraulic drive device of the initially to further develop the way described that even at high speeds of the working piston of the OT and UT very can be specified exactly and within a very moved close tolerance window.
  • This task is accomplished by a hydraulic drive device the type described above solved according to the invention, that a position query for the determination of the pilot piston is provided and that one depending on the position of the working piston and the position of the pilot piston operable, the pilot piston controllable pilot valve is provided.
  • the working valve can be actively actuated become.
  • An after running of the working piston, as it is known from EP 1 138 958 A2 is known, can be selectively prevented.
  • the Position inquiry is carried out according to the invention preferably continuously. However, it can also be discontinuous be.
  • the working valve is operated exclusively by the pilot piston. This has the Advantage that other influencing factors, the pressing of the Working valve does not occur.
  • the working valve is therefore only by the pilot piston of the feedback actuated.
  • the working valve therefore no direct electrical or hydraulic actuation.
  • the actuation takes place exclusively indirectly via the pilot system.
  • the position of the working piston may in one embodiment the invention directly on the position of the piston rod be determined. It can be on the piston rod Signalers are arranged, with a fixed arranged signal receiver cooperates.
  • the pilot cylinder with the working piston in both directions of movement of the Working piston is rigidly coupled.
  • the movement of the Working piston is therefore directly on the pilot cylinder transfer.
  • pilot piston with the Working valve in both directions of movement of the pilot piston is rigidly coupled.
  • the movement of the pilot piston becomes thus directly to the circuit of the working valve used.
  • pilot piston the working valve only in one direction operated, and that the actuation of the working valve in the other direction over, for example, corresponding spring means he follows.
  • a further embodiment of the invention then results when the pilot piston for actuating the working valve can be pressurized at least on one side.
  • the pressurizable side of the pilot piston the one that the Working valve is facing away.
  • a further advantageous device results from Provide one with the measuring system and the position query connected control / regulating device, which the pilot valve in Dependence on the position of the working piston and the Position of the pilot piston controls.
  • the control / control unit compares in particular the actual position of the Pilotzylinders with a nominal position, which depends on the Position of the working piston is, and operated in dependence the difference size the pilot valve.
  • a particularly preferred embodiment of the invention is characterized by the fact that the control / control unit the Pilot valve so activates that an early, early Actuate the working valve to compensate for Reaction times occurs. Should be compensated in particular the reaction times of the working valve, Working piston, pilot valve and pilot piston. The Reaction times depend in particular on the masses and the Lifting speeds of the piston from. It is advantageous useable that the natural frequency of the system consists of Pilot cylinder, pilot piston and pilot valve is significantly higher, consisting of the natural frequency of the system Working cylinder, working piston and working valve. These Systems represent each spring / mass systems.
  • the Spring constant is formed by the stiffness of each enclosed hydraulic column in the pilot circuit or Working group, the mass is represented by the mass of the Pilot piston for the pilot circuit and the mass of Working piston plus mass of working tool. Because the Natural frequency of the pilot system in practice by a factor of 3 or more higher than that of the work system, that can Pilot system very dynamic for predictive setpoint to be used.
  • the object mentioned above is also by a Method for operating a hydraulic drive device, in particular a hydraulic according to the invention Drive device solved, which is characterized that the position of the pilot piston is determined and that a the pilot piston controlling pilot valve in response to the position of the working piston and the pilot piston actuated becomes. The pilot piston is thus in the closed loop operated.
  • Position of the pilot piston (actual value) with a setpoint is compared and if the difference signal as a reference variable is used for the movement of the pilot valve.
  • the setpoint value can depend, in particular, on the position be the working piston.
  • EP 1 138 958 A2 has to be divided between "fast” Distinguishing punching operation and "precise” forming operation.
  • FIG. UP and DN denote the switching states of the pilot valve (Reference numeral 6 in Figure 1 of EP 1 138 958 A2), which again the main valve (reference numeral 5 in Figure 1 of EP 1 138 958 A2).
  • the device for adjusting the upper Dead center (OT or TDC in EP 1 138 958 A2) is during the Working stroke no longer involved in the control.
  • the sequence of the working stroke is shown in FIG.
  • the working stroke starts in POS1, bottom dead center should be POS2.
  • in the Switching state DN is the signal of the sensor (reference 20 in FIG. 1 of EP 1 138 958 A2).
  • the working piston now meets again Figure 4 is a resistance, e.g. in POS2d.
  • the working piston slows down, see Sr, while the pilot piston itself moved linearly, see Sp.
  • the pilot piston is now but already moved beyond the POS2 to POS2c. This can can not be recognized by the controller, because for the Pilot piston according to EP 1 138 958 A2 no position sensor to query whose position is provided.
  • the sensor will be able to reach POS2 report the piston and immediately through the Control unit trigger the switching state UP.
  • the changeover process of the pilot piston lasts from T2 to T2C according to FIG. 4.
