EP2644904A1 - Procédé de commande d'un système de travail à actionnement fluidique et système de travail - Google Patents

Procédé de commande d'un système de travail à actionnement fluidique et système de travail Download PDF

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Publication number
EP2644904A1
EP2644904A1 EP12002099.5A EP12002099A EP2644904A1 EP 2644904 A1 EP2644904 A1 EP 2644904A1 EP 12002099 A EP12002099 A EP 12002099A EP 2644904 A1 EP2644904 A1 EP 2644904A1
Authority
EP
European Patent Office
Prior art keywords
working chamber
fluid
actuator
valve
volume
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.)
Granted
Application number
EP12002099.5A
Other languages
German (de)
English (en)
Other versions
EP2644904B1 (fr
Inventor
Matthias Doll
Rüdiger Neumann
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.)
Festo SE and Co KG
Original Assignee
Festo SE 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 Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to EP20120002099 priority Critical patent/EP2644904B1/fr
Priority to CN201310098292.2A priority patent/CN103362901B/zh
Publication of EP2644904A1 publication Critical patent/EP2644904A1/fr
Application granted granted Critical
Publication of EP2644904B1 publication Critical patent/EP2644904B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
    • F15B11/064—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam with devices for saving the compressible medium
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/853—Control during special operating conditions during stopping
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
    • F15B2211/8855—Compressible fluids, e.g. specific to pneumatics

