JP6890058B2 - Cylinder control device and piston actuator device - Google Patents

Description

The present invention relates to a cylinder control device and a piston actuator device that control the operating pressure of a cylinder accommodating a piston.

For example, a plurality of air operated valves are arranged on a pharmaceutical production line. The air operated valve includes a cylinder for accommodating the piston, and a cylinder control device for controlling the operating pressure is connected to the cylinder. For the cylinder control device, for example, an electropneumatic control valve is used. 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 the secondary pressure sensor located 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 and the set value of the secondary pressure detected by the secondary pressure sensor, and transmits the operation signal to the electropneumatic control valve. The electropneumatic control valve controls the operating pressure supplied to the cylinder by supplying and exhausting the operating fluid to the cylinder according to the operating 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.

Japanese Unexamined Patent Publication No. 2011-134183

However, in the conventional air operated valve, the valve opening degree is feedback-controlled by the host controller, so it is necessary to install a secondary pressure sensor on the secondary side of the air operated valve. Therefore, the control configuration for controlling the air operated valve is complicated and large.

Also, 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 operating pressure controlled by the electropneumatic control valve corresponds to the predetermined valve opening degree. There is a problem that the response time Tx becomes long due to repeated overshoots with respect to the target pressure. For example, in the field of cleaning or sterilizing a medical product manufacturing line, there is a demand to shorten the response time Tx and improve the efficiency of the cleaning process and the sterilization process even if the accuracy is slightly inferior to the feedback control.

The present invention has been made to solve the above problems, and is a cylinder control device and a piston actuator device capable of making the control configuration for controlling the controlled object compact and shortening the response time of the controlled object. The purpose is to provide.

One aspect of the present invention made to solve the above problems is to control the operating pressure by supplying and exhausting the operating fluid to the cylinder in a cylinder control device that controls the operating pressure of the cylinder accommodating the piston. It has an air supply / exhaust unit, a control unit, a storage unit, and a reception unit that receives a set value of an operating pressure for each time, and the control unit sets an operating pressure for each time via the reception unit. An operation pattern storage process in which at least two values are received to generate an operation pattern and identifiablely stored in the storage unit, and a case where a plurality of operation patterns are stored in the storage unit, and the operation pattern is stored. When a designated designated instruction is acquired, the operation pattern read process for reading the operation pattern corresponding to the designated command from the plurality of operation patterns stored in the storage unit and the operation pattern read process for reading out the operation pattern are read out. According to the operation pattern, the control process for controlling the air supply / exhaust unit so as to match the operating pressure with the set value of the operating pressure for each time is executed.

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 designated command is acquired, the operation pattern corresponding to the designated command is stored in the storage unit. By controlling the air supply / exhaust unit according to the operation pattern read from, the operating pressure of the cylinder to be controlled is controlled. The controlled object operates according to the operating pressure of the cylinder. Therefore, since the cylinder control device feedforward-controls the operation of the controlled object using the operation pattern stored in the storage unit, a configuration for detecting the operating state of the controlled object (for example, a secondary pressure sensor) becomes unnecessary. The control configuration for controlling the control target becomes compact. Further, since the cylinder control device controls the operating pressure without repeating the overshoot, the response time of the controlled object can be shortened.

Further, the cylinder control device having the above configuration controls the air supply / exhaust unit so that the control process always makes the moving direction of the piston the same immediately before the operating pressure reaches the set value of the operating pressure. It is characterized by that. According to the cylinder control device having such a configuration, it is possible to avoid a situation in which the valve opening degree differs depending on the operating pressure when the valve opening degree is increased and when the valve opening degree is decreased.

Further, 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. The reception unit receives the set value of the operation pressure for each time input via the operation unit. According to the cylinder control device having such a configuration, the operation pattern can be stored only by the own device, so that the control configuration can be simplified.