  • the working piston moves over the dimension POS2 out to the actual reversal point POS2e.
  • the Error measure Perr according to Figure 4 is disadvantageous and must be in the Arrangement according to EP 1 138 958 A2 are accepted.
  • FIG 5 is a hydraulic according to the invention Drive device 10 shown with a working cylinder 12, one between a bottom dead center UT and an upper one Dead center OT movable piston 14 has.
  • the Working piston 14 comprises a piston rod 16.
  • the piston 14 or the piston rod 16 is actuated via a Feedback 18 a the cylinder 12 a horrndes Working valve 20.
  • the feedback 18 here includes a with the piston rod 16 coupled yoke 22 and one on the yoke 22 arranged pilot cylinder 24, in which a pilot piston 26th slidably mounted is arranged.
  • the working valve 20 is actuated via a piston rod 28 of the pilot piston 26.
  • the working valve 20 is a spring-loaded 3/3-way valve.
  • the pilot piston 26 acts doing over the piston rod 28 against a spring means 30.
  • Das Working valve 20 provides a total of three connections, one Pressure port P, a tank connection T and a Consumer connection A to the upper pressure chamber 32 of the Working cylinder 14.
  • the pressure chamber 32 opposite, separated by the piston 14 pressure chamber 34 is a Port B and via a line 36 to the pressure port P connected.
  • the pressure chamber 32 is in the illustrated in the figure Middle position n of the working valve 20 closed; of the Pressure chamber 34 is connected to the pressure line P.
  • the pressure chamber 32 In the Actuating position a of the valve 20, the pressure chamber 32 with connected to the pressure port P. Since the the pressure chamber 32nd facing piston surface is greater than that of the pressure chamber 34th facing, then becomes a downward force for Provided and the working piston is down emotional.
  • the device 10 also has a measuring system 38, with the position of the working piston 14 and the Piston rod 16 can be determined.
  • the measuring system can for example, one arranged on the piston rod 16 Signaling device and preferably a plurality of stationary arranged Have signal receiver.
  • Have signal receiver are particularly advantageous in the Practice potentiometric sensors, sensors based on Magnetostriction (transit time measurement), as well as incremental magnetic or optical sensors.
  • the measuring system 38 is with a controller 40, in which the of the Measuring system 38 recorded values are evaluated.
  • the device 10 also includes a position of the Pilot piston 26 and the piston rod 28th continuous position inquiry 42.
  • the position query also Signal transmitter on the pilot piston and fixedly arranged Have signal receiver.
  • the Position query 42 is connected to the control / regulating device 40.
  • the position query 42 may be electrical or hydromechanical system be executed or can also by a sensor of the same type as for the working piston be executed, or advantageous by a mechanical Return.
  • the pilot piston 24 is actuated via a pilot valve 44, which is actuated by the control / regulating device 40.
  • a pilot valve 44 which is actuated by the control / regulating device 40.
  • the position of the working piston 14th about the position of the working valve 20 in conjunction with the Position of the pilot piston 28 can be determined.
  • the working piston 14 By determining the position of the working piston 14 for one and the position of the pilot piston 26 to the other can advantageously, the working piston 14 with an elevated Dynamics with simultaneously improved process reliability be controlled.
  • the position of the pilot piston 28 determined and the pilot piston controlling pilot valve 44 in Dependence on the position of the working piston 16 and the Pilot piston 28 actuated.
  • the position query 42 delivers For this purpose, an actual value signal 46, which with a setpoint signal 48 is compared, wherein the difference signal 50 as Reference variable for the movement of the pilot valve 44 is used.
  • the setpoint signal 48 is here in particular dependent on the actual position of the working piston 16.
  • the desired signal 48 thus results from the actual signal 52 of the measuring system 38.
  • the reference variable for the operation of the Working valve 20 and thus for the movement of the Working piston 14 is thus by an internal control loop formed, the pilot valve 44, the position of the Pilot piston 28, the position query 42 and the comparison of Actual value 46 with the setpoint 48 in the control unit 40 includes.
  • the device 10 has in particular the Advantage that with her a targeted feedforward of the Um Tavernvorgangs the working piston 14 are performed can.
  • the working piston 14 is moved in the direction UT.
  • the measuring system 38 can be determined when the Working piston 14 a position near the turning point UT reached.
  • the controller 40 operates the Pilot valve 44, whereby the pilot piston 26 the Um Tavernvorgang by operating the working valve 20 initiates.
  • dS depends in particular on the masses, Lifting speeds and reaction times of the individual pistons and valves off.
  • the feedback loop in the feedback 18 can therefore be the Dynamics and process reliability can be increased.
  • the accident is considered, in which the Movement of the main piston in POS2d to mechanical resistance through the workpiece.
  • the main piston slows down according to the route curve Sr.
  • the independent, outer Position control loop with the position query 42 can the Pilot pistons are nevertheless safely placed on POS2.
  • the working piston is strong when reaching POS2e accelerated because the workpiece has now deformed or punched and no longer makes any resistance can the working piston does not drive beyond POS2, because this as End position of movement through the pilot piston already is mechanically predetermined.
  • the Measuring system 38 the detection of POS2 detected and the Reversal takes place by changing to the UP state.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Presses (AREA)
  • Fluid-Driven Valves (AREA)
  • Valve Device For Special Equipments (AREA)
  • Servomotors (AREA)

