JP2019190542A - Speed control device of fluid pressure actuator - Google Patents

Abstract

To enable speed of an actuator to be maintained at a target speed irrespective of the presence of an external variation factor by feedback-controlling the speed of the actuator so as to reach the target speed, in a speed control device of the actuator moving an object at the target speed with fluid pressure such as air pressure as drive energy.SOLUTION: A speed control device of a fluid pressure actuator comprises: throttle valves 21 arranged in air pressure passages 32A, 32B for supplying air pressure to an actuator 10, and setting the flowing resistance of fluid flowing in the air pressure passages 32A, 32B; throttle valve adjustors 25 adjusting the flowing resistance of the throttle valves 21; first and second proximity switches 51, 52 measuring a moving time of an object T moved by the actuator 10; and control means adjusting and controlling the throttle valve adjustors 25 so that the moving time which is detected on the basis of the first and second proximity switches 51, 52 becomes a target value.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a fluid pressure actuator speed control device.

  Patent Document 1 discloses an invention of an actuator that moves an object at a target speed using air pressure as driving energy. In the invention of Patent Document 1, the flow resistance of air in the air supply path to the cylinder is controlled so that the amount of air supplied to the cylinder of the actuator becomes a set value. Thereby, the speed of the piston of the actuator is controlled to a target value.

JP 2017-72241 A

  The operating speed of the actuator varies depending on various external factors. For example, a change in the magnitude of the load applied to the actuator, a change in sliding resistance associated with the operation of the actuator, and the like are factors of fluctuations in the operating speed. Therefore, in order to maintain the operating speed at the target value in a situation where such an external variation factor exists, it is necessary to manually adjust the air pressure supplied to the actuator and the flow resistance in the air supply path as needed.

  An object of the present invention is to provide an actuator speed control device that moves a target object at a target speed using fluid pressure such as air pressure as drive energy, thereby performing feedback control so that the speed of the actuator becomes the target speed. Regardless of the existence, the speed of the actuator can be maintained at the target speed.

  A first aspect of the present invention is a speed control device for a fluid pressure actuator that is actuated by supply of fluid pressure from a fluid pressure source and moves an object, in a path for supplying fluid to the fluid pressure actuator. A throttle valve provided to set the flow resistance of the fluid flowing through the path, a throttle valve regulator for adjusting the flow resistance of the throttle valve, and the moving speed of the object represented by the fluid pressure actuator A sensor for detecting a representative speed value, and control means for adjusting and controlling the throttle valve regulator so that the representative speed value detected by the sensor becomes a target value.

  According to the first invention, when the operating speed of the fluid pressure actuator deviates from the target value, the control means controls the throttle valve regulator to adjust the throttle valve so that the operating speed becomes the target value. Therefore, the speed of the fluid pressure actuator can be maintained at the target speed regardless of the presence of external variation factors.

  According to a second aspect of the present invention, in the first aspect, the fluid pressure actuator includes a plurality of fluid pressure actuators, and the plurality of fluid pressure actuators are simultaneously operated at the same speed to move one object. The throttle valve, the throttle valve regulator, the sensor, and the control means are provided corresponding to the fluid pressure actuators, respectively, and the control means match the operating speeds of the fluid pressure actuators. To control.

  According to the second invention, when one object is moved by a plurality of fluid pressure actuators, each fluid pressure actuator is controlled independently to have the same target speed, and as a result, each fluid pressure actuator Are operated at the same speed. Therefore, each fluid pressure actuator can evenly operate the object at each position. Therefore, since the speed of each fluid pressure actuator is different, it is possible to suppress the problem that each fluid pressure actuator receives a force that moves the object in a direction different from each moving direction from the object, and to suppress the breakage of the fluid pressure actuator. Can do.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the fluid pressure actuator is repeatedly operated, and the control unit is configured to perform the operation while the fluid pressure actuator is repeatedly operated a predetermined number of times. An average value calculating unit that calculates an average value of the speed representative values detected by the sensor is provided, and the average value calculated by the average value calculating unit is controlled to be the target value.