Another aspect of the present invention made to solve the above problems is a piston connected to the cylinder, a piston housed in the cylinder and sliding in the cylinder according to an operating pressure in the cylinder, and the piston. In a 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 an operating fluid to the cylinder. The control unit includes an air supply / exhaust unit that controls the operating pressure, a control unit, a storage unit, and a reception unit that receives a set value of the operating pressure for each hour. An operation pattern storage process that receives at least two set values of operating pressure for each hour, generates an operation pattern, and stores it in the storage unit in an identifiable manner, and a case where a plurality of operation patterns are stored in the storage unit. In addition, the operation pattern reading process of reading the operation pattern corresponding to the designated instruction from the plurality of operation patterns stored in the storage unit when the designated instruction for designating the operation pattern is acquired, and the above-mentioned According to the operation pattern read by the operation pattern reading process, the control process of controlling the air supply / exhaust unit so as to match the operation pressure with the set value of the operation pressure for each time is executed. ..

In the piston actuator device having such a configuration, when the cylinder control device stores in advance an operation pattern that defines the operating pressure set value for each time in the storage unit and acquires a designated command, the piston actuator device corresponds to the designated command. The operating pressure of the cylinder is controlled by reading the operation pattern from the storage unit and controlling the air 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, since the piston actuator device feedforward-controls the output of the output unit using the operation pattern stored in the storage unit by the cylinder control device, a configuration for detecting the output of the output unit (for example, a secondary pressure sensor) is unnecessary. Therefore, the control configuration for controlling the piston actuator device becomes compact. Further, since the operating pressure of the piston actuator device is controlled by the cylinder control device without repeating the overshoot, 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 control target compact and shorten the response time of the control target.

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

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

A. First Embodiment (Structure of Piston Actuator Device)
FIG. 1 is a front view of the piston actuator device 1 according to the 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, the 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, the electropneumatic control valve is used in the control device 3.

FIG. 2 is a cross-sectional view taken along the line AA of FIG. The body 10 is configured by connecting the flow path block 11 and the connecting block 15 with screws via the diaphragm 16. 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 arranged so as to face the valve seat 14, and the outer edge portion is sandwiched between the flow path block 11 and the connecting block 15. The connecting block 15 is provided in a cylindrical shape and is fixed to the cylinder 17 by a mounting screw.

In the cylinder 17, the piston 19 is slidably loaded in the cylinder chamber 18. The cylinder chamber 18 is airtightly divided into a first chamber 18a and a second chamber 18b via a piston 19. The drive shaft 20 is provided integrally with the piston 19. The lower end of the drive shaft 20 projects into the connecting block 15 and is connected to a connecting member 21 slidably arranged on the connecting block 15. A diaphragm 16 is attached to the connecting member 21. Therefore, the diaphragm 16 comes into contact with 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 18a 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, in the actuator device 1, the valve opening degree 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 according to the deviation.

FIG. 3 is a left side view of the actuator device 1 shown in FIG. The control device 3 is provided with a display unit 31 and an operation unit 35 in the housing 30. The display unit 31 of this embodiment is composed of a 4-digit 7-segment LED. Further, 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 composed of push-type 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 provided 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 solenoid valve 5, an exhaust solenoid valve 6, and a pressure sensor 7.

The supply solenoid valve 5 is arranged on the first flow path L1 connecting the first port 36 and the second port 37. The exhaust solenoid valve 6 branches 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. It is arranged. The pressure sensor 7 is arranged 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, the communication interface unit 42, the pressure control unit 43, and the 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 the 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 the input / output of signals. 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 the input operations of the first to third keys 32 to 34 as electric signals. Further, 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 content 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, various settings, initial values, and the like for controlling the control device 3. The RAM 53 and the EEPROM 54 are used as a work area for reading various control programs 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, the operation pattern means a pattern that defines a set value of the operating pressure for each time, for example, as shown in FIGS. 5 to 8.

The EEPROM 54 shown in FIG. 4 stores the functions that can be executed by the control device 3 in association with the function identification number. The function includes a first function of storing an operation pattern and a second function of 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 operating pressure from the microcomputer control unit 41 every hour, and the supply solenoid valve 5 and the exhaust so as to match the operating pressure detected by the pressure sensor 7 with the set value of the operating pressure. Controls the operation of the solenoid valve 6.

