JP2019023816A - Cylinder control device and piston actuator device - Google Patents

Abstract

To provide a cylinder control device and a piston actuator device capable of downsizing a control structure to control a control target, and of reducing a response time of the control target.SOLUTION: A CPU 51 of a cylinder control device 3 creates, when a setting value of an operation pressure per time input via operating units 32, 33, and 34 is received, an action pattern on the basis of the received value, and stores the created pattern in an EEPROM 54. The CPU 51 reads, when a certain action pattern is specified among the plurality of action patterns stored in the EEPROM 54 by the operating unit or a host controller 9, the specified action pattern from the EEPROM 54. Next, the CPU 51 controls an intake and exhaust unit 8 so as to cause the operation pressure for the cylinder to match the setting value of the operation pressure per time according to the action pattern read, thereby executing a feed-forward control on the action of a piston actuator device.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a cylinder control device and a piston actuator device that control an operation pressure of a cylinder that houses a piston.

  For example, a plurality of air operated valves are arranged in a pharmaceutical production line. The air operated valve includes a cylinder that accommodates a piston, and a cylinder control device for controlling an operation pressure is connected to the cylinder. For example, an electropneumatic control valve is used as the cylinder control device. The electropneumatic control valve is communicably connected to a host controller such as a PLC (Programmable Logic Controller) that manages the pharmaceutical manufacturing process. The host controller is also electrically connected to a secondary pressure sensor disposed on the secondary side of the air operated valve.

  The host controller generates an operation signal based on the differential pressure between the secondary pressure detected by the secondary pressure sensor and the set value of the secondary pressure, and transmits the operation signal to the electropneumatic control valve. The electropneumatic control valve controls the operation pressure supplied to the cylinder by supplying and exhausting the operation fluid to the cylinder in accordance with the operation signal. In the air operated valve, the piston moves in the cylinder according to the operating pressure of the cylinder, and the valve opening degree is changed.

JP 2011-134183 A

  However, since the conventional air operated valve is feedback-controlled by the host controller, the secondary pressure sensor needs to be installed on the secondary side of the air operated valve. Therefore, the control configuration for controlling the air operated valve is complicated and large.

  Further, the secondary pressure of the air operated valve is unstable. Therefore, when the valve opening degree of the air operated valve is feedback-controlled based on the secondary pressure, for example, as shown in FIG. 16, the operation pressure controlled by the electropneumatic control valve corresponds to a predetermined valve opening degree. There was a problem that the overshoot was repeated with respect to the target pressure, and the response time Tx became long. For example, in a field where cleaning and sterilization of a medical product production line is performed, there is a demand for shortening the response time Tx and improving the efficiency of the cleaning process and the sterilization process even if the accuracy is somewhat inferior to the feedback control.

  The present invention has been made in order to solve the above-described problems, and it is possible to make the control configuration for controlling the control object compact and to shorten the response time of the control object and the piston actuator device. The purpose is to provide.

  One aspect of the present invention made to solve the above problems is a cylinder control device that controls the operating pressure of a cylinder that houses a piston, and controls the operating pressure by supplying and exhausting operating fluid to and from the cylinder. An air supply / exhaust unit, a control unit, a storage unit, and a reception unit that receives a set value of the operation pressure for each time, and the control unit sets the operation pressure for each time through the reception unit An operation pattern storage process for receiving at least two values to generate an operation pattern and storing the operation pattern in an identifiable manner; and a plurality of operation patterns stored in the storage unit; and When a designated command to be designated is acquired, an operation pattern reading for reading an operation pattern corresponding to the designated command from the plurality of operation patterns stored in the storage unit. Performing a process and a control process for controlling the supply / exhaust unit so that the operation pressure matches the set value of the operation pressure for each time according to the operation pattern read in the operation pattern reading process, It is characterized by.

  The cylinder control device having such a configuration stores in advance an operation pattern that defines an operation pressure set value for each time in a storage unit, and when a specified command is acquired, the operation pattern corresponding to the specified command is stored in the storage unit. The operation pressure of the cylinder to be controlled is controlled by controlling the supply / exhaust unit according to the read operation pattern. The controlled object operates according to the operating pressure of the cylinder. Therefore, since the cylinder control device performs feedforward control of the operation of the control object using the operation pattern stored in the storage unit, a configuration for detecting the operation state of the control object (for example, a secondary pressure sensor) becomes unnecessary. The control configuration for controlling the controlled object becomes compact. Moreover, since the cylinder control device controls the operation pressure without repeating overshoot, the response time of the control target can be shortened.

  In the cylinder control device having the above-described configuration, the control process controls the air supply / exhaust unit so that the moving direction of the piston is always the same immediately before the operation pressure reaches the set value of the operation pressure. It is characterized by this. According to the cylinder control device having such a configuration, it is possible to avoid a situation in which the valve opening differs between the case where the valve opening is increased and the case where the valve opening is decreased even at the same operation pressure.

  The cylinder control device having the above configuration includes an operation unit and a display unit, and the control unit executes a display process for displaying the operation content of the operation unit on the display unit, and further performs the operation pattern storage process. Then, the receiving unit receives a set value of the operation pressure for each time input via the operation unit. According to the cylinder control device having such a configuration, since the operation pattern can be stored only by the own device, the control configuration can be simplified.