Definitions

  • the invention relates to a method for controlling a fluid operable operating system having an actuator with an actuator housing and a movably received in the actuator housing actuator member, the actuator housing and the Aktorglied determine a first and at least one second working chamber, which are each pressurizable separately and the Provision of oppositely acting actor forces are formed on the actuator member, and having a valve device which is designed for separate control of the two working chambers, and a control device for controlling the valve device. Furthermore, the invention relates to a fluidic working system.
  • the positioner supplies first and second pneumatic control signals to the first and second working chambers, respectively, and has at least one device for setting the first pneumatic control signal for the first working chamber, wherein the device is designed such that the setting of the first control signal regulates the second pneumatic control signal leaves unaffected. This may differ From a common in the field of pneumatics coupled fluid loading of the two working chambers a separate fluid loading of the two working chambers can be achieved.
  • valve module for fluid supply fluidic consumers, having a plurality of valve modules, known.
  • the valve modules each comprise a channel body and four 2/2-way valves, which are interconnected in a full bridge arrangement and which are each switchable between a blocking position and a release position.
  • a control device for individually controlling the 2/2-way valves of the valve modules is provided.
  • the first working channel and the second working channel are communicatively connected to one another by a connecting channel and the valve module is assigned a switchable by the control means individually between a blocking position and a release position valve means for influencing a free cross section of the connecting channel to the communicating connection between the first and the second working channel temporarily release.
  • the object of the invention is to provide a method for controlling a fluidly operable work system and a fluidic work system, in which a significant improvement in energy efficiency over the prior art can be achieved.
  • control device prescribes the following steps: activating the valve device for providing a first predeterminable volume of a pressurized fluid to the first working chamber in order to accelerate the actuator element from a start position to a predefinable target speed, activating the valve device in order to control the actuator closing the first working chamber, driving the valve device to allow a flow of a second predetermined volume of a fluid contained in the second working chamber from the second working chamber, so that a deceleration of the actuator member is ensured to a predetermined target position along the actuator housing.
  • a considerable improvement in the energy utilization is achieved by applying a predeterminable volume of a pressurized fluid to the first working chamber, which is used to provide the drive force for the actuator member and a load coupled to the actuator member Volume is dimensioned in particular such that the provided via the pressurized fluid in the first working chamber amount of energy as precisely as possible to accelerate the Aktorglieds to the required target speed.
  • the target speed for the actuator member and the coupled load is in turn such that due to the inertia of the actuator member and load and thus stored in the Aktorglied and the coupled momentum kinetic movement of these components oppositely directed motion resistance, in particular frictional resistance, in particular within a predefinable Movement period to be overcome until reaching the target position.
  • the target velocity is sized that the actuator member reaches the target position reliably and that when reaching the target position only a small, especially a vanishing, kinetic energy is stored in Aktorglied and the coupled load and that a specifiable, low pressure level, in particular well below the provided at the valve device supply pressure pressure level , is achieved.
  • the objective of the method according to the invention which is to improve the energy efficiency when operating a fluidly operable work system, is thus essentially achieved by selecting the amount of energy fed into the work system via the pressurized fluid such that an active braking of the actuator member upon reaching it the target position, as it is known from the prior art under the term of the end position damping, at least largely unnecessary.
  • a significant portion of the provided via the pressurized fluid energy must be converted into heat that can not be used to ensure an accurate target achievement.
  • the actuation of the valve device in order to allow a second predeterminable volume of a fluid contained in the second working chamber to flow out of the second working chamber preferably takes place at a point in time at which the actuator element has already reached its target speed or the movement speed of the actuator element is already below the target speed is. It is assumed that the second working chamber is at least temporarily closed prior to the corresponding actuation of the valve device and thus no fluid can flow out of the second working chamber at least within a predefinable period of time prior to the time of actuation of the valve device.
  • the trapped in the second working chamber fluid with increasing approach of the Aktorglieds to the target position compressed due to a reduction in the volume of the second working chamber and thus serves as an elastic fluid buffer for the movement of the Aktorglieds.
  • the time for the control of the valve device for releasing the second working chamber is selected such that on the one hand the at least temporarily trapped fluid can flow without further switching operation of the valve device and on the other hand, the desired deceleration of the actuator member is guaranteed until reaching the target position.