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

Further, for example, when the operating pressure detection value received from the pressure sensor 7 is larger than the operating pressure set value received from the microcomputer control unit 41, the pressure control unit 43 opens the exhaust solenoid valve 6 for supply. By closing the solenoid valve 5, the second port 37 communicates with the third port 38, and the operating fluid in the second chamber 18b is exhausted. As a result, the internal pressure (operating pressure) of the second chamber 18b is reduced, and the valve opening degree of the actuator device 1 is reduced. The pressure control unit 43, the supply solenoid valve 5, the exhaust solenoid valve 6, and the pressure sensor 7 constitute the 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 the operating pressure for each time via the operating 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 operating pressure for each time.

When the user specifies an operation pattern via the operation unit 35, the actuator device 1 reads out 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 degree according to the operating pressure supplied to the cylinder 17.

Further, when the upper controller 9 is connected to the control device 3, the actuator device 1 is designated by the upper controller 9 as an operation pattern. In this case as well, the actuator device 1 controls the operating pressure according to the designated operation pattern and changes the valve opening degree in the same manner as described above.

In this way, the valve opening degree of the actuator device 1 is not feedback-controlled by the host controller 9, but is fed by the control device 3 controlling the operating pressure of the cylinder 17 according to the operation pattern stored in advance in the EEPROM 54. It is forward controlled. Therefore, the actuator device 1 of the present embodiment can prevent the operating pressure of the cylinder 17 from repeatedly overshooting with respect to the set value (target pressure) of the operating pressure, and can shorten the response time. Further, since it is not necessary to arrange the 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 degree 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, the control procedure for storing the operation pattern will be described with reference to FIGS. 9 and 10. In FIG. 10, for convenience of explanation, units are appropriately described on the side of the screen.

When any of the first to third keys 32 to 34 of the operation unit 35 is pressed, the CPU 51 causes the display unit 31 to display the function list screen 71 (see FIG. 10) as shown in the flowchart of FIG. (Step 1, hereinafter referred to as "S1"). As shown in X1 of FIG. 10, the initial value is initially displayed on the function list screen 71. When the user presses the third key 34, the CPU 51 accepts the input operation via the input / output unit 44 and reads out 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. As a result, as shown in X2 of FIG. 10, for example, a function identification number is displayed on the function list screen 71. The function identification number is changed in response to the user pressing the third key 34.

As shown in FIG. 9, the CPU 51 determines whether or not the function has been selected (S2). If the first key 32 is not pressed, the CPU 51 determines that the function is not selected (S2: NO). In this case, the CPU 51 determines whether or not the predetermined time has elapsed (S24). Until the predetermined time elapses (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, if the predetermined time elapses without pressing the first key 32 (S24: YES), the CPU 51 ends the control shown in FIG. As a result, it is possible to prevent the actuator device 1 from being left in a state where the function is not selected.

When the user presses the first key 32 within a predetermined time, the CPU 51 determines that the 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 the display of the preset number setting screen 73 (see FIG. 10) to the display unit 31 via the input / output unit 44, and displays the preset number setting screen 73 on the display unit 31. Is displayed (S4). As shown in FIG. 10, the function identification number (X3 in the figure) and the preset number (X4 in the figure) are displayed on the preset number setting screen 73. 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 the 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, the CPU 51 transmits a display signal instructing the display of the preset number determination screen 74 to the display unit 31, and causes the preset number determination screen 74 to be displayed on the display unit 31 (S6). As shown in X5 of FIG. 10, on the preset number determination screen 74, the function identification number is not displayed, and only the set preset number is displayed.