  Another aspect of the present invention made to solve the above problems is a cylinder, a piston housed in the cylinder and sliding in the cylinder in response to an operating pressure in the cylinder, and connected to the piston. In the piston actuator device having an output unit that outputs in response to the movement of the piston, and a cylinder control device connected to the cylinder, the cylinder control device supplies and exhausts operating fluid to the cylinder. An air supply / exhaust unit that controls the operation pressure, a control unit, a storage unit, and a reception unit that receives a set value of the operation pressure for each time, the control unit via the reception unit An operation pattern storage process for receiving at least two set values of operation pressure for each time and generating an operation pattern and storing the operation pattern in an identifiable manner, and the storage When a plurality of operation patterns are stored in the storage unit, and when a designation command designating the operation pattern is acquired, the plurality of operation patterns stored in the storage unit correspond to the designation command. An operation pattern reading process for reading an operation pattern to be performed, and a control for controlling the supply / exhaust unit to match the operation pressure with a set value of the operation pressure for each time according to the operation pattern read in the operation pattern reading process And performing the process.

  In the piston actuator device having such a configuration, the cylinder control device stores an operation pattern that prescribes an operation pressure set value for each time in the storage unit in advance, and when a designation command is acquired, the cylinder command device corresponds to the designation command. The operation pressure of the cylinder is controlled by reading the operation pattern from the storage unit and controlling the supply / exhaust unit according to the read operation pattern. In the piston actuator device, the piston moves according to the operating pressure of the cylinder, and the output of the output unit is adjusted. Therefore, the piston actuator device feed-forward-controls the output of the output unit using the operation pattern stored in the storage unit by the cylinder control unit, so that a configuration for detecting the output of the output unit (for example, a secondary pressure sensor) is unnecessary. Thus, the control configuration for controlling the piston actuator device becomes compact. Further, since the operating pressure is controlled in the piston actuator device without repeating overshoot by the cylinder control device, the response time is shortened.

  Therefore, according to the present invention, it is possible to provide a cylinder control device and a piston actuator device that can make the control configuration for controlling the controlled object compact and shorten the response time of the controlled object.

It is a front view of the piston actuator device concerning the embodiment of the present invention. It is AA sectional drawing of FIG. It is a left view of the piston actuator apparatus shown in FIG. It is a schematic block diagram of an electropneumatic control valve. It is a figure which shows a 1st operation pattern. It is a figure which shows a 2nd operation pattern. It is a figure which shows a 3rd operation pattern. It is a figure which shows a 4th operation | movement pattern. It is a flowchart of the control procedure of teaching operation. It is a figure explaining teaching operation. It is an image figure of operation pattern creation. It is an image figure of operation pattern creation. It is a flowchart which shows the control procedure at the time of the operation | movement using a high-order controller. It is a figure which shows an example of a medical product manufacturing line. It is sectional drawing which shows the piston actuator apparatus which concerns on 2nd Embodiment of this invention. It is a figure which shows the operation pressure fluctuation | variation at the time of feedback control.

  Hereinafter, embodiments of a cylinder control device and a piston actuator device according to the present invention will be described with reference to the drawings.

A. First Embodiment (Configuration of Piston Actuator Device)
FIG. 1 is a front view of a piston actuator device 1 according to a first embodiment of the present invention. As shown in FIG. 1, the piston actuator device 1 (hereinafter abbreviated as “actuator device 1”) of the first embodiment is an air operated valve. In the actuator device 1, a cylinder 17 is connected to the body 10. A cylinder control device 3 (hereinafter abbreviated as “control device 3”) is integrally attached to the cylinder 17. In this embodiment, an electropneumatic control valve is used for the control device 3.

  2 is a cross-sectional view taken along the line AA in FIG. The body 10 is configured by connecting the flow path block 11 and the connection block 15 via a diaphragm 16 with screws. The flow path block 11 is provided with a valve seat 14 between the first input / output port 12 and the second input / output port 13. The diaphragm 16 is disposed to face the valve seat 14, and an outer edge portion is sandwiched between the flow path block 11 and the connection block 15. The connecting block 15 is provided in a cylindrical shape, and is fixed to the cylinder 17 with a mounting screw.

  In the cylinder 17, a piston 19 is slidably loaded in a cylinder chamber 18. The cylinder chamber 18 is airtightly partitioned into a first chamber 18 a and a second chamber 18 b through a piston 19. The drive shaft 20 is provided integrally with the piston 19. A lower end portion of the drive shaft 20 protrudes into the connection block 15 and is connected to a coupling member 21 that is slidably disposed on the connection block 15. A diaphragm 16 is attached to the coupling member 21. Therefore, the diaphragm 16 contacts or separates from the valve seat 14 as the piston 19 moves in the cylinder 17.

  The compression spring 22 is contracted in the first chamber 18 a and applies a valve closing force to the diaphragm 16 via the piston 19, the drive shaft 20, and the coupling member 21. In the cylinder 17, the second chamber 18b communicates with the control device 3 via the operation port 23 (see FIG. 4), and the operation fluid is supplied and exhausted. Therefore, the valve opening degree of the actuator device 1 is adjusted according to the balance between the spring force of the compression spring 22 and the internal pressure of the second chamber 18b. That is, when the spring force of the compression spring 22 is larger than the internal pressure of the second chamber 18b, the actuator device 1 is fully closed. On the other hand, when the internal pressure of the second chamber 18b is larger than the spring force of the compression spring 22, the diaphragm 16 is separated from the valve seat 14 in accordance with the deviation.

  FIG. 3 is a left side view of the actuator device 1 shown in FIG. In the control device 3, a display unit 31 and an operation unit 35 are provided in a housing 30. The display unit 31 of this embodiment is composed of a 4-digit 7-segment LED. The operation unit 35 of the present embodiment includes a first key 32, a second key 33, and a third key 34. The first to third keys 32 to 34 are constituted by push-down switches.

(Configuration of electropneumatic control valve)
FIG. 4 is a schematic configuration diagram of the control device 3. The control device 3 includes a first port 36, a second port 37, and a third port 38. The first port 36 is connected to the operating fluid supply source 60. The second port 37 is connected to the operation port 23 established in the cylinder 17. The third port 38 is open to the atmosphere. Further, the control device 3 includes an input terminal 45. The input terminal 45 is connected to the first key 32, the second key 33, and the third key 34.