  According to the third invention, the speed of the fluid pressure actuator is controlled based on an average value of a predetermined number of speed representative values. Therefore, even if the speed of the fluid pressure actuator frequently fluctuates due to an external variation factor, As a result, the speed control of the fluid pressure actuator can be prevented from causing hunting.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the object is moved from a predetermined first position to a second position separated from the first position by the fluid pressure actuator. The speed representative value is a time required to move the object from the first position to the second position by the fluid pressure actuator.

  According to the fourth invention, the average speed of the fluid pressure actuator can be easily obtained by measuring the time required for the object to move from the first position to the second position. Therefore, the average speed from one start to stop of the fluid pressure actuator can be measured easily and accurately compared to the case of measuring with a speedometer.

  According to a fifth aspect of the present invention, in any one of the first to third aspects, the object is a predetermined first position and a second position separated upward from the first position by the fluid pressure actuator. A first path for supplying a fluid to the fluid pressure actuator when the object is moved from the first position to the second position, and the object is moved to the first position. A second path for supplying fluid to the fluid pressure actuator when moving from the second position to the first position, and switching the fluid pressure from the fluid pressure source to either the first path or the second path. A switching valve to be supplied, and pump output switching means for switching the output of the fluid pressure source in two steps, high and low, and the throttle valve regulator is provided in the throttle valve provided in the first path. , Pump output off Means, when moving the object from the second position to the first position, switching the output of said fluid pressure source to the low side.

  According to the fifth aspect of the invention, when the object is moved upward from the first position to the second position, the throttle valve adjuster is controlled so as to make the moving speed of the object coincide with the target value. On the other hand, when the object is moved downward from the second position to the first position, the movement speed of the object is not controlled by the throttle valve adjuster, and is naturally dropped using the gravity of the object. At this time, the pump output is lowered. Therefore, the throttle valve adjuster is provided only in the first path, and the configuration is simplified. Moreover, since it falls naturally using the gravity of a target object, energy required in order to move a target object can be suppressed. When an object falls naturally, the fluid pressure that individually activates each fluid pressure actuator is small. Therefore, even if there is a difference in the operation speed of each fluid pressure actuator due to external fluctuation factors, the speed difference depends on the gravity of the object. It is automatically adjusted to some extent. Therefore, the speed of each fluid pressure actuator is different, so that it is possible to suppress the problem that each fluid pressure actuator receives a force that moves in a direction different from each moving direction from the object, and to suppress the damage of the fluid pressure actuator. Can do.

1 is a system configuration diagram showing a fluid pressure actuator speed control device according to a first embodiment of the present invention; FIG. It is a flowchart which shows the control content of the control circuit of 1st Embodiment. It is explanatory drawing for demonstrating the control content of the control circuit of 1st Embodiment. It is explanatory drawing which shows the target object moved by the actuator and actuator to which the speed control apparatus of the fluid pressure actuator as 2nd Embodiment of this invention is applied. It is a system configuration figure of a 2nd embodiment. It is a block diagram of the control circuit of 2nd Embodiment. It is a flowchart which shows the control content of the control circuit of 2nd Embodiment.

<Configuration of the first embodiment>
FIG. 1 shows a first embodiment of the present invention. The first embodiment is applied to one in which the object T is reciprocated in the horizontal direction by one actuator 10.

  In the actuator 10, a piston 13 is slidable in a cylinder 11, and a space in the cylinder 11 is divided into two pressure chambers 14 and 15 by the piston 13. One end of the piston rod 12 is fixed to the surface of the piston 13 on the pressure chamber 15 side, and the object T that is moved by the actuator 10 is fixed to the other end of the piston rod 12.