  • This point in time for the actuation of the valve device can also be made dependent on whether the second working chamber was already closed during the acceleration of the actuator member or whether the second working chamber was closed at a later time.
  • the valve device is activated during and / or after the deceleration of the actuator member such that the second working chamber is depressurized in the target position. This ensures that the fluid pressure which is stored in the first working chamber when the target position is reached is completely available for the application of a static holding force by the actuator member to the coupled load.
  • the second working chamber remains in communicating connection with the environment and the prevailing fluid pressure upon reaching the target position or that the valve device is controlled in such a way that the second working chamber is fluidically separated from the environment.
  • the second working chamber for enhancing the holding force, which is exerted by the first working chamber on the actuator member, used as a displacement resistance for the Aktorglied upon introduction of external forces to the coupled load due to the trapped fluid volume in the second working chamber is increased.
  • the first predeterminable volume of the pressurized fluid which is provided to the first working chamber, is dimensioned such that a predetermined, in particular below a supply pressure for the valve device settled in the working chamber upon reaching the target position Target pressure is present.
  • the target pressure is preferably chosen such that external forces acting on the actuator member and the load coupled thereto after reaching the target position, at least not lead to a movement of the actuator member and the load, if these forces are within a predetermined interval.
  • the external forces are outside the predetermined interval, either a movement of the Aktorglieds and the load can be tolerated depending on the application for the work system or it can be provided a supply of pressurized fluid in the first working chamber to a sufficiently large counterforce to that of applied externally applied forces.
  • the target pressure for the first working chamber can be selected to be vanishing.
  • the valve device is controlled such that the first working chamber upon reaching the target position a third predetermined volume of a pressurized fluid is supplied to increase the target pressure in the first working chamber at the end of the deceleration process or after completion of the deceleration process by a predetermined amount.
  • the efficient use of the power provided to the work system is ensured by the requirement for a target pressure higher than the target pressure set by the first volume of the pressurized fluid needed to reach the target speed alone , is satisfied by the fact that the third volume is provided only at a time to the first working space to which no or at least no relevant acceleration path for the actuator member is more available.
  • the supply of the third volume of the pressurized fluid into the first working chamber also no deceleration of the actuator member is required, which would otherwise have a negative impact on energy efficiency. Rather, the amount of energy introduced into the first working chamber by the third volume of the pressurized fluid is at least almost completely converted into the desired holding force, which is established by the increase in the target pressure.
  • the control device controls the actuation of the valve device to provide the first predeterminable volume to the first working chamber and to allow the outflow of a second predeterminable volume from the second working chamber to be timed.
  • the method can be carried out with a simply constructed control device.
  • one or two end position sensors are associated with the actuator, which output on reaching the at least one or the at least two target positions along the path of movement of the Aktorglieds a corresponding signal to the Steuerungseicardi, so this knowledge thereof has whether the timed control of the valve device has yielded the desired success in the form of reaching the respective target position by the actuator member.
  • the actuator is assigned a pressure measuring device and / or at least one end position sensor and / or a displacement measuring device and that a control, in particular a control, of the valve device as a function of measured values, by the pressure measuring device and / or the at least one end position sensor and / or the path measuring device are provided to the control device takes place.
  • a robust design of the work system can be achieved, which thus also under changing loads and / or other changing boundary conditions such. Temperature-dependent changes of friction between load and associated storage always ensures the achievement of the target position for the actuator member.
  • the target position for the actuator member is selected such that a working volume of the second working chamber is minimal and that the first volume for the pressurized fluid and the second predetermined volume for the outflowing fluid are predetermined such that the actuator member reaches the target position with, in particular at least almost, vanishing movement speed.
  • the maximum displacement of the actuator is advantageously utilized, on the other hand, the contribution to the reinforcement of the holding force in the target position by the fluid volume enclosed in the second working chamber is greatest when the working volume of the second working chamber is minimal.