  The control device 3 includes a controller 4, a supply electromagnetic valve 5, an exhaust electromagnetic valve 6, and a pressure sensor 7.

  The supply solenoid valve 5 is disposed on the first flow path L <b> 1 that connects the first port 36 and the second port 37. The exhaust solenoid valve 6 is branched from the first flow path L1 at the connection point P1 between the supply solenoid valve 5 and the second port 37 and is connected to the third port 38 on the second flow path L2. Is arranged. The pressure sensor 7 is disposed between the connection point P1 and the second port 37 with respect to the first flow path L1, and detects the internal pressure of the second chamber 18b. That is, the pressure sensor 7 detects the operating pressure of the cylinder 17 controlled by the control device 3.

  In the controller 4, a communication interface unit 42, a pressure control unit 43, and an input / output unit 44 are electrically connected to the microcomputer control unit 41. The communication interface unit 42 and the input / output unit 44 are examples of a reception unit.

  The communication interface unit 42 is hardware for controlling communication with an external device such as the host controller 9. The communication method may be wired or wireless.

  The input / output unit 44 is hardware for controlling signal input / output. The input / output unit 44 is connected to the first to third keys 32 to 34 via the input terminal 45. The input / output unit 44 receives input operations of the first to third keys 32 to 34 as electrical signals. The input / output unit 44 is connected to the display unit 31. The input / output unit 44 transmits a display signal for controlling the display contents of the display unit 31 to the display unit 31.

  The microcomputer control unit 41 includes a CPU 51, a ROM 52, a RAM 53, and an EEPROM (electrically erasable and programmable read-only memory) 54. The CPU 51 is an example of a control unit. The EEPROM 54 is an example of a storage unit.

  The ROM 52 stores various control programs for controlling the control device 3, various settings, initial values, and the like. The RAM 53 and the EEPROM 54 are used as a work area from which various control programs are read or as a storage area for temporarily storing data.

  The CPU 51 controls each component of the control device 3 while storing the processing result in the RAM 53 or the EEPROM 54 according to the control program read from the ROM 52.

  The EEPROM 54 stores one or more operation patterns. Here, an operation pattern means what prescribes | regulates the setting value of the operation pressure for every time, as shown, for example in FIGS.

  The EEPROM 54 shown in FIG. 4 stores functions executable by the control device 3 in association with function identification numbers. The functions include a first function for storing an operation pattern and a second function for controlling the operation of the actuator device 1 to be controlled according to the operation pattern.

  The pressure control unit 43 is connected to the supply solenoid valve 5, the exhaust solenoid valve 6, and the pressure sensor 7. The pressure control unit 43 inputs the set value of the operation pressure from the microcomputer control unit 41 every time, and the supply solenoid valve 5 and the exhaust gas are set so that the operation pressure detected by the pressure sensor 7 matches the set value of the operation pressure. The operation of the electromagnetic valve 6 is controlled.

  For example, when the operation pressure detection value received from the pressure sensor 7 is smaller than the operation pressure set value received from the microcomputer control unit 41, the pressure control unit 43 opens the supply solenoid valve 5 and discharges the exhaust solenoid. By closing the valve 6, the second port 37 is communicated with the first port 36 and the operation fluid is supplied to the operation port 23. As a result, the internal pressure (operation pressure) of the second chamber 18b increases, and the valve opening of the actuator device 1 increases.

  Further, for example, when the operation pressure detection value received from the pressure sensor 7 is larger than the operation pressure set value received from the microcomputer control unit 41, the pressure control unit 43 opens the exhaust solenoid valve 6 to supply By closing the solenoid valve 5, the second port 37 is communicated with the third port 38, and the operating fluid in the second chamber 18b is exhausted. Thereby, the internal pressure (operation pressure) of the 2nd chamber 18b falls, and the valve opening degree of the actuator apparatus 1 becomes small. The pressure control unit 43, the supply solenoid valve 5, the exhaust solenoid valve 6, and the pressure sensor 7 constitute a supply / exhaust unit 8.

(Outline of teaching operation)
Next, an outline of the teaching operation will be described. For example, the user inputs at least two set values of operation pressure for each time via the operation unit 35 of the control device 3. The control device 3 creates and stores an operation pattern based on the set value of the operation pressure for each time input to the operation unit 35. The user can store a plurality of operation patterns as shown in FIGS. 5 to 8 in the control device 3 by changing the set value of the operation pressure for each time.

  In the actuator device 1, when the user designates an operation pattern via the operation unit 35, the control device 3 reads the designated operation pattern and controls the operation pressure of the cylinder 17 according to the read operation pattern. The actuator device 1 changes the valve opening according to the operating pressure supplied to the cylinder 17.

  Further, when the host controller 9 is connected to the control device 3, the actuator device 1 is designated with an operation pattern from the host controller 9. Also in this case, the actuator device 1 changes the valve opening degree by controlling the operation pressure in accordance with the designated operation pattern in the same manner as described above.

  As described above, the valve opening of the actuator device 1 is not feedback-controlled by the host controller 9, but the control device 3 controls the operation pressure of the cylinder 17 according to the operation pattern stored in advance in the EEPROM 54. Forward controlled. Therefore, the actuator device 1 according to the present embodiment can avoid the operation pressure of the cylinder 17 from repeatedly overshooting with respect to the set value (target pressure) of the operation pressure, and can shorten the response time. Moreover, since there is no need to arrange a secondary pressure sensor on the secondary side of the actuator device 1 as in the prior art, the control configuration for controlling the valve opening of the actuator device 1 can be simplified and made compact.