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. It is displayed on 31 (S7). For example, as shown in FIG. 10, on the initial pressure input screen 75, a procedure number (see N1 in the figure) indicating that the initial pressure Pf is input and an input value of the initial pressure Pf (M1 in the figure) are displayed. To. Here, the initial pressure Pf means a set value of the operating pressure when valve control (control of the operating pressure of the cylinder 17) is started according to the operation pattern. The CPU 51 accepts the input operation of the third key 34 via the input / output unit 44, and changes the input value of the initial pressure Pf (M1 in the figure) 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 the 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, on the target pressure input screen 76, a procedure number (N2 in the figure) indicating that the target pressure Pe is input and an input value (M2 in the figure) of the target pressure Pe are displayed. .. Here, the target pressure Pe refers to a set value of the operating pressure when the operating pressure of the cylinder 17 is feedforward controlled. After that, as shown in FIG. 9, the CPU 51 determines whether or not the input value of the target pressure Pe is set (S10). Since the processing of S9 and S10 is the same as the processing of S7 and S8, the description thereof will be 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 input and an input value of the delay time Td (M3 in the figure) are displayed. .. Here, the delay time Td means 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 accepts the input operation of the third key 34 via the input / output unit 44, and changes the input value of the delay time Td (M3 shown in FIG. 10) 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, the CPU 51 sets the delay time Td when the user presses the first key 32 (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.

After that, the CPU 51 causes the display unit 31 to display the sweep time input screen 78 (FIG. 10) for displaying the procedure number (N4 in FIG. 10) and the input value of the sweep time Ts (M4 shown in FIG. 10) (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 means the time until the initial pressure Pf reaches the target pressure Pe. Then, the CPU 51 causes the display unit 31 to display the repeat time input screen 79 (see FIG. 10) that displays 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 refers to the interval time when the fluctuations of the initial pressure Pf and the target pressure Pe are repeated. 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 processing of S13 and S15 is the same as the processing of S11 and the processing of S14 and S16 is the same as that of S12, the 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, by the processing of S7 to S14, the set value of the operating pressure for each time is set at two points.

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 the operation pattern in the EEPROM 54. (S17).

For example, the user sets the initial pressure Pf to a value larger than 0 kPa, the target pressure Pe to a value larger than the initial pressure Pf, sets the delay time Td and the sweep time Ts to a value larger than 0 seconds, and repeat time. It is assumed that "-" is set in Tr. In this case, as shown in FIG. 11, the CPU 51 generates an operation pattern in which the operating pressure is changed from the initial pressure Pf to the target pressure Pe only once.

On the other hand, when the user sets a numerical value for the repeat time Tr, the CPU 51 determines the initial pressure Pf and the target pressure Pe at intervals of the delay time Td set in S14, as shown in FIG. Generates an operation pattern that repeats the fluctuation of.

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

Then, the CPU 51 causes the display unit 31 to display the operation pattern registration completion screen 80 (S18). For example, as shown in X6 of 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. As a result, the user can recognize that the registration of the operation pattern is completed. After that, the CPU 51 ends the control shown in FIG. The processes S4 to S17 are examples of operation pattern storage processes. 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. 5 to 8. Here, when the operating pressure is 5 kPa, the valve opening degree of the actuator device 1 is fully opened.

For example, the user sets the initial pressure Pf to "0 kPa", the target pressure Pe to "5 kPa", the delay time Td to "0 sec", and the sweep time Ts to "0 sec" 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 valve control (control of the operating pressure of the cylinder 17) at the same time as increasing the operating pressure according to the operation pattern, and slowly reaches the operating pressure from 0 kPa to 5 kPa over 5 seconds. The first operation pattern to be caused 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", the target pressure Pe to "2 kPa", the delay time Td to "0 sec", and 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 creates a second operation pattern in which the valve control is started according to the operation pattern and at the same time the operation pressure is increased and the operation pressure is slowly reached 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 valve control according to the operation pattern and at the same time controls the operating pressure to 2.5 kPa, maintains that state for 5 seconds, and then immediately changes the operating pressure from 2.5 kPa to 2 kPa. Create a third motion pattern that reduces to. 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", the target pressure Pe to "7 kPa", the delay time Td to "5 sec", and 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 valve control according to the operation pattern, controls the operating pressure to 5 kPa, maintains the state for 5 seconds, and then increases the operating pressure from 5 kPa to 2 kPa over 2 seconds. Create a fourth operation pattern that changes to. 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 the operation pattern differs according to the 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 set value of the operating pressure for each time by operating the operating unit 35 while looking at the display unit 31, the operation pattern can be stored only by the own device.