  A pneumatic pump (corresponding to a fluid pressure source of the present invention) 40 is connected to each pressure chamber 14 and 15 via a pneumatic path 31 and 32, respectively. A switching valve 33 is provided between each pneumatic path 31, 32 and the pneumatic pump 40, and the air pressure from the pneumatic pump 40 is transferred to either of the pneumatic paths 31, 32 by the switching operation of the switching valve 33. It can be switched and supplied. Further, throttle valves 21 and 22 are inserted between the pressure chambers 14 and 15 and the switching valve 33 in the pneumatic paths 31 and 32, respectively.

  Each throttle valve 21, 22 has two paths, a first path 31 a and a second path 31 b, and a check valve 23 is connected to the first path 31 a of the throttle valve 21. A throttle valve is connected to the second path 31b. A throttle valve is connected to the first path 31 a of the throttle valve 22, and a check valve 24 is connected to the second path 31 b of the throttle valve 22. When the air pressure from the pneumatic pump 40 is supplied to the pneumatic path 31, the air flows through the first paths 31 a of the throttle valves 21 and 22. On the other hand, when the air pressure from the pneumatic pump 40 is supplied to the pneumatic path 32, the air flows through the second paths 31 b of the throttle valves 21 and 22. The throttle valve opening degree of each throttle valve 21 and 22 can be adjusted by throttle valve regulators 25 and 26. By adjusting the throttle valve opening, the air flow resistance of the throttle valves 21 and 22 is adjusted.

  On the outer periphery of the cylinder 11, first and second proximity switches 51 and 52 are provided corresponding to both end positions of the sliding range of the piston 13. The first and second proximity switches 51 and 52 generate detection signals when the piston 13 approaches.

  The detection signals of the first and second proximity switches 51 and 52 are input to the control circuit 60, and the control circuit 60 adjusts the throttle valve adjuster so that the moving speed of the object T moved by the actuator 10 becomes a target value. 25 and 26 are controlled. In addition, the control circuit 60 controls the pneumatic pump 40 and the switching valve 33 in order to operate the pneumatic pump 40 and switch and supply the generated air pressure to the pressure chambers 14 and 15. The control circuit 60 is configured by a program-controlled computer.

<Control of Actuator 10 by Control Circuit 60>
When the pneumatic pump 40 is operated in the state of FIG. 1, the air pressure generated by the pneumatic pump 40 is supplied to the cylinder 11 through the switching valve 33, the pneumatic path 31, and the check valve 23 of the first path 31 a in the throttle valve 21. It is supplied to the pressure chamber 14. The air pressure in the pressure chamber 15 is released from the silencer 35 into the atmosphere via the air pressure path 32, the first path 31 a in the throttle valve 22, and the switching valve 33. Therefore, the piston 13, the piston rod 12, and the object T are moved to the right side in FIG. 1 at a speed corresponding to the opening degree of the throttle valve 22.

  Thereafter, when the piston 13 moves to the right end as shown by the phantom line in FIG. 1, the second proximity switch 52 detects the position of the piston 13 and inputs a detection signal to the control circuit 60. Based on this detection signal, the control circuit 60 measures the time for the piston 13 to move from the left end shown by the solid line in FIG. 1 to the right end shown by the phantom line. Based on this measurement time, it is determined whether the moving speed of the piston 13 is faster or slower than the target value, and the throttle valve adjuster 26 is controlled to adjust the opening of the throttle valve 22.

  When the object T is moved to the left side indicated by the solid line from the state moved to the right side indicated by the phantom line in FIG. 1, the switching valve 33 is switched so that the air pressure generated by the pneumatic pump 40 is reduced to the pneumatic path 32 and the throttle. The pressure is supplied to the pressure chamber 15 of the cylinder 11 through the check valve 24 of the second path 31 b in the valve 22. The air pressure in the pressure chamber 14 is released from the silencer 34 to the atmosphere via the air pressure path 31, the second path 31 b of the throttle valve 21, and the switching valve 33. Therefore, the piston 13, the piston rod 12, and the object T are moved to the left in FIG. 1 at a speed corresponding to the opening degree of the throttle valve 21.