(Teaching operation control procedure)
Subsequently, the control procedure of the teaching operation will be described with reference to the flowchart of FIG. The CPU 51 of the microcomputer control unit 41 executes the control procedure shown in FIG. 9 when the operation unit 35 is operated.

  First, a control procedure for storing an operation pattern will be described with reference to FIG. 9 and FIG. In FIG. 10, for convenience of explanation, units are appropriately described on the side of the screen.

  When any one of the first to third keys 32 to 34 of the operation unit 35 is pressed, the CPU 51 displays the function list screen 71 (see FIG. 10) on the display unit 31 as shown in the flowchart of FIG. (Step 1, hereinafter referred to as “S1”). As indicated by X1 in FIG. 10, the function list screen 71 initially displays initial values. When the user presses the third key 34, the CPU 51 accepts the input operation via the input / output unit 44 and reads one function identification number stored in the EEPROM 54. Then, the CPU 51 transmits a display signal instructing to display the read function identification number to the display unit 31 via the input / output unit 44. Thereby, as shown by X2 in FIG. 10, for example, the function identification number is displayed on the function list screen 71. The function identification number is changed as the user presses the third key 34.

  As shown in FIG. 9, the CPU 51 determines whether or not a function has been selected (S2). If the first key 32 is not pressed, the CPU 51 determines that no function is selected (S2: NO). In this case, the CPU 51 determines whether or not a predetermined time has elapsed (S24). Until the predetermined time has elapsed (S24: NO), the CPU 51 waits for the first key 32 to be pressed while the function list screen 71 is displayed. On the other hand, when the predetermined time has passed without the first key 32 being pressed (S24: YES), the CPU 51 ends the control shown in FIG. Thereby, it can avoid leaving the actuator apparatus 1 in the state which does not select a function.

  When the user presses the first key 32 within a predetermined time, the CPU 51 determines that a function has been selected (S2: YES). Then, the CPU 51 determines whether the selected function is the first function or the second function (S3). If the user presses the first key 32 while the function identification number indicating the first function is displayed on the display unit 31, the CPU 51 determines that the first function has been selected (S3: first function). In this case, the CPU 51 transmits a display signal instructing to display the preset number setting screen 73 (see FIG. 10) to the display unit 31 via the input / output unit 44, and the preset number setting screen 73 is displayed on the display unit 31. (S4). As shown in FIG. 10, on the preset number setting screen 73, a function identification number (X3 in the figure) and a preset number (X4 in the figure) are displayed. The preset number is identification information for identifying an operation pattern. The CPU 51 changes the preset number (X4 in the figure) in response to the user pressing the third key 34.

  As shown in FIG. 9, the CPU 51 does not set a preset number until the user presses the first key 32 (S5: NO). On the other hand, when the user presses the first key 32, the CPU 51 sets the preset number by storing the preset number displayed on the preset number setting screen 73 in the RAM 53 (S5: YES). Then, CPU51 transmits the display signal which instruct | indicates the display of the preset number determination screen 74 to the display part 31, and displays the preset number determination screen 74 on the display part 31 (S6). As indicated by X5 in FIG. 10, the preset number determination screen 74 does not display the function identification number but displays only the preset number that has been set.

  Next, as shown in FIG. 9, the CPU 51 transmits a display signal instructing to display the initial pressure input screen 75 to the display unit 31 via the input / output unit 44, and displays the initial pressure input screen 75 on the display unit. 31 is displayed (S7). For example, as shown in FIG. 10, the initial pressure input screen 75 displays a procedure number (see N1 in the figure) indicating that the initial pressure Pf is input and an input value (M1 in the figure) of the initial pressure Pf. The Here, the initial pressure Pf refers to a set value of the operating pressure when the valve control (control of the operating pressure of the cylinder 17) is started according to the operation pattern. The CPU 51 receives an input operation of the third key 34 via the input / output unit 44, and changes the input value (M1 in the figure) of the initial pressure Pf according to the input operation. As shown in FIG. 9, the CPU 51 does not set the initial pressure Pf until the user presses the first key 32 (S8: NO).

  On the other hand, when the user presses the first key 32, the CPU 51 sets the initial pressure Pf (S8: YES). That is, the CPU 51 stores the input value displayed on the initial pressure input screen 75 in the RAM 53 as the set value of the initial pressure Pf.

  Next, the CPU 51 transmits a display signal instructing display of the target pressure input screen 76 to the display unit 31 via the input / output unit 44, and causes the display unit 31 to display the target pressure input screen 76 (S9). For example, as shown in FIG. 10, the target pressure input screen 76 displays a procedure number (N2 in the figure) indicating that the target pressure Pe is inputted and an input value (M2 in the figure) of the target pressure Pe. . Here, the target pressure Pe refers to a set value of the operation pressure when the operation pressure of the cylinder 17 is feedforward controlled. Thereafter, as shown in FIG. 9, the CPU 51 determines whether or not the input value of the target pressure Pe has been set (S10). Since the processes of S9 and S10 are the same as the processes of S7 and S8, description thereof is omitted.

  When the input value of the target pressure Pe is set (S10: YES), the CPU 51 transmits a display signal for displaying the delay time input screen 77 to the display unit 31 via the input / output unit 44, and the delay time. The input screen 77 is displayed on the display unit 31 (S11). For example, as shown in FIG. 10, on the delay time input screen 77, a procedure number (N3 in the figure) indicating that the delay time Td is inputted and an input value of the delay time Td (M3 in the figure) are displayed. . Here, the delay time Td is a time for maintaining the initial pressure Pf after starting valve control (control of the operating pressure of the cylinder 17) according to the operation pattern. The CPU 51 receives an input operation of the third key 34 via the input / output unit 44, and changes the input value (M3 shown in FIG. 10) of the delay time Td according to the input operation. The CPU 51 does not set the delay time Td until the user presses the first key 32 (S12: NO).

