JP2928703B2 - Stop synchronization control device for multiple linear moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stop / synchronization control device for a linear moving body used for controlling a hydraulic cylinder for pressurizing a hydraulic bending roll, for example.

[0002]

2. Description of the Related Art FIG. 3 shows a conventional drive circuit for a plurality of hydraulic cylinders.
Reference numerals 3 and 4 denote pistons fitted in the cylinders 1 and 2, respectively. Piston rods 5 and 6 project from upper ends of the cylinders 1 and 2, respectively. Reference numerals 7 and 8 denote sliding pieces provided at the upper ends of the rods 5 and 6, respectively, and the scales 9 and 10 at fixed positions indicate the positions of the left and right rods 5 and 6.

[0003] Reference numerals 11 and 12 denote hydraulic pumps, which are driven by a motor 13. Oil supply pipes 14 and 15 connected to discharge ports of pumps 11 and 12 are connected to P ports of electromagnetic switching valves 16 and 17, and oil supply pipes 20 and 21 connected to suction ports of pumps 11 and 12 are connected to oil tank 22, respectively. I understand. A port and B port of each of the switching valves 16 and 17 are connected to a pipe 23,
24, 25 and 26 connect the cylinders 1 and 2 above and below. The T ports of the switching valves 16 and 17 are connected to the oil tank 22 by oil drain pipes 27 and 29.

FIG. 4 shows an operation system.
Is a power supply circuit, and 32 is an ascending circuit, in which an ascending push button switch 33 and a coil of a relay X are inserted in series. The A contact Xa of the relay X is inserted into the circuits 36 and 37 of the ascending solenoids 34 and 35 on the right side of the switching valves 16 and 17. A lowering circuit 42 has a lowering push button switch 43 and a coil of a relay Y inserted in series. The A contact Ya of the relay Y is inserted into the circuits 46 and 47 of the lowering solenoids 44 and 45 on the left side of the switching valves 16 and 17.

In the above conventional example, the push button switch 3
Pressing 3 activates relay X, closes its A contact Xa,
Each solenoid 34, 35 is excited and each switching valve 16, 1
7 is switched to the ascending side, pressure oil is sent to the lower part of each of the cylinders 1 and 2, the oil at the upper part of each of the cylinders 1 and 2 returns to the tank 22, and the piston rods 5 and 6 rise. When the pressing of the push button switch 33 is released, each of the electromagnetic switching valves 16,
17 returns to neutral and each piston rod 5, 6 stops at that position.

When the lowering push button switch 43 is pressed, the relay Y operates, the A contact Ya is closed, the solenoids 44 and 45 are excited, and the switching valves 16 and 17 are switched to the lowering side. When the pressure oil is sent to the upper part of the cylinders 1 and 2, the oil in the lower part of the cylinders 1 and 2 returns to the tank 22, the piston rods 5 and 6 descend, and when the push button switch 43 is released, the electromagnetic switching valve 16 is released. , 17 return to neutral and each piston rod 5, 6 stops at that position.

[0007]

In the case of the above conventional example,
By keeping the discharge amounts of the pumps 11 and 12 constant, the left and right pistons 3 and 4 should go up and down by the same amount, but actually due to the difference in resistance acting on the left and right piston rods 5 and 6, etc. A difference occurs in the stroke. Therefore, methods such as controlling the moving speed of the left and right pistons 3 and 4 using a flow control valve and various sensors have been implemented, but the hydraulic circuit and the electric circuit are complicated, and high-grade components are used. There was a problem that it became extremely expensive.

An object of the present invention is to provide an apparatus which can improve the above-mentioned conventional control means and can perform tuning control of a plurality of linear moving bodies with high accuracy with a simple apparatus.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to a tuning control device for synchronizing a plurality of linear moving bodies by supplying a working fluid through a switching valve. provided the stroke detectors respectively to the mobile, only setting a comparator for comparing the difference of the stroke of the linear moving object has been detected by the respective stroke detector, when the preceding linear moving object is stopped at a predetermined position, the so that the difference between the comparator by detecting the stroke of the difference set value beyond long as late <br/> linear moving object that preceded stopped by continuing the movement of the linear moving object has is stopped at less than the set value The configuration of a tuning control device for stopping a plurality of linear moving bodies provided with a control circuit for controlling the switching valve is adopted.

[0010]

In the stop synchronization control device having the above-mentioned configuration, when a plurality of linear moving bodies start moving, the stroke detector detects the stroke of each linear moving body and sends the value to the comparator. When each of the linear moving bodies stops while detecting a stroke, if the difference between the strokes detected by the comparator is smaller than a preset value, the operation of each of the linear moving bodies is completely stopped.

However, the difference between the moving speeds of the respective linear moving bodies is large, and even though the faster linear moving body has reached the set position and stopped, the other linear moving bodies have reached the set position. If the comparator detects that the difference is larger than the preset minimum difference, the operation of the slower linear moving body is continued, and the difference between the positions of the linear moving bodies becomes less than the set value. Then, the operation of the linear moving body that has been delayed for the first time is stopped.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an example of the apparatus according to the embodiment. Portions having the same functions as those of the conventional example shown in FIGS. FIG. 2 is an electric circuit showing an operation system of the above embodiment. In FIG. 1, stroke detectors 50 and 51 are provided on each of the sliding pieces 7 and 8, and output circuits 52 and 53 of the detectors 50 and 51 are compared with a comparator 54.
Connect to

Another circuits 55 and 56 are provided between the power supply circuits 30 and 31 shown in FIG.
4, the switches LSa and LSb provided respectively are inserted,
Further, each circuit includes a coil of relay Y, an A contact Xa of relay X, a coil of relay Z, and an A contact Xa of relay X.
Are inserted in series. The A contact Ya of the relay Y is connected to the circuit 5
5 is inserted into the circuit 57 provided in parallel with the A contact Xa inserted in the circuit 5 and the circuit 59 of the circuit 36 provided in parallel with the A contact Xa. The A contact Za of the relay Z is connected to the circuit 60 and the circuit 37 provided in parallel with the A contact Xa inserted into the circuit 56.
, Respectively, into the circuit 61 provided in parallel with the A contact Xa.