  When the piston 13 moves to the left end shown by the solid line in FIG. 1, the first proximity switch 51 detects the position of the piston 13 and inputs a detection signal to the control circuit 60. Based on this detection signal, the control circuit 60 measures the time for the piston 13 to move from the right end shown by the phantom line in FIG. 1 to the left end shown by the solid line. Based on this measurement time, it is determined whether the moving speed of the piston 13 is faster or slower than the target value, and the throttle valve adjuster 25 is controlled to adjust the opening of the throttle valve 21.

  By repeating the above operation, the actuator 10 can reciprocate the object T.

  The control circuit 60 measures the time during which the piston 13 moves between the left end and the right end based on the detection signals of the first and second proximity switches 51 and 52. The function of this part constitutes the sensor according to the present invention together with the first and second proximity switches 51 and 52.

<Opening adjustment of throttle valves 21 and 22>
FIG. 2 shows a throttle valve adjustment routine for controlling the throttle valve adjusters 25 and 26 in the control program of the control circuit 60. The throttle valve adjustment routine is executed every time the object T is moved from one end to the other end by the actuator 10. That is, it is executed each time the detection signals of the first and second proximity switches 51 and 52 are input to the control circuit 60.

  When the throttle valve adjustment routine is started, data of the movement time t of the object T by the actuator 10 is captured in step S1. The movement time t is a time for the piston 13 in the actuator 10 to move from one end to the other end in the cylinder 11 and is detected by a time difference between detection signals of the first proximity switch 51 and the second proximity switch 52.

  In step S2, the counter C is incremented. The counter C counts the number of executions of the throttle valve adjustment routine. In the next step S3, it is determined whether or not the counter C is equal to or greater than a predetermined number “5” set in advance. Until the counter C reaches “5”, a negative determination is made in step S3 and the process of the throttle valve adjustment routine ends. When the counter C reaches “5” and an affirmative determination is made in step S3, the process moves in step S4. The average value ta for 5 times t is calculated.

  In step S5, it is determined whether or not the calculated average value ta is greater than or equal to the lower limit value ts. If the average value ta is greater than or equal to the lower limit value ts, an affirmative determination is made in step S5, and in step S7, it is determined whether or not the calculated average value ta is less than or equal to the upper limit value tl. When step S5 is negatively determined, it is in the region A in FIG. 3, and when step S6 is negatively determined, it is in the region C in FIG. 3, and both step S5 and step S6 are positively determined. Is in the region B in FIG.

  A region A means that the throttle valves 21 and 22 have a large opening so that the amount of air supplied from the pneumatic pump 40 to the cylinder 11 is too large and the moving speed of the piston 13 is too fast. Therefore, in step S7, the opening degree S of the throttle valves 21 and 22 is decreased by α.

  The region C means that the throttle valves 21 and 22 are small in opening, so that the amount of air supplied from the pneumatic pump 40 to the cylinder 11 is too small and the moving speed of the piston 13 is too slow. Therefore, in step S8, the opening degree S of the throttle valves 21 and 22 is increased by α.

  The region B means that the average value ta of the moving time t of the object T is between the upper limit value tl and the lower limit value ts, and the moving speed of the piston 13 is not slow or fast, and is in a good state. . Therefore, the opening degree S of the throttle valves 21 and 22 is not changed at this time.

  When the validity of the moving time t of the object T is determined in step S5 or step S6, the counter C is cleared in step S9. Therefore, every time the target T is moved five times, an average value ta for the five times of the movement time t is obtained, and the validity of the movement time t of the target T is determined. When the average value ta of the movement time t of the object T is not between the upper limit value tl and the lower limit value ts, the opening adjustment of the throttle valves 21 and 22 is performed.

<Operation and effect of the first embodiment>
According to the first embodiment, when the average value ta of the movement time of the object T moved by the actuator 10 is out of the range between the upper limit value tl and the lower limit value ts, which are target values, the control circuit 60 reduces the aperture. The valve regulators 25 and 26 are controlled to adjust the throttle valves 21 and 22 so that the moving time of the object T falls within the target range (region B in FIG. 3). Therefore, the speed of the actuator 10 can be maintained at the target speed regardless of the presence of various external fluctuation factors.