  On the other hand, when the user presses the first key 32, the CPU 51 sets the delay time Td (S12: YES). That is, the CPU 51 stores the input value displayed on the delay time input screen 77 in the RAM 53 as the set value of the delay time Td.

  Thereafter, the CPU 51 causes the display unit 31 to display a sweep time input screen 78 (FIG. 10) for displaying the procedure number (N4 in FIG. 10) and the input value (M4 shown in FIG. 10) of the sweep time Ts (S13). When the first key 32 is pressed, the displayed input value is set as the sweep time Ts (S14: YES). Here, the sweep time Ts refers to the time until the initial pressure Pf reaches the target pressure Pe. Then, the CPU 51 causes the display unit 31 to display a repeat time input screen 79 (see FIG. 10) for displaying the procedure number (N5 in FIG. 10) and the input value of the repeat time Tr (M5 shown in FIG. 10) (S15). When the first key 32 is pressed, the displayed input value is set as the repeat time Tr (S16: YES). Here, the repeat time Tr is an interval time when the initial pressure Pf and the target pressure Pe are repeatedly changed. When the input value (M5 shown in FIG. 10) is “−”, it means that the fluctuations of the initial pressure Pf and the target pressure Pe are not repeated. Since the processes of S13 and S15 are the same as the process of S11, and the processes of S14 and S16 are the same as S12, description thereof will be omitted.

  The end point of the delay time Td corresponds to the time when the initial pressure Pf starts to be changed to the target pressure Pe. The end point of the sweep time Ts corresponds to the time when the target pressure Pe is reached. Therefore, two set values of the operating pressure for each time are set by the processes of S7 to S14.

  Next, as shown in FIG. 9, the CPU 51 creates an operation pattern based on the initial pressure Pf, the target pressure Pe, the delay time Td, the sweep time Ts, and the repeat time Tr stored in the RAM 53, and stores them in the EEPROM 54. (S17).

  For example, the user sets the initial pressure Pf to a value greater than 0 kPa, sets the target pressure Pe to a value greater than the initial pressure Pf, sets the delay time Td and the sweep time Ts to values greater than 0 seconds, and repeat time. Assume that “−” is set in Tr. In this case, the CPU 51 generates an operation pattern in which the operation pressure is changed only once from the initial pressure Pf to the target pressure Pe as shown in FIG.

  On the other hand, when the user sets a numerical value for the repeat time Tr, as shown in FIG. 12, the CPU 51 sets the initial pressure Pf and the target pressure Pe at the interval of the delay time Td set in S14. An operation pattern that repeats fluctuations is generated.

  The CPU 51 stores the operation pattern thus created in the EEPROM 54 in association with the preset number stored in the RAM 53 (the preset number set in S5). Therefore, the CPU 51 can read the operation pattern using the preset number as an argument.

  Then, the CPU 51 displays an operation pattern registration completion screen 80 on the display unit 31 (S18). For example, as shown by X6 in FIG. 10, the operation pattern registration completion screen 80 displays the preset number of the operation pattern stored in the EEPROM 54 in S17, that is, the preset number set in S6. Thereby, the user can recognize that the registration of the operation pattern is completed. Thereafter, the CPU 51 ends the control shown in FIG. Note that the processing of S4 to S17 is an example of the operation pattern storage processing. Further, the processes of S7, S9, S11, S13, and S15 are examples of display processes.

  The procedure for storing the operation pattern in the EEPROM 54 will be specifically described with reference to FIGS. Here, when the operating pressure is 5 kPa, the valve opening of the actuator device 1 is fully opened.

  For example, the user sets the initial pressure Pf to “0 kPa”, sets the target pressure Pe to “5 kPa”, sets the delay time Td to “0 sec”, and sets the sweep time Ts to “0 kPa” via the operation unit 35. It is assumed that “5 sec” is set and the repeat time Tr is set to “−”. In this case, as shown in FIG. 5, the CPU 51 starts the valve control (control of the operating pressure of the cylinder 17) according to the operation pattern and simultaneously increases the operating pressure, and slowly reaches the operating pressure from 0 kPa to 5 kPa over 5 seconds. A first operation pattern to be generated is generated. Then, the CPU 51 associates the preset number “P1” with the first operation pattern and stores it in the EEPROM 54.

  Further, for example, the user sets the initial pressure Pf to “0 kPa”, sets the target pressure Pe to “2 kPa”, sets the delay time Td to “0 sec”, and sets the sweep time Ts via the operation unit 35. It is assumed that “5 sec” is set and the repeat time Tr is set to “−”. In this case, as shown in FIG. 6, the CPU 51 starts the valve control according to the operation pattern, and simultaneously creates the second operation pattern that increases the operation pressure and slowly reaches the operation pressure from 0 kPa to 2 kPa over 5 seconds. Then, the CPU 51 associates the preset number “P2” with the second operation pattern and stores it in the EEPROM 54.

  Further, for example, the user sets the initial pressure Pf to “2.5 kPa”, the target pressure Pe to “2 kPa”, the delay time Td to “5 sec”, and the sweep time via the operation unit 35. It is assumed that Ts is set to “0 sec” and the repeat time Tr is set to “−”. In this case, as shown in FIG. 7, the CPU 51 starts the valve control according to the operation pattern and simultaneously controls the operation pressure to 2.5 kPa, maintains the state for 5 seconds, and immediately increases the operation pressure from 2.5 kPa to 2 kPa. A third operation pattern to be reduced is generated. Then, the CPU 51 associates the preset number “P3” with the third operation pattern and stores it in the EEPROM 54.

