JPH07317701A - Electromagnetic controller for cylinder and its controlling method - Google Patents

Abstract

PURPOSE:To enable motion to be changed at an optional point in a cylinder stroke by attaching electromagnetic sensors on a cylinder outer part, and feeding positional information of the cylinder back into a calculating device. CONSTITUTION:Solenoid valves 11 to 14 and flow rate valves 21, 22 are connected to a cylinder 1. Variable pressure valves 31, 32 are connected to a pressure reserving tank 4 and a high-pressure reserving tank 5, and output from the high-pressure reserving tank 5 is divided into two, and flow rate valves 23, 24 are connected to the two devided outputs, and the flow rate valves are connected to each other midway between the solenoid valves 11, 12, and 13, 14. Moreover, flow rate stepping motors 41, 42, 45, 46 are connected to one another, and invertor motors 43, 44 are connected to the variable pressure valves. The optional number of solenoid sensors 51 to 54 are attached to the cylinder outer part on both ends of the cylinder stroke and on the optional positions between the ends, and a calculating device for processing and controlling information of respective electromagnetic sensors 51 to 54 is attached.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cylinder which operates by receiving the pressure of a pressurizing / depressurizing conductor, an electric control device used in the device, and a control method thereof.

[0002]

2. Description of the Related Art In a conventional cylinder, an electromagnetic valve is attached to both ends of the valve of the cylinder, and the flow rate of the pressurizing / depressurizing conductor is changed by the electromagnetic valve based on the information of an external command device and artificial operation. The direction and speed of the reciprocating motion between the ends of the cylinder stroke are changed.

[0003]

First, in the conventional cylinder, both ends of the cylinder stroke are reciprocated at a constant speed, but the movement cannot be changed at any point between the cylinder strokes. Next, as the cylinder operates, the pressure applied to the entire device decreases, making it difficult to maintain a constant output. further,
In order to stop the piston within the working range, a method of cutting off the supply of pressure is taken, but the motion due to inertia cannot be ignored. As other methods, it is necessary to prepare a device that generates impact or absorbs impact because the piston is applied to the side wall of the cylinder or the movement is physically stopped by an external stop device (stopper). . Further, in an environment in which a plurality of devices operate, pressure supply tends to be unstable, and malfunctions often occur due to insufficient or excessive pressurization. An object of the present invention is to obtain an electromagnetic control device for a cylinder, which changes a motion at an arbitrary point between cylinder strokes, and at the same time, replaces it with a computer process to provide a control method by integrated control of the device and programming of an arbitrary operation. It is intended to be provided.

[0004]

In order to achieve the above object, as shown in FIG. 1, the cylinder (1) of the present invention has an electromagnetic sensor (51, 52, 5) outside the cylinder.
3, 54) is attached, and the position information of the piston is fed back to the arithmetic unit (6). Of the four electromagnetic valves (11, 12, 13, 14), (11, 13) is arranged on the shaft side of the cylinder, and (12, 14) is arranged on the opposite side. (11) (12) is an electric signal indicating the operation of opening the inlet for conducting the pressure medium to the cylinder and simultaneously closing the outlet for releasing the pressure medium from the cylinder to the outside and the operation of closing the inlet and opening the outlet. Switch by. In (13) and (14), the flow valve mounting side is selected during ON operation, and the non-operation side is selected during OFF operation. Further, the flow rate valves (21, 22) are attached to the switch ON side of (13) and (14), and the stepping motors (41) and (42) are connected to the flow rate control so that the flow rate can be controlled by an electric signal. . Then, a variable pressure valve (31) is attached to the outlet of the pressure holding tank (4), and a stepping motor (43) is further connected so that the pressure can be controlled by an electric signal. In addition, in order to reduce the pressure of the entire apparatus due to the operation, the output of the high-pressure holding tank (5) is passed through the stepping motors (44, 45, 46) to the variable valve (32) and the flow valve (23, 24).
Was controlled to replenish the reduced pressure to enable operation at a constant output. Further, the inertia is also eliminated by similarly supplementing the pressure from the high-pressure holding tank in the negative direction of the movement.

[0005]

[Operation] In the operation of the cylinder, not only the conventional reciprocating motion of both ends, but also intermediate stop at any position, speed change,
Turns, quick movements, and quick stops are possible any number of times. Further, by using the arithmetic unit, the operation of the cylinder can be programmed, and not only repetitive operation but also complicated operation can be automatically controlled. In addition, by integrally controlling each valve, the load pressure can be controlled to be constant, and operation in a stable environment becomes possible. Then, by replacing with a complete computer processing and pre-programming an arbitrary operation, under pressure and over pressure that occur when a plurality of actuators are operated, through the stepping motors (43, 44), the variable valve (31). , 32) and the flow valves (23, 24) can be controlled as needed. It should be noted that the occurrence of shocks during braking can be eliminated by the integrated control of the electromagnetic valve and stepping motor.

[0006]

[Example] In contrast to the conventional cylinders used in machine tools,
When the electromagnetic control according to the present invention is performed, the conventional X axis, Y
In the state of being arranged at right angles to the axis, only linear movement is performed, but movement along a circle or elliptical orbit, and control of the cylinder stroke from any position are possible, so it is possible to change the linear inclination midway or turn it back. It becomes possible to operate. As a result, it was possible to significantly increase the execution speed to 15 to 20 times / minute, compared to 5 to 10 times / minute in the process control of 20 steps. Further, since a supplementary pressure is supplied for the pressure drop due to the operation, a constant output operation is possible.