  • Achieving the target position by the actuator member with, at least almost, vanishing movement speed is advantageous, since this is an advantageous Utilization of the energy of the introduced into the first working chamber pressurized fluid is ensured because no energetically unfavorable deceleration of the actuator member and / or the load coupled thereto is required. Furthermore, this undesirable pulse discharges are avoided by the actuator member in the actuator housing and / or the load on a possibly provided end stop, which could lead to wear of the respective components.
  • the speed of the actuator member is checked by the control device in order to provide an additional supply of pressurized fluid into the first working chamber or at deviations from the predefinable target speed To allow temporary limitation of the outflow of the second predetermined volume of the fluid contained in the second working chamber from the second working chamber.
  • the outflow of the second predeterminable volume of the fluid contained in the second working chamber from the second working chamber takes place unthrottled.
  • the throttling effect during the outflow of the fluid from the second working chamber is limited in an advantageous manner to the fluid friction which can not be completely eliminated in the valve device and in the fluid conductors, which may in particular be fluid hoses. In such, at least almost unthrottled outflow of the fluid thus occur no significant fluid friction losses, which would otherwise worsen the energy efficiency of the work system.
  • This is advantageous, in particular, for the outflow of the fluid from the second working chamber when the actuator member approaches the target position, but may also be significant if an outflow of fluid from the second working chamber should be provided for the actuator member during the acceleration phase.
  • control device controls the valve device for providing a first predefinable volume of a pressurized fluid to the first working chamber and for discharging a second predeterminable volume of a fluid contained in the second working chamber from the second working chamber such that an averaged pressure Pressure values of the two working chambers at the beginning and end of a movement of the actuator member is at a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent, of a voltage applied to the valve device supply pressure.
  • the averaged pressure from pressure values of the two working chambers also referred to as medium pressure, be supplied to the first volume of the pressurized fluid first working chamber and after reaching the target position by the actuator member is at the lowest possible pressure level.
  • This pressure level is advantageously considerably less than half the supply pressure which is provided to the valve device.
  • the averaged pressure by supplying a first volume of pressurized fluid in the first working chamber to a first maximum value increases and at the time of release of the compressed in the second working chamber by the movement of the Aktorglieds fluid occupies a second maximum value and between the first and second maximum value temporarily reaches a pressure level less than 30 percent, preferably less than 20 percent, in particular Less than 10 percent, is a voltage applied to the valve device supply pressure.
  • the object underlying the invention is achieved according to a third aspect of the invention for a work system of the type mentioned above with the features of claim 12.
  • the work system for providing an actuating movement of an actuator comprises an actuator with an actuator housing and a Aktorgeophuse movably received actuator member, the actuator housing and the Aktorglied determine a first and at least one second working chamber, which are each pressurizable separately and the Provision of opposing acting Actuator forces are formed on the actuator member.
  • the operating system comprises a valve device, which is designed for the separate control of the two working chambers, and a control device for controlling the valve device. It is provided that the control device is designed for carrying out one of the methods according to one of claims 1 to 11.
  • the valve device comprises at least one arrangement of four 2/2-way valves, each having a first and a second fluid port and a movable valve member for adjusting a free fluid channel cross section between the first and the second fluid port, wherein the four / 2-way valves are interconnected in a full bridge arrangement, in which the first fluid ports of the first and second 2/2-way valve are connectable to a fluid source, the second fluid port of the first 2/2-way valve and the first fluid port of the fourth 2 / 2-way valve are connected to the first working chamber, the second fluid port of the second 2/2-way valve and the first fluid port of the third 2/2-way valve are connected to the second working chamber and the second fluid ports of the third and the fourth 2/2 Directional valve are connected to a vent channel.
  • each of the working chambers associated 3/3-way valves can be modeled, which are used for a separate control of the first and the second working chamber can.
  • a connecting channel is formed, in which one of the control means individually switchable between a blocking position and a release position, in particular, a valve means configured as a 2/2-way valve for influencing a free cross section of the connection channel is arranged to temporarily release a communicating connection between the first and the second working chamber.
  • the connecting channel can be released temporarily, in particular, if after the supply of the first volume of the pressurized fluid into the first working chamber it should turn out that the target speed for the actuator member and the load coupled thereto has been exceeded and thus a greater deceleration of the actuator member is required, which would otherwise have to be ensured by direct introduction of pressurized fluid into the second working chamber.
  • An Indian FIG. 1 schematically illustrated work system 1 comprises an exemplary designed as a double-acting pneumatic cylinder actuator 2.