Subsequently, 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 displays the preset number designation screen on the display unit 31 (S19). The CPU 51 sequentially displays the preset numbers stored in the EEPROM 54 on the preset number designation screen in response to 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 specified 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 has been 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, when there is a matching preset number (S21: YES), the operation pattern corresponding to the specified 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 operating pressure of the cylinder 17 according to the operation pattern stored in the RAM 53 (S23). Specifically, the CPU 51 transmits a control signal instructing a set value of the operating pressure to the pressure control unit 43 for 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 set value of the received operating pressure matches the operating pressure detection value detected by the pressure sensor 7. After that, the CPU 51 ends the process. The processes S20 to S22 are examples of operation pattern reading processes. The process of S23 is an example of a valve control process.

A procedure for designating an operation pattern via the operation unit 35 and controlling the valve opening degree of the actuator device 1 will be specifically described with reference to FIGS. 5 to 8.

Specifically, for example, when the user specifies 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 operating pressure to the pressure control unit 43 at intervals 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 operating pressure detection value detected by the pressure sensor 7 matches the operating pressure instructed by the CPU 51. .. As a result, the actuator device 1 is maintained at 5 kPa after the operating 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.

Further, for example, when the user specifies the preset number "P2" via the operation unit 35, the CPU 51 reads the second operation pattern shown in FIG. 6 from the EEPROM 54 with the preset number "P2" as an argument. The CPU 51 transmits a control signal to the pressure control unit 43 according to the second operation pattern in the same manner as in the first operation pattern, and causes the pressure control unit 43 to control the supply solenoid valve 5 and the exhaust solenoid valve 6. As a result, the actuator device 1 is maintained at 2 kPa after the operating pressure gradually increases from 0 kPa to 2 kPa. Therefore, the valve opening degree of the actuator device 1 changes from the fully closed state to the microvalve open state without overshooting.

Further, for example, when the user specifies the preset number "P3" via the operation unit 35, the CPU 51 reads the third operation pattern shown in FIG. 7 from the EEPROM 54 with the preset number "P3" as an argument. The CPU 51 transmits a control signal to the pressure control unit 43 according to the third operation pattern in the same manner as in the first operation pattern, and causes the pressure control unit 43 to control the supply solenoid valve 5 and the exhaust solenoid 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, then the pressure is reduced to 2 kPa, and then the 2 kPa is maintained. Therefore, the valve opening degree of the actuator device 1 changes from the intermediate valve open state to the micro valve open state without overshooting.

Further, for example, when the user specifies 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. The CPU 51 transmits a control signal to the pressure control unit 43 according to the fourth operation pattern in the same manner as in the first operation pattern, and causes the pressure control unit 43 to control the supply solenoid valve 5 and the exhaust solenoid valve 6. As a result, when the operating pressure of the actuator device 1 is first adjusted to 5 kPa, the 5 kPa is maintained for 5 seconds, then 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 micro 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 in the RAM 53 via the communication interface unit 42 (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 notifies an error. Since the processing of S42 to S45 is the same as that of S21 to S23 and S25 of FIG. 9, the description thereof will be omitted. 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.

In this way, when the actuator device 1 is designated with the preset number of the operation pattern via the operation unit 35 or the upper controller 9, the control device 3 is designated from the plurality of operation patterns stored in the EEPROM 54. The operation pattern corresponding to the above is read out, and valve control (control of the operating pressure of the cylinder 17) is performed according to the read out operation pattern. Therefore, in the actuator device 1, since the valve opening degree is feedforward controlled, overshoot does not occur during valve opening degree control, and the response time can be shortened. Further, since the pressure sensor that detects the secondary pressure of the actuator device 1 is not required to control the valve opening degree of the actuator device 1, the control configuration for controlling the valve opening degree of the actuator device 1 is simplified. , Become 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 degree with respect to the operating pressure is generated depending on whether the valve opening degree is increased or 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 degree. That is, when the CPU 51 of the control device 3 changes the valve opening degree from the intermediate valve open state to the minute valve open state according to, for example, the third operation pattern shown in FIG. 7, the operating pressure of the cylinder 17 is set from the target pressure Pe (2 kPa). After making it smaller, a control signal for raising 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 that separates the diaphragm 16 from the valve seat 14, so that the operating pressure of the cylinder 17 matches the target pressure Pe. Therefore, the actuator device 1 can avoid a situation in which the valve opening degree is different even if the operating pressure is the same due to hysteresis, and the accuracy is good.