Claims (13)

  1. Dispositif hydraulique d'actionnement (10) doté d'un cylindre de travail (12) qui peut être accouplé à un outil de traitement et qui présente un piston de travail (14) qui peut être déplacé entre un point inférieur bas (UT) et un point inférieur haut (OT) et qui comprend une tige de piston (16), un système de mesure (38) qui détermine la position du piston de travail (14), le piston de travail (14, 16) actionnant par l'intermédiaire d'une rétroaction (18) une soupape de travail (20) asservie au cylindre de travail (12), la rétroaction (18) comprenant un piston pilote (26, 28) guidé dans un cylindre pilote (24) et actionnant la soupape de travail (20), caractérisé en ce qu'une interrogation de position (42) destinée à déterminer la position du piston pilote (26, 28) est prévue et en ce qu'une soupape pilote (44) qui peut être actionnée en fonction de la position du piston de travail (14, 16) et de la position du piston pilote (26, 28) actionne le piston pilote (26, 28).
  2. Dispositif (10) selon la revendication 1, caractérisé en ce que la soupape de travail (20) est actionnée exclusivement par le piston pilote (26, 28).
  3. Dispositif (10) selon les revendications 1 ou 2, caractérisé en ce que le système de mesure (38) détermine la position du piston de travail (14, 16) directement par l'intermédiaire de la position de la tige de piston (16).
  4. Dispositif (10) selon les revendications 1 ou 2, caractérisé en ce que le système de mesure (38) détermine la position du piston de travail (14) indirectement par l'intermédiaire de la position de la soupape de travail (20) et de la position du piston pilote (26).
  5. Dispositif (10) selon les revendications précédentes, caractérisé en ce que le cylindre pilote (24) est accouplé rigidement au piston de travail (14, 16) dans les deux directions de déplacement du piston de travail.
  6. Dispositif (10) selon l'une des revendications 1 à 4, caractérisé en ce que le piston pilote (26, 28) est accouplé rigidement à la soupape de travail (20) dans les deux directions de déplacement du piston pilote (26).
  7. Dispositif (10) selon les revendications précédentes, caractérisé en ce que le piston pilote (26, 28) peut être alimenté en pression au moins d'un côté pour actionner la soupape de travail (20).
  8. Dispositif (10) selon les revendications précédentes, caractérisé en ce qu'un appareil de régulation et/ou de commande (40) qui est relié au système de mesure (38) et à l'interrogation de position (42) est prévu pour commander la soupape pilote (44) en fonction de la position du piston de travail (14, 16) et de la position du piston pilote (26, 28).
  9. Dispositif (10) selon les revendications précédentes, caractérisé en ce que l'appareil de régulation et de commande (40) commande la soupape pilote (24) de manière à actionner précocement et en avance la soupape de travail (20) en vue de compenser le temps de réaction.
  10. Procédé de commande d'un dispositif hydraulique d'entraínement (10), en particulier selon l'une des revendications qui précèdent, pour un cylindre de travail (12) qui peut être accouplé à un outil de traitement et qui présente un piston de travail (14) qui peut être déplacé entre un point mort bas (UT) et un point mort haut (OT) et qui présente une tige de piston (16), la position du piston de travail (14, 16) étant déterminée et le piston de travail (14, 16) actionnant une soupape de travail (20) qui commande le cylindre de travail (12) par l'intermédiaire d'une rétroaction (18), la rétroaction (18) comprenant un piston pilote (26, 28) guidé dans un cylindre pilote (24), caractérisé en ce que la position du piston pilote (26, 28) est déterminée et en ce qu'une soupape pilote (44) qui commande le piston pilote (26, 28) est actionnée en fonction de la position du piston de travail (14, 16) et du piston pilote (26, 28).
  11. Procédé selon la revendication 10, caractérisé en ce que l'actionnement de la soupape de travail (20) est précoce et en avance pour compenser les durées de réactions.
  12. Procédé selon les revendications 10 ou 11, caractérisé en ce que la position du piston de travail (26, 28) (valeur effective 46) est comparée à une valeur de consigne (48) et en ce que le signal de différence est utilisé comme grandeur de guidage (50) pour l'actionnement de la soupape pilote (44).
  13. Procédé selon la revendication 12, caractérisé en ce que la valeur de consigne (48) dépend de la position (52) du piston de travail (14, 16).
EP04006298A 2003-03-25 2004-03-17 Actionneur hydraulique, méthode pour faire fonctionner un actionneur hydraulique et dispositif de commande associé. Expired - Lifetime EP1462660B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10314302 2003-03-25
DE10314302A DE10314302B3 (de) 2003-03-25 2003-03-25 Hydraulische Antriebsvorrichtung, Verfahren zum Betreiben einer hydraulischen Antriebsvorrichtung