  • the actuator 2 has an actuator housing 3, in which a recess is formed, in which a trained as a piston actuator member 4 is received linearly movable.
  • the actuator member 4 is connected to a piston rod 5, which in turn is coupled to a load 6.
  • the actuator housing 3 and the actuator member 4 define two fluidly separated working chambers 7, 8.
  • the working chambers 7, 8 can each separately with the help of a valve device 9, the example of two 3/3-way valves 10, 11, with pressurized fluid from a Fluid source 12 are supplied.
  • the working chamber 7, 8 can be locked by means of the 3/3-way valves 10, 11, so that no fluid flow from the respective working chamber 7, 8 or in the respective working chamber 7, 8 is possible.
  • the 3/3-way valves 10, 11 are each connected in such a way that an outflow of fluid from the working chambers 7, 8 to an output, such as a vent outlet 14, is possible.
  • a control device 15 is provided which can provide electrical power to the magnetic drives 16, 17 of the 3/3-way valves 10, 11 to move them between the different switching positions.
  • control device 15 is electrically connected to two respective end-face sensors 18, 19 attached to the actuator housing 3, which provide an electrical signal to the control device 15 as soon as the actuator member 4 has arrived along a movement axis 20 in a target position monitored by respective end position sensor 18, 19.
  • the work system 1 in which a time-controlled control of the valve device 9 is provided by the control device 15, in particular at constant boundary conditions, ie constant load 6, constant friction conditions for the actuator member 4 and the load 6 and constant demands on the holding force on the actuator member. 4 be operated in the target position. Further details on the possible operation of the work system 1 will become apparent from the following description of the Figures 3 and 4 ,
  • valve means 59 comprises two 3/3-way proportional directional control valves 60, 61 and that the actuator housing. 3 in addition to the end position sensors 18, 19, a displacement measuring system 71 is assigned, with which each position of the actuator member 4 along the movement path 20 can be determined.
  • control device 65 is designed for regulating the fluid supply and the outflow of fluid into the working chambers 7, 8 or from the working chambers 7, 8.
  • the work system 51 is provided in the regulation of the valve device 59 by the control device 65, in particular at varying boundary conditions, ie varying load 6 and / or varying friction conditions for the actuator member 4 and the load 6 and / or changing demands on the holding force on the Actuator 4 are operated in the respective target position.
  • the high acceleration of the actuator member 4 and the load 6, which underlies the speed increase, results from providing a first volume of pressurized fluid into the first working chamber 7, which can be seen from the pressure curve pa in the pressure diagram, which is plotted as an absolute pressure curve like all other pressure curves from the fact that in the second working chamber 8, whose pressure is represented by the pressure curve pb, there is only a low pressure level from the previous course of motion, so that the movement of the actuator 4 is only minimally inhibited.
  • the mean pressure pm which results from the averaging of the respective pressure values from the two working chambers 7, 8, is at the beginning and end of the movement of the Aktorglieds 4 a fraction of the supply pressure applied to the valve means 9, 59, exemplarily less than 20 percent of the supply pressure according to the illustration of FIG. 4 ,
  • From the associated force diagram according to the FIG. 3 can be taken from the power provided by the actuator 4 to the load 6.
  • This first increases by the provision of the pressurized fluid in the first working chamber 7 to a maximum value, and then subsequently after completion of the fluid supply into the first working chamber 7 due the increasing increase in the volume of the first working chamber 7 and the thus decreasing pressure in the first working chamber 7 to fall back to zero.
  • the resulting, contrary to the operation according to FIG. 3 deviating from zero holding force Fh on the actuator member 4 is the force diagram of FIG. 4 refer to.
  • FIG. 5 shows a force curve for a work system, which is operated in a conventional manner.
  • the force curve 30 according to the FIG. 3 the force curve 31 according to FIG.
  • a valve device 40 is shown, which is basically designed as an arrangement four 2/2-way valves 41, 42, 43 44.
  • Each of the 2/2-way valves 41, 42, 43 44 includes a first and a second fluid port and a not shown, movable valve member for adjusting a free fluid channel cross-section between the respective first and second fluid port.
  • the four 2/2-way valves 41, 42, 43, 44 are interconnected in a full bridge arrangement in which the first fluid ports of the first and second 2/2-way valve 41, 42 are connectable to a fluid source 45, the second fluid port of first 2/2-way valve 41 and the first fluid port of the fourth 2/2-way valve 44 are connected to the first working chamber 7, the second fluid port of the second 2/2-way valve 42 and the first fluid port of the third 2/2-way valve 43rd are connected to the second working chamber 8 and the second fluid ports of the third and fourth 2/2-way valve 43, 44 are connected to a vent outlet 46.
  • a valve device 40 fluid flows into the working chambers 7, 8 or from the working chamber 7, 8 can be influenced in a simple manner.
  • a Connecting channel 47 is formed, in which one of the control device 48 individually switchable between a blocking position and a release position, exemplarily designed as 2/2-way valve 49 valve means for influencing a free cross section of the connecting channel 47 is arranged to communicate a communication between the first working chamber 7 and the second working chamber 8 temporarily release.