(Example of use)
Subsequently, a usage example of the actuator device 1 will be described. FIG. 14 is a diagram showing an example of a medical product manufacturing line. The supply line 62 is connected to the upper surface of the tank 61, and the first actuator device 1A is arranged. The discharge line 63 is connected to the lower surface of the tank 61. In the discharge line 63, the second actuator device 1B, the filter 64, and the third actuator device 1C are arranged in 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 arranged.

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

For example, the first actuator device 1A stores the first operation pattern shown in FIG. The first operation pattern shown in FIG. 5 is stored in the second actuator device 1B. The 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 they may be different for each valve.

In order to ensure hygiene, the host controller 9 supplies hot water to the line for 5 seconds to perform CIP (cleaning in place) on the tank 61, and then supplies high temperature steam to the line to tank. SIP (sterilizing in place) is applied to 61.

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. "Is sent respectively.

As a result, while the 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 performed. The degree is controlled to the fully open state. Therefore, air is discharged through the fourth actuator device 1D, and hot water flows in the line at high speed to enhance the cleaning effect.

The tank 61 is supplied with hot water for 5 seconds and then steam. 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. As a result, it is possible to secure the flow of steam and improve the sterilization efficiency while suppressing the discharge of steam as much as possible. At this time, since the fourth actuator device 1D slowly reduces the valve opening degree, it is possible to suppress a sudden increase in the internal pressure of the filter 64.

When the host controller 9 performs CIP and SIP after exchanging the filter 64, the host controller 9 supplies the preset number “P2” instead of the preset number “P4” to the fourth actuator device 1D. As a result, the fourth actuator device 1D slowly changes from the fully closed state to the microvalve open state, and slowly bleeds the air in the filter. Therefore, the filter is prevented from being damaged by the pressure when hot water is injected.

B. Second Embodiment Next, the piston actuator device of the second embodiment of the present invention will be described. 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, the piston 103 is slidably loaded in the cylinder 101, and the cylinder chamber 102 is divided 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 102a, and constantly applies a force in the direction of protruding from the cylinder 101 to the output rod 104 via the piston 103. The second chamber 102b communicates with the operation port 23 via the communication passage 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, a control device 3 (not shown) supplies and exhausts an operating fluid to the second chamber 102b to control the operating pressure of the cylinder 101. The actuator device 100 advances and retreats 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.

The present invention is not limited to the above embodiment, and various applications are 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 operation pattern created by 9 may be received by the microcomputer control unit 41 via the communication interface unit 42 and stored in the EEPROM 54.

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

(3) The display unit 31 may change the display color to make it easier to see, for example, 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 of the display unit 31 may be a single color.

(4) For example, the display unit 31 may be configured by 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 above embodiment, the number of digits of the display unit 31 is not limited to the above embodiment and can be arbitrarily changed. Further, the number of the first to third keys 32 to 34 is not limited to the above embodiment.

(6) For example, the actuator device 1 is a single-acting valve, but it 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 (6)