  Further, for example, the user sets the initial pressure Pf to “5 kPa”, sets the target pressure Pe to “7 kPa”, sets the delay time Td to “5 sec”, and sets the sweep time Ts via the operation unit 35. It is assumed that “2 sec” is set and the repeat time Tr is set to “−”. In this case, as shown in FIG. 8, the CPU 51 starts the valve control according to the operation pattern, and at the same time controls the operation pressure to 5 kPa, maintains the state for 5 seconds, and then changes the operation pressure from 5 kPa to 2 kPa over 2 seconds. A fourth operation pattern to be changed to is created. The CPU 51 associates the preset number “P4” with the fourth operation pattern and stores it in the EEPROM 54.

  Therefore, the user simply sets the initial pressure Pf, the target pressure Pe, the delay time Td, and the sweep time Ts via the operation unit 35 while looking at the display unit 31, and different operation patterns according to needs. Can be easily created by the CPU 51 and stored in the EEPROM 54 in an identifiable manner. That is, since the actuator device 1 can set the setting value of the operation pressure for each time by the user operating the operation unit 35 while looking at the display unit 31, the operation pattern can be stored only by the own device.

  Next, a control procedure for selecting an operation pattern via the operation unit 35 and operating the actuator device 1 will be described with reference to FIG.

  For example, the user presses the third key 34 to display the function identification number indicating the second function on the function selection screen 72 and presses the first key 32. Then, the CPU 51 determines that the selected function is the second function (S1, S2: YES, S3: second function).

  In this case, the CPU 51 transmits a display signal for displaying the preset number designation screen to the display unit 31 via the input / output unit 44, and causes the display unit 31 to display the preset number designation screen (S19). The CPU 51 sequentially displays the preset number stored in the EEPROM 54 on the preset number designation screen in accordance with the operation of the third key 34. If the first key 32 is not pressed, the CPU 51 determines that the preset number is not designated and waits (S20: NO). On the other hand, when the first key 32 is pressed, the CPU 51 determines that the preset number displayed on the preset number designation screen is designated (S20: YES).

  The CPU 51 determines whether or not the EEPROM 54 has a preset number that matches the designated preset number (S21). If there is no matching preset number (S21: NO), the CPU 51 gives an error notification (S25) and ends the control shown in FIG.

  On the other hand, if there is a matching preset number (S21: YES), the operation pattern corresponding to the designated preset number is read from the EEPROM 54 and stored in the RAM 53 (S22).

  Then, the CPU 51 causes the pressure control unit 43 to start controlling the operation pressure of the cylinder 17 according to the operation pattern stored in the RAM 53 (S23). Specifically, the CPU 51 transmits a control signal for instructing the set value of the operation pressure to the pressure control unit 43 at each time based on the operation pattern stored in the RAM 53. The pressure control unit 43 controls the supply solenoid valve 5 and the exhaust solenoid valve 6 so that the operation pressure detection value detected by the pressure sensor 7 matches the received operation pressure set value. Thereafter, the CPU 51 ends the process. Note that the processing of S20 to S22 is an example of operation pattern reading processing. The process of S23 is an example of a valve control process.

  With reference to FIGS. 5-8, the procedure which designates an operation pattern via the operation part 35 and controls the valve opening degree of the actuator apparatus 1 is demonstrated concretely.

  Specifically, for example, when the user designates the preset number “P1” via the operation unit 35, the CPU 51 reads the first operation pattern shown in FIG. 5 from the EEPROM 54 with the preset number “P1” as an argument. The CPU 51 transmits a control signal instructing the operation pressure to the pressure control unit 43 at every time specified in the first operation pattern. Based on the control signal, the pressure control unit 43 controls the supply solenoid valve 5 and the exhaust solenoid valve 6 so that the operation pressure detection value detected by the pressure sensor 7 matches the operation pressure instructed from the CPU 51. . Thereby, the actuator device 1 is maintained at 5 kPa after the operation pressure gradually increases from 0 kPa to 5 kPa over 5 seconds. Therefore, the valve opening degree of the actuator device 1 changes from the fully closed state to the fully open state without overshooting.

  For example, when the user designates the preset number “P2” via the operation unit 35, the CPU 51 reads out the second operation pattern shown in FIG. 6 from the EEPROM 54 with the preset number “P2” as an argument. Similarly to the first operation pattern, the CPU 51 transmits a control signal to the pressure control unit 43 according to the second operation pattern, and causes the pressure control unit 43 to control the supply electromagnetic valve 5 and the exhaust electromagnetic valve 6. Thereby, after the operating pressure gradually rises from 0 kPa to 2 kPa, the actuator device 1 is maintained at 2 kPa. Therefore, the valve opening degree of the actuator device 1 changes from the fully closed state to the minute valve open state without overshooting.

  Further, for example, when the user designates the preset number “P3” via the operation unit 35, the CPU 51 reads out the third operation pattern shown in FIG. 7 from the EEPROM 54 with the preset number “P3” as an argument. Similarly to the first operation pattern, the CPU 51 transmits a control signal to the pressure control unit 43 according to the third operation pattern, and causes the pressure control unit 43 to control the supply electromagnetic valve 5 and the exhaust electromagnetic valve 6. As a result, when the operating pressure of the actuator device 1 is first adjusted to 2.5 kPa, the 2.5 kPa is maintained for 5 seconds, and after that, the pressure is reduced to 2 kPa and then maintained at 2 kPa. Therefore, the valve opening degree of the actuator device 1 changes from the intermediate valve open state to the minute valve open state without overshooting.