  According to the first embodiment, the speed of the actuator 10 is controlled based on an average value ta of a predetermined number (5 times) of the movement time t of the object T. Even if the speed fluctuates frequently, it is possible to prevent the speed control of the actuator 10 from causing hunting due to the influence. In addition, when the movement time t is controlled to be the target value, the target value is set by the upper limit value tl and the lower limit value ts, and the target value has a range. Can be increased.

  According to the first embodiment, the operating speed of the actuator 10, that is, the average value ta of the moving speed of the target T is obtained by measuring the time t during which the target T moves, and the average of the movement of the target T is obtained. The speed can be easily determined. Therefore, the average speed during the movement of the object T from one end to the other end can be measured easily and accurately as compared with the case of measuring with the speedometer.

<Configuration of Second Embodiment>
4 to 7 show a second embodiment of the present invention. The feature of the second embodiment with respect to the first embodiment is that one object T is applied to one that moves up and down by four actuators 10. The other configurations are basically the same except for the details, and the same portions are denoted by the same reference numerals and the description thereof is omitted.

  As shown in FIG. 4, two brackets B are fixed to two opposing side walls with respect to a hexahedron-shaped target T that is low in height and wide in the plane direction. The piston rod 12 is coupled.

  FIG. 5 shows the object T and the actuator 10 as viewed from the X direction in FIG. 4, and in the same way as in the first embodiment for the left and right actuators 10 in FIG. 40 etc. are connected. Here, the pneumatic paths 31A, 31B, 32A, and 32B are connected to the left and right actuators 10 so as to be connected to the switching valve 33 in parallel. In the first embodiment, the throttle valve 21 is connected to the air pressure paths 31 and 32 connected to the two pressure chambers 14 and 15 in the cylinder 11, respectively. The throttle valve 21 is connected only to the paths 32A and 32B. In each throttle valve 21, the air flow in the pneumatic path 32 </ b> B is blocked by the check valve 23 when the piston 13 is raised, and the air flow in the pneumatic path 32 </ b> B is allowed by the check valve 23 when the piston 13 is lowered. Has been.

  In FIG. 5, one actuator 10 is shown on each of the left and right sides. However, as shown in FIG. 4, there are four actuators 10 in total, and one actuator 10 is located at a position hidden by each actuator 10 in FIG. Exists. The hidden actuator 10 is also connected in parallel to the switching valve 33.

  As shown in FIG. 6, the first proximity switch 51 and the second proximity switch 52 of each actuator 10 are connected to the input circuit of the control circuit 60. The output circuit of the control circuit 60 is connected to the ascending side coil 33a and the descending side coil 33b of the switching valve 33, and is connected to the pneumatic pump 40. Further, each throttle valve regulator 25 is connected to the output circuit of the control circuit 60.

<Control of Actuator 10 by Control Circuit 60>
When the pneumatic pump 40 is operated in the state of FIG. 5, the air pressure generated by the pneumatic pump 40 is supplied to the pressure chamber 14 of the cylinder 11 of each actuator 10 via the switching valve 33 and the pneumatic path 31A or 31B. The air pressure in the pressure chamber 15 of each actuator 10 is released into the atmosphere via the air pressure path 32A or 32B, the first path 32a in the throttle valve 21, and the switching valve 33. Therefore, each actuator 10 raises the object T at a speed according to the opening degree of the throttle valve 21.

  Thereafter, when the object T moves to the ascending position indicated by the phantom line in FIG. 5 (corresponding to the second position of the present invention) and each piston 13 reaches the ascending end indicated by the imaginary line in FIG. The proximity switch 52 detects the position of the piston 13 and inputs a detection signal to the control circuit 60. Based on this detection signal, the control circuit 60 measures the time for each piston 13 to move from the descending end indicated by the solid line to the ascending end indicated by the phantom line in FIG. Based on this measurement time, it is determined whether the moving speed of each piston 13 is faster or slower than the target value, and the throttle valve adjuster 25 is controlled to adjust the opening of the throttle valve 21. The adjustment at this time is performed independently for each throttle valve adjuster 25 corresponding to each actuator 10.