In the above embodiment, when the set value of the comparator 54 is set to 0.1 mm, when the ascending push button switch 33 is pressed, the relay X is activated, the A contact Xa is closed, and the solenoids 34, 35 are closed. When operated, the switching valves 16 and 17 are switched to the ascending position, pressure oil is sent to the lower part of each of the cylinders 1 and 2, and the oil above the cylinders 1 and 2 is supplied to the tank 2.
Returning to 2, each piston rod 5, 6 rises.

As described above, when the rods 5 and 6 move upward, the positions from the lower limit are sent from the detectors 50 and 51 to the comparator 54 and compared. While the push button switch 33 is pressed, the rods 5 and 6 continue to rise, but when the push button switch 33 is released, the left and right rods 5 and 6
When the difference between the top and bottom of the switch 6 is 0.1 mm or less, the left and right switches L
Since both Sa and LSb are open, the push button switch 33
Open, the solenoids 34 and 35 are cut off and the switching valves 1
6 and 17 return to neutral, and the movement of each rod 5 and 6 stops.

However, when the pressing of the push button switch 33 is released as described above, the height difference between the left and right rods 5 and 6 becomes 0.
When it is 1 mm or more, for example, when the right rod 6 is low,
Since the left switch LSa is open, the left circuit 55
When the A contact Xa is cut off, the relay Y is also cut off, and the A contact Ya is also cut off. Therefore, the solenoid 34 of the left switching valve 16 is cut off, the switching valve 16 returns to neutral, and the lifting of the left rod 5 stops. However, since the right switch LSb remains closed, the relay Z is self-held at the A contact Za even when the A contact Xa opens, so that the solenoid 35 also continues to operate and only the right rod 6 continues to rise. And the height of the right and left rods 5 and 6 becomes 0.1 mm, and at the same time the switch LS
b also breaks and the rod 6 stops.

Conversely, when the push button switch 33 is turned off, when the left rod 5 is lower than the right rod 6 and the difference is 0.1 mm or more, the left rod 5 is stopped after the right rod 6 stops. 5 continues to rise, and stops when the height difference becomes 0.1 mm or less. Although the circuit for lowering is omitted in FIG. 2, a circuit is constructed in which the rod that is delayed until the height difference at the time of stopping becomes 0.1 mm or less also continues to lower when lowering.

In the case of an automatic machine, a switch operated by an automatic signal is used instead of the push button switch 33 of the above embodiment. In the above embodiment, the setting value of the comparator 54 is set to 0.1
mm, but any other value can be used. When the reference point is made different between the stroke detectors 50 and 51 to give a difference in height, the tuning operation can be performed with the left and right rods 5 and 6 keeping the difference between the reference points.

The scales 9 and 10 and the sliding pieces 7 and 8 used in the above embodiment are formed by using, for example, a main scale and an index scale of an optical linear encoder or a main scale and a magnetic head of a magnetic linear encoder. The detected value is transmitted as a voltage to the comparator 54 via the stroke detectors 50 and 51. In the comparator 54,
If the difference between the heights of the left and right pistons 5 and 6 exceeds a set value by processing, one of the switches LSa and LSb may be operated.

In the embodiment, the case where the movement of the piston of the hydraulic cylinder is controlled has been described. However, the present invention is also applicable to an electric cylinder or a system in which a plurality of desired linear moving bodies are synchronized with a plurality of electric motors or hydraulic motors. Available.

[0021]

As described above, the present invention detects an error generated when a plurality of linear moving bodies are moved as described above, and the moving body which is delayed after the preceding moving body reaches a predetermined position. Since the switching valve is controlled by the control circuit so as to continue moving, each moving body is stopped at a predetermined position, the configuration is extremely simple compared with the conventional tuning control device, and the parts used are also simple. In spite of a small number, high-precision stop tuning control can be performed.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram of an embodiment.

FIG. 2 is an operation system diagram of the above.

FIG. 3 is a hydraulic circuit diagram of a conventional example.

FIG. 4 is an operation system diagram of the above.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic cylinder 2 Hydraulic cylinder 5 Piston rod 6 Piston rod 50 Stroke detector 51 Stroke detector 54 Comparator

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁶ , DB name) G05D 3/00 F15B 11/00

Claims (1)

(57) [Claims] In a tuning control device for operatively moving a plurality of linear moving bodies by supplying a working fluid through a switching valve, a stroke detector is provided for each of the linear moving bodies, and the stroke detector is detected by each of the stroke detectors. the comparator settings only to compare the difference between the stroke of each linear moving object was, prior to when the linear moving object is stopped at a predetermined position, a delay if the difference between the stroke detected by the comparator exceeds the set value a plurality of linear moving object, wherein a difference between the linear moving object that preceded stopped by continuing the movement of the linear moving body and is provided with a control circuit for controlling the switching valve so that stopped below the set value Stop tuning control device.