  For example, when the user designates the preset number “P4” via the operation unit 35, the CPU 51 reads the fourth operation pattern shown in FIG. 8 from the EEPROM 54 with the preset number “P4” as an argument. Similarly to the first operation pattern, the CPU 51 transmits a control signal to the pressure control unit 43 according to the fourth operation pattern, and causes the pressure control unit 43 to control the supply electromagnetic valve 5 and the exhaust electromagnetic valve 6. Thereby, when the operating pressure of the actuator device 1 is first adjusted to 5 kPa, the 5 kPa is maintained for 5 seconds, and after that, the pressure is reduced from 5 kPa to 2 kPa over 2 seconds, and then the 2 kPa is maintained. Therefore, the valve opening degree of the actuator device 1 changes from the fully open state to the minute valve open state without overshooting.

  The operation pattern can be specified not only from the operation unit 35 but also from the host controller 9. This control procedure will be described with reference to the flowchart shown in FIG. The CPU 51 of the control device 3 executes the control shown in FIG. 13 when the preset number is input from the host controller 9.

  The CPU 51 receives the preset number by storing the preset number received from the host controller 9 via the communication interface unit 42 in the RAM 53 (S41). Then, if there is a preset number that matches the received preset number (S42: YES), the CPU 51 reads the operation pattern from the EEPROM 54 (S43) and starts controlling the operating pressure of the cylinder 17 (S44). On the other hand, if there is no matching preset number (S42: NO), the CPU 51 issues an error notification. The processing of S42 to S45 is the same as S21 to S23 and S25 of FIG. Note that the processing of S41 to S43 is an example of the operation pattern reading processing. The process of S44 is an example of a valve control process.

  As described above, when the actuator device 1 is designated with the preset number of the operation pattern via the operation unit 35 or the host controller 9, the preset number designated by the control device 3 from the plurality of operation patterns stored in the EEPROM 54. Is read, and valve control (control of the operating pressure of the cylinder 17) is performed according to the read operation pattern. Therefore, since the valve opening degree is feedforward controlled in the actuator device 1, overshoot does not occur during the valve opening degree control, and the response time can be shortened. Further, since the pressure sensor for detecting the secondary pressure of the actuator device 1 is not required to control the valve opening of the actuator device 1, the control configuration for controlling the valve opening of the actuator device 1 is simplified. It becomes compact.

  By the way, in the actuator device 1, hysteresis occurs between the valve opening operation and the valve closing operation, and the valve opening relative to the operation pressure is increased when the valve opening is increased and when the valve opening is decreased. Is different. Therefore, the CPU 51 of the control device 3 keeps the moving direction of the piston 19 constant when adjusting the valve opening. That is, the CPU 51 of the control device 3 changes the operating pressure of the cylinder 17 from the target pressure Pe (2 kPa), for example, when the valve opening degree is changed from the intermediate valve open state to the minute valve open state according to the third operation pattern shown in FIG. After decreasing, a control signal for increasing to the target pressure Pe (2 kPa) is transmitted to the pressure control unit 43. As a result, the actuator device 1 always pressurizes the piston 19 in the valve opening direction for separating the diaphragm 16 from the valve seat 14, thereby matching the operating pressure of the cylinder 17 with the target pressure Pe. Therefore, the actuator device 1 can avoid a situation in which the valve opening is different even at the same operation pressure due to hysteresis, and has high accuracy.

(Example of use)
Then, the usage example of the actuator apparatus 1 is demonstrated. FIG. 14 is a diagram illustrating an example of a medical product production line. The supply line 62 is connected to the upper surface of the tank 61, and the first actuator device 1A is disposed. The discharge line 63 is connected to the lower surface of the tank 61. In the discharge line 63, a second actuator device 1B, a filter 64, and a third actuator device 1C are arranged in this order from the tank 61 side. The degassing line 65 is connected to the upper part of the filter 64, and the fourth actuator device 1D is disposed.

  The first to fourth actuator devices 1A to 1D have the same configuration as the actuator device 1 described above. In the first to fourth actuator devices 1A to 1D, operation patterns are stored according to the purpose of use.

  For example, the first operation pattern shown in FIG. 5 is stored in the first actuator device 1A. The second actuator device 1B stores the first operation pattern shown in FIG. A third operation pattern shown in FIG. 7 is stored in the third actuator device 1C. Further, the fourth actuator device 1D stores the second operation pattern shown in FIG. 6 and the fourth operation pattern shown in FIG. Here, the preset numbers of the first to fourth operation patterns are common, but may be different for each valve.

  In order to ensure hygiene, the host controller 9 supplies the hot water to the line for 5 seconds to perform CIP (Cleaning In Place) on the tank 61 and then supplies hot steam to the line to supply the tank. 61 is subjected to SIP (Sterilizing In Place).

  In this case, the host controller 9 assigns the preset number “P1” to the first actuator device 1A and the second actuator device 1B, the preset number “P3” to the third actuator device 1C, and the preset number “P4” to the fourth actuator device 1D. ", Respectively.

  Thereby, while hot water flows from the supply line 62 to the tank 61 and the discharge line 63, the valve opening degree of the third actuator device 1C is controlled to the intermediate valve open state, and the valve opening of the fourth actuator device 1D is controlled. The degree is controlled to the fully open state. Therefore, air is discharged via the fourth actuator device 1D, and hot water flows through the line at a high speed, so that the cleaning effect can be enhanced.

  The tank 61 is supplied with steam after hot water is supplied for 5 seconds. While the steam flows from the supply line 62 to the tank 61 and the discharge line 63, the valve openings of the third actuator device 1C and the fourth actuator device 1D are reduced to the minute valve open state. Thereby, the flow of steam can be secured and the sterilization efficiency can be increased while suppressing the discharge of steam as much as possible. At this time, since the fourth actuator device 1D slowly reduces the valve opening, the internal pressure of the filter 64 can be prevented from rapidly increasing.