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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)
EP20120002099 2012-03-26 2012-03-26 Procédé de commande d'un système de travail à actionnement fluidique Active EP2644904B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20120002099 EP2644904B1 (fr) 2012-03-26 2012-03-26 Procédé de commande d'un système de travail à actionnement fluidique
CN201310098292.2A CN103362901B (zh) 2012-03-26 2013-03-26 用于操控可流体运行的工作系统的方法以及工作系统

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Application Number Priority Date Filing Date Title
EP20120002099 EP2644904B1 (fr) 2012-03-26 2012-03-26 Procédé de commande d'un système de travail à actionnement fluidique

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EP2644904A1 true EP2644904A1 (fr) 2013-10-02
EP2644904B1 EP2644904B1 (fr) 2014-11-12

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015082038A1 (fr) * 2013-12-03 2015-06-11 Festo Ag & Co. Kg Système de vanne
DE102016204538B3 (de) * 2016-03-18 2017-08-24 Festo Ag & Co. Kg Antriebseinrichtung und Verfahren zum Betreiben einer Antriebseinrichtung
IT201600084066A1 (it) * 2016-08-09 2018-02-09 Safen Fluid And Mech Engineering S R L Procedimento per l'alimentazione di un'utenza pneumatica
WO2019020617A1 (fr) * 2017-07-27 2019-01-31 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Unité de pivotement
US20210046559A1 (en) * 2019-08-01 2021-02-18 Altas Copco IAS GmbH Method for controlling a mechanical joining or forming process
WO2021221768A1 (fr) * 2020-04-30 2021-11-04 Fisher Controls International Llc Procédés et appareil servant à quantifier l'utilisation d'un volume pneumatique par le biais de dispositifs de commande de soupape
US20220001502A1 (en) * 2018-10-10 2022-01-06 Festo Se & Co. Kg Movement apparatus, tire handling apparatus and method for operation of a fluidic actuator

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JP6467733B1 (ja) * 2018-05-21 2019-02-13 Smc株式会社 流体圧シリンダの駆動方法及び駆動装置
DE102018118955B4 (de) * 2018-08-03 2020-02-13 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Verfahren zum Betreiben einer fluidischen Vorrichtung zum Handhaben, Bewegen oder Spannen von Gegenständen zur Bestimmung von Leckagen am Kolben und derartige Vorrichtung
CN109555749B (zh) * 2019-01-03 2023-09-12 杨斌堂 多管自给装置

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WO2006122339A1 (fr) * 2005-05-20 2006-11-23 Stiwa-Fertigungstechnik Sticht Gesellschaft M.B.H. Mecanisme d'entrainement a commande fluidique et procede de commande correspondant
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Publication number Priority date Publication date Assignee Title
WO2015082038A1 (fr) * 2013-12-03 2015-06-11 Festo Ag & Co. Kg Système de vanne
US9909679B2 (en) 2013-12-03 2018-03-06 Festo Eg & Co. Kg Valve having electro-mechanical actuator and a control device with a delay circuit
DE102016204538B3 (de) * 2016-03-18 2017-08-24 Festo Ag & Co. Kg Antriebseinrichtung und Verfahren zum Betreiben einer Antriebseinrichtung
IT201600084066A1 (it) * 2016-08-09 2018-02-09 Safen Fluid And Mech Engineering S R L Procedimento per l'alimentazione di un'utenza pneumatica
WO2019020617A1 (fr) * 2017-07-27 2019-01-31 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Unité de pivotement
US20220001502A1 (en) * 2018-10-10 2022-01-06 Festo Se & Co. Kg Movement apparatus, tire handling apparatus and method for operation of a fluidic actuator
US20210046559A1 (en) * 2019-08-01 2021-02-18 Altas Copco IAS GmbH Method for controlling a mechanical joining or forming process
US11772218B2 (en) * 2019-08-01 2023-10-03 Atlas Copco Ias Gmbh Method for controlling a mechanical joining or forming process
WO2021221768A1 (fr) * 2020-04-30 2021-11-04 Fisher Controls International Llc Procédés et appareil servant à quantifier l'utilisation d'un volume pneumatique par le biais de dispositifs de commande de soupape
CN115398104A (zh) * 2020-04-30 2022-11-25 费希尔控制国际公司 用于通过阀控制器量化气动体积用量的方法和装置

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