  When the object T is lowered to the lowered position (corresponding to the first position of the present invention) indicated by the solid line in FIG. 5 from the state where it is moved to the raised position indicated by the phantom line in FIG. The air pressure generated by the pneumatic pump 40 is supplied to the pressure chambers 15 of the respective cylinders 11 through the air pressure paths 32A or 32B and the check valves 23 of the second paths 32b of the throttle valves 21. The air pressure in each pressure chamber 14 is released into the atmosphere via the air pressure path 31A or 31B and the switching valve 33. Therefore, each actuator 10 is lowered regardless of the opening degree of the throttle valve 21. The descending speed at this time is determined by the air pressure supplied by the pneumatic pump 40 and the gravity of the object T. Since the gravity of the object T affects the descending speed in this way, the air pressure supplied by the pneumatic pump 40 is made smaller than when the object T is raised so that the descending speed is not too fast.

  By repeating the above operation, the actuator 10 can reciprocate the object T up and down.

<Output control of pneumatic pump 40>
FIG. 7 shows a pneumatic pump control routine for controlling the output of the pneumatic pump 40 in the control program of the control circuit 60. The pneumatic pump control routine is executed each time the object T is moved between the lowered position and the raised position by each actuator 10. That is, it is executed each time the detection signals of the first and second proximity switches 51 and 52 are input to the control circuit 60.

  When the pneumatic pump control routine is activated, it is determined in step S11 whether or not the ascending side coil 33a of the switching valve 33 is turned on. When the ascending side coil 33a is turned on and the switching valve 33 is switched to the side that supplies the air pressure from the pneumatic pump 40 to the pressure chamber 14, a positive determination is made in step S11 and the pneumatic pump 40 is rated in step S12. Operate with output. On the other hand, if the ascending side coil 33a is not turned on and the switching valve 33 is switched to the side supplying the air pressure from the air pressure pump 40 to the pressure chamber 15, a negative determination is made in step S11 and the air pressure is determined in step S13. The pump 40 is operated at a low output lower than the rated output.

<Operation and effect of the second embodiment>
According to the second embodiment, when one object T is moved by the four actuators 10, each actuator 10 is controlled independently to have the same target speed, and as a result, each actuator 10 is Operated at the same speed. Therefore, each actuator 10 can evenly operate the object T at each position. Therefore, it is possible to suppress a problem that the actuator 10 receives a force from the object T to move the actuator 10 in a direction different from the moving direction due to the different speeds of the actuators 10.

  According to the second embodiment, when the object T moves upward from the lowered position to the raised position, the throttle valve adjuster 25 controls the movement speed of the object T to coincide with the target value. On the other hand, when the object T is moved downward from the raised position to the lowered position, the movement speed of the object T is not controlled by the throttle valve adjuster 25 and is naturally dropped using the gravity of the object T. . At this time, the output of the pneumatic pump 40 is lowered. Therefore, the throttle valve adjuster 25 is provided only in the pneumatic paths 32A and 32B, and the configuration is simplified. Moreover, since it falls naturally using the gravity of the target object T, the energy required in order to move the target object T can be suppressed. When the object T is naturally dropped, the fluid pressure for individually operating each actuator 10 is small. Therefore, even if a difference occurs in the operation speed of each actuator 10 due to an external variation factor, the speed difference is caused by the gravity of the object T. It is automatically adjusted to some extent. Therefore, when the speed of each actuator 10 is different, it is possible to suppress a problem that the actuator 10 receives a force from the object T that moves the actuator 10 in a direction different from each moving direction.