Publications (2)

Publication Number Publication Date
EP1462660A1 EP1462660A1 (fr) 2004-09-29
EP1462660B1 true EP1462660B1 (fr) 2005-07-20

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ID=32798162

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04006298A Expired - Lifetime EP1462660B1 (fr) 2003-03-25 2004-03-17 Actionneur hydraulique, méthode pour faire fonctionner un actionneur hydraulique et dispositif de commande associé.

Country Status (3)

Country Link
EP (1) EP1462660B1 (fr)
AT (1) ATE299996T1 (fr)
DE (2) DE10314302B3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102725540A (zh) * 2010-07-27 2012-10-10 沃依特专利有限责任公司 用于驱动液压传动装置的方法和液压传动装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005009583A1 (de) * 2005-02-28 2006-08-31 Hycos Srl Hydraulikventil
DE102016121887A1 (de) * 2016-11-15 2018-05-17 Amazonen-Werke H. Dreyer Gmbh & Co. Kg Hydraulischen Stellungsanzeiger zur analogen Anzeige der Position fluidischer Arbeitszylinder
JP2021162105A (ja) * 2020-03-31 2021-10-11 ナブテスコ株式会社 流量制御装置、流量制御方法及び流量制御プログラム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2926864C2 (de) * 1979-07-03 1984-08-09 Zimmermann & Jansen GmbH, 5160 Düren Vorrichtung zur exakten Stellungsrückmeldung eines Arbeitskolbens in einem Hydraulik-Arbeitszylinder
DE4412224A1 (de) * 1994-04-09 1995-10-12 Graebener Pressensysteme Gmbh Presse für eine Kaltverformung von Metallwerkstücken
GB2360728B (en) * 2000-03-30 2004-08-18 Tradewise Engineering Ltd Fluid-operated circuit for setting the top and bottom dead center location of the punch actuation cylinder in punching machines

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102725540A (zh) * 2010-07-27 2012-10-10 沃依特专利有限责任公司 用于驱动液压传动装置的方法和液压传动装置
CN102725540B (zh) * 2010-07-27 2016-01-20 沃依特专利有限责任公司 用于驱动液压传动装置的方法和液压传动装置

Also Published As

Publication number Publication date
ATE299996T1 (de) 2005-08-15
DE10314302B3 (de) 2004-09-30
DE502004000026D1 (de) 2005-08-25
EP1462660A1 (fr) 2004-09-29

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