  When performing the CIP and SIP after replacing the filter 64, the host controller 9 supplies the preset number “P2” instead of the preset number “P4” to the fourth actuator device 1D. Accordingly, the fourth actuator device 1D slowly changes from the fully closed state to the minute valve open state, and slowly removes the air in the filter. Therefore, the filter is prevented from being damaged by the pressure when hot water is injected.

B. 2nd Embodiment Then, the piston actuator apparatus of 2nd Embodiment of this invention is demonstrated. FIG. 15 is a cross-sectional view showing a piston actuator device 100 (hereinafter abbreviated as “actuator device 100”) according to a second embodiment of the present invention. In FIG. 15, the description of the control device 3 is omitted.

  In the actuator device 100, a piston 103 is slidably loaded in a cylinder 101, and a cylinder chamber 102 is partitioned into a first chamber 102a and a second chamber 102b. The output rod 104 is connected to the piston 103. The compression spring 105 is contracted in the first chamber 102 a and always applies a force in a direction protruding from the cylinder 101 to the output rod 104 via the piston 103. The second chamber 102 b communicates with the operation port 23 through the communication path 106. A cylinder control device 3 (not shown) is connected to the operation port 23.

  In the actuator device 100, as in the first embodiment, the control device 3 (not shown) supplies and exhausts the operating fluid to the second chamber 102b and controls the operating pressure of the cylinder 101. The actuator device 100 advances and retracts the output rod 104 according to the balance between the spring force of the compression spring 105 and the pressure of the second chamber 102b. Therefore, as in the first embodiment, the actuator device 100 has a compact control configuration for controlling the output of the actuator device 100, and the response time is shortened.

  In addition, this invention is not limited to the said embodiment, Various application is possible.

(1) For example, in the above embodiment, the operation pattern is created based on the initial pressure Pf, the target pressure Pe, the delay time Td, the sweep time Ts, and the repeat time Tr input via the operation unit 35. The microcomputer control unit 41 may receive the operation pattern created by the terminal 9 via the communication interface unit 42 and store the operation pattern in the EEPROM 54.

(2) The control device 3 may omit the communication interface unit 42 in the controller 4 and reduce the cost. In this case, the host controller 9 cannot be connected to the control device 3, but an operation pattern can be stored and valve control can be performed via the operation unit 35.

(3) The display unit 31 may change the display color so that the first digit from the left side is displayed in red and the second to fourth digits from the left side are displayed in green. Of course, the display on the display unit 31 may be monochromatic.

(4) For example, the display unit 31 may be configured with a liquid crystal display. Further, for example, the display unit 31 and the operation unit 35 may be integrally provided by a touch panel.

(5) For example, in the said embodiment, the number of digits of the display part 31 is not limited to the said embodiment, It can change arbitrarily. Moreover, the number of the 1st-3rd keys 32-34 is not limited to the said embodiment.

(6) For example, the actuator device 1 is a single-acting valve, but may be a double-acting valve.

1,100 Piston actuator device 3 Cylinder control device 4 Controller 8 Air supply / exhaust unit 17 Cylinder 19 Piston 31 Display unit 35 Operation unit 42 Communication interface 43 Input / output unit 51 CPU
54 EEPROM

Claims (4)

In the cylinder control device that controls the operating pressure of the cylinder that houses the piston,
An air supply / exhaust unit for controlling the operation pressure by supplying and exhausting an operation fluid to and from the cylinder;
A control unit;
A storage unit;
A reception unit that receives a set value of operation pressure for each hour,
The controller is
An operation pattern storage process that receives at least two set values of the operation pressure for each time through the reception unit, generates an operation pattern, and stores the operation pattern in an identifiable manner in the storage unit;
In the case where a plurality of operation patterns are stored in the storage unit, and when a designation command for designating the operation pattern is acquired, the designation is made from the plurality of operation patterns stored in the storage unit. An operation pattern reading process for reading an operation pattern corresponding to an instruction;
Performing a control process for controlling the supply / exhaust unit so as to match the operation pressure to a set value of the operation pressure for each time according to the operation pattern read in the operation pattern reading process,
A cylinder control device characterized by the above. In the cylinder control device according to claim 1,
The control process is to control the supply / exhaust unit so that the moving direction of the piston is always the same immediately before the operating pressure reaches the set value of the operating pressure;
A cylinder control device characterized by the above. In the cylinder control device according to claim 1 or 2,
It has an operation part and a display part,
The controller is
Execute display processing to display the operation content of the operation unit on the display unit,
Further, in the operation pattern storage process, the reception unit receives a set value of the operation pressure for each time input via the operation unit,
A cylinder control device characterized by the above. A cylinder,
A piston housed in the cylinder and sliding in the cylinder in response to an operating pressure in the cylinder;
An output unit coupled to the piston and performing output in accordance with movement of the piston;
A piston actuator device having a cylinder control device connected to the cylinder,
The cylinder control device
An air supply / exhaust unit for controlling the operation pressure by supplying and exhausting an operation fluid to and from the cylinder;
A control unit;
A storage unit;
A reception unit that receives a set value of operation pressure for each hour,
The controller is
An operation pattern storage process that receives at least two set values of the operation pressure for each time through the reception unit, generates an operation pattern, and stores the operation pattern in an identifiable manner in the storage unit;
In the case where a plurality of operation patterns are stored in the storage unit, and when a designation command for designating the operation pattern is acquired, the designation is made from the plurality of operation patterns stored in the storage unit. An operation pattern reading process for reading an operation pattern corresponding to an instruction;
Performing a control process for controlling the supply / exhaust unit so as to match the operation pressure to a set value of the operation pressure for each time according to the operation pattern read in the operation pattern reading process,
A piston actuator device.

Images