In a cylinder control device that controls the operating pressure of a cylinder that houses a piston
An air supply / exhaust unit that controls the operating pressure by supplying / exhausting the operating fluid to the cylinder.
Control unit and
Memory and
It has a reception unit that accepts the set value of the operating pressure for each hour, and
The control unit
An operation pattern storage process that receives at least two set values of operating pressure for each time via the reception unit, generates an operation pattern, and stores the operation pressure in the storage unit in an identifiable manner.
When a plurality of operation patterns are stored in the storage unit and 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. Operation pattern read processing to read the operation pattern corresponding to the instruction, and
A control process that controls the air supply / exhaust unit so that the operating pressure matches the set value of the operating pressure for each time according to the operation pattern read by the operation pattern reading process.
To do,
The plurality of operation patterns include an operation pattern that gradually changes the operation pressure.
The operation pattern storage process receives set values of an initial pressure, a target pressure, a delay time, and a sweep time via the reception unit to generate an operation pattern, and stores the operation pattern in the storage unit in an identifiable manner. ,
The initial pressure is a set value of the operating pressure when the control of the operating pressure of the cylinder is started according to the operation pattern.
The target pressure is a set value of the operating pressure when feedforward controlling the operating pressure of the cylinder.
The delay time is a time for maintaining the initial pressure after starting the control of the operating pressure of the cylinder according to the operation pattern.
The sweep time is the time required for the initial pressure to reach the target pressure.
Cylinder control device characterized by. In the cylinder control device according to claim 1,
In the operation pattern storage process, the set value of the repeat time, which is the interval time when the fluctuation of the initial pressure and the target pressure is repeated, is further received via the reception unit, and the repeat time interval is the received interval. To generate the operation pattern that repeats the fluctuation between the initial pressure and the target pressure,
Cylinder control device characterized by. In the cylinder control device according to claim 1 or 2.
In the control process, the air supply / exhaust unit is controlled 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.
Cylinder control device characterized by. In a cylinder control device that controls the operating pressure of a cylinder that houses a piston
An air supply / exhaust unit that controls the operating pressure by supplying / exhausting the operating fluid to the cylinder.
Control unit and
Memory and
It has a reception unit that accepts the set value of the operating pressure for each hour, and
The control unit
An operation pattern storage process that receives at least two set values of the operating pressure for each time via the reception unit, generates an operation pattern, and stores the operation pressure in the storage unit in an identifiable manner.
When a plurality of operation patterns are stored in the storage unit and 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. Operation pattern read processing to read the operation pattern corresponding to the instruction, and
A control process that controls the air supply / exhaust unit so that the operating pressure matches the set value of the operating pressure for each time according to the operation pattern read by the operation pattern reading process.
To do,
The plurality of operation patterns include an operation pattern that gradually changes the operation pressure.
In the control process, the air supply / exhaust unit is controlled 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.
Cylinder control device characterized by. In the cylinder control device according to any one of claims 1 to 4.
Equipped with an operation unit and a display unit
The control unit
A display process for displaying the operation contents of the operation unit on the display unit is executed.
Further, in the operation pattern storage process, the reception unit receives the set value of the operation pressure for each time input via the operation unit.
Cylinder control device characterized by. Cylinder and
A piston housed in the cylinder and sliding in the cylinder according to an operating pressure in the cylinder.
An output unit that is connected to the piston and outputs according to the movement of the piston.
In a piston actuator device having a cylinder control device connected to the cylinder.
The cylinder control device is
An air supply / exhaust unit that controls the operating pressure by supplying / exhausting the operating fluid to the cylinder.
Control unit and
Memory and
It has a reception unit that accepts the set value of the operating pressure for each hour, and
The control unit
An operation pattern storage process that receives at least two set values of operating pressure for each time via the reception unit, generates an operation pattern, and stores the operation pressure in the storage unit in an identifiable manner.
When a plurality of operation patterns are stored in the storage unit and 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. Operation pattern read processing to read the operation pattern corresponding to the instruction, and
A control process that controls the air supply / exhaust unit so that the operating pressure matches the set value of the operating pressure for each time according to the operation pattern read by the operation pattern reading process.
To do,
The plurality of operation patterns include an operation pattern that gradually changes the operation pressure.
The operation pattern storage process receives set values of an initial pressure, a target pressure, a delay time, and a sweep time via the reception unit to generate an operation pattern, and stores the operation pattern in the storage unit in an identifiable manner. ,
The initial pressure is a set value of the operating pressure when the control of the operating pressure of the cylinder is started according to the operation pattern.
The target pressure is a set value of the operating pressure when feedforward controlling the operating pressure of the cylinder.
The delay time is a time for maintaining the initial pressure after starting the control of the operating pressure of the cylinder according to the operation pattern.
The sweep time is the time required for the initial pressure to reach the target pressure.
A piston actuator device characterized by.

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