  In each of the above embodiments, the processing in steps S5 to S8 corresponds to the control means of the present invention. Moreover, the process of step S1-step S4 and step S9 is corresponded to the average value calculation means of this invention. Moreover, the process of step S11-step S13 is corresponded to the pump output switching means of this invention.

<Other embodiments>
As mentioned above, although specific embodiment was described, this invention is not limited to those external appearances and structures, A various change, addition, and deletion are possible. For example, in the above embodiment, the present invention is applied to an object that moves the object T linearly. However, the present invention is an object that moves the object T so that the movement trajectory forms an arc, or rotationally moves the object T. You may apply to what you do. In addition, even in the case of moving in a straight line, the present invention may be applied to one that moves in an oblique direction in addition to movement in the horizontal direction and vertical direction as in the above embodiment.

  In the above embodiment, the fluid pressure that operates the actuator 10 is pneumatic, but the fluid pressure may be hydraulic, water, negative, or the like.

  In the above embodiment, the speed representative value detected by the sensor is the time for the piston 13 of the actuator 10 to move between both ends in the cylinder 11. However, the speedometer for measuring the moving speed of the piston 13, the object T, etc. It may be a measured value.

10 Actuator (fluid pressure actuator)
11 Cylinder 12 Piston rod 13 Piston 14, 15 Pressure chamber 21, 22 Throttle valve 23, 24 Check valve 25, 26 Throttle valve regulator 31, 31A, 31B, 32, 32A, 32B Pneumatic path (path)
31a, 32a 1st path | route 31b, 32b 2nd path | route 33 Switching valve 33a Ascending side coil 33b Decreasing side coil 34, 35 Silencer 40 Pneumatic pump (fluid pressure source)
51 First proximity switch (sensor)
52 Second proximity switch (sensor)
60 Control circuit T Object B Bracket

Claims (5)

A fluid pressure actuator speed control device that is actuated by supply of fluid pressure from a fluid pressure source and moves an object,
A throttle valve that is provided in a path for supplying fluid to the fluid pressure actuator and sets a flow resistance of the fluid flowing through the path;
A throttle valve regulator for adjusting the flow resistance of the throttle valve;
A sensor for detecting a representative speed value representative of the moving speed of the object by the fluid pressure actuator;
A fluid pressure actuator speed control device comprising: control means for adjusting and controlling the throttle valve regulator so that a speed representative value detected by the sensor becomes a target value. In claim 1,
The fluid pressure actuator includes a plurality of fluid pressure actuators, and the fluid pressure actuators are simultaneously operated at the same speed to move one object.
The throttle valve, the throttle valve regulator, the sensor, and the control means are respectively provided corresponding to the fluid pressure actuators,
Each said control means controls so that the operating speed of each said fluid pressure actuator may be made to correspond. Speed control apparatus of a fluid pressure actuator. In claim 1 or 2,
The fluid pressure actuator is operated repeatedly,
The control means includes
An average value calculating means for calculating an average value of speed representative values detected by the sensor while the fluid pressure actuator is repeatedly operated a predetermined number of times;
A fluid pressure actuator speed control device that controls the average value calculated by the average value calculation means to be the target value. In any one of Claims 1-3,
The object is moved from a predetermined first position to a second position separated from the first position by the fluid pressure actuator,
The speed representative value is a time required to move the object from the first position to the second position by the fluid pressure actuator. In any one of Claims 1-3,
The object is reciprocated between a predetermined first position and a second position separated upward with respect to the first position by the fluid pressure actuator,
A first path for supplying a fluid to the fluid pressure actuator when moving the object from the first position to the second position;
A second path for supplying fluid to the fluid pressure actuator when moving the object from the second position to the first position;
A switching valve that supplies the fluid pressure from the fluid pressure source by switching to either the first path or the second path;
A pump output switching means for switching the output of the fluid pressure source in two stages of high and low,
The throttle valve adjuster is provided in the throttle valve provided in the first path,
The pump output switching means switches the output of the fluid pressure source to a lower side when moving the object from the second position to the first position.

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