[0007]

In the past, in the industrial robots and machine tools,
Although the motor is controlled by a computer and a complicated motion is generated, there seems to be room for improvement in terms of weight and speed. Therefore, by using the present invention, size reduction, weight reduction, and speedup are considered to be promoted. Depending on the combination of ROM in which the basic operation is programmed and various sensors, it may be used in various fields. By preparing a plurality of them and combining the above-mentioned operations, it is possible to have a new operation that has never existed before. In addition, the pressure on the cylinder is "no load",
If the tip of the cylinder is moved arbitrarily, the information can be retrieved by the electromagnetic valve. With this, it is possible to "learn" the movement of the cylinder and "reproduce" the result, and it is thought that movements closer to human beings and movements that exceed them will occur.

[Brief description of drawings]

FIG. 1 is a connection diagram of a cylinder and various valves.

FIG. 2 is a connection diagram of a computing device in an electromagnetic control device, various valves, and related peripheral devices.

[Explanation of symbols]

 1 Cylinder 2 Booster / Pressurizer 3 High Pressure Booster / Pressurizer 4 Pressure Holding Tank 5 High Pressure Holding Tank 6 Calculation Device 11, 12, 13, 14 Electromagnetic Valve 21, 22, 23, 24 Flow Valve 31, 32 Variable Valve 41, 42, 43 Stepping Motor 44, 45, 46 Stepping motor 51, 52, 53, 54 Electromagnetic sensor

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[Procedure amendment]

[Submission date] August 2, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction content]

[0004]

In order to achieve the above object, as shown in FIG. 1, the cylinder (1) of the present invention has an electromagnetic sensor (51, 52, 5) outside the cylinder.
3, 54) is attached, and the position information of the piston is fed back to the arithmetic unit (6). Of the four electromagnetic valves (11, 12, 13, 14), (11, 13) is arranged on the shaft side of the cylinder, and (12, 14) is arranged on the opposite side. (11) (12) is an electric signal indicating the operation of opening the inlet for conducting the pressure medium to the cylinder and simultaneously closing the outlet for releasing the pressure medium from the cylinder to the outside and the operation of closing the inlet and opening the outlet. Switch by. In (13) and (14), the flow valve mounting side is selected during ON operation, and the non-operation side is selected during OFF operation. Further, the flow rate valves (21, 22) are attached to the switch ON side of (13) and (14), and the stepping motors (41) and (42) are connected to the flow rate control so that the flow rate can be controlled by an electric signal. . Then, a variable pressure valve (31) is attached to the outlet of the pressure holding tank (4), and an inverter motor (43) is further connected so that the pressure can be controlled by an electric signal. In addition, for the pressure drop of the entire device due to the operation, the output of the high pressure holding tank (5) is transformed by the inverter motor (44).
Valve (32) and stepper motor
The valves (23, 24) were controlled to replenish the reduced pressure to enable operation at a constant output. Further, the inertia is also eliminated by similarly supplementing the pressure from the high-pressure holding tank in the negative direction of the movement.

[Procedure 3]

[Document name to be amended] Statement

[Name of item to be corrected] 0005

[Correction method] Change

[Correction content]

[0005]

[Operation] In the operation of the cylinder, not only the conventional reciprocating motion of both ends, but also intermediate stop at any position, speed change,
Turns, quick movements, and quick stops are possible any number of times. Further, by using the arithmetic unit, the operation of the cylinder can be programmed, and not only repetitive operation but also complicated operation can be automatically controlled. In addition, by integrally controlling each valve, the load pressure can be controlled to be constant, and operation in a stable environment becomes possible. Then, by replacing with a complete computer processing and pre-programming an arbitrary operation, in response to insufficient pressure and excessive pressure generated when a plurality of actuators are operated, the variable voltage valve (31) is passed through the inverter motor (43, 44). , 32) further
Through the stepping motor to the flow valve (23, 2
This can be dealt with by controlling 4) as needed. It should be noted that the occurrence of shocks during braking can be eliminated by the integrated control of the electromagnetic valve, stepping motor , and inverter motor .

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction content]

[0007]

In the past, in the industrial robots and machine tools,
Although the motor is controlled by a computer and a complicated motion is generated, there seems to be room for improvement in terms of weight and speed. Therefore, by using the present invention, size reduction, weight reduction, and speedup are considered to be promoted. Depending on the combination of ROM in which the basic operation is programmed and various sensors, it may be used in various fields. By preparing a plurality of them and combining the above-mentioned operations, it is possible to have a new operation that has never existed before. In addition, the pressure on the cylinder is "no load",
When the cylinder tip arbitrarily moved, electromagnetic cell that information
Can be retrieved by the sensor . With this, it is possible to "learn" the movement of the cylinder and "reproduce" the result, and it is thought that movements closer to human beings and movements that exceed them will occur.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] Explanation of code

[Correction method] Change

[Correction content]

[Explanation of Codes] 1 cylinder 2 booster / pressure reducer 3 high pressure booster / pressure reducer 4 pressure-holding tank 5 high-pressure pressure-holding tank 6 arithmetic unit 11, 12, 13, 14 electromagnetic valve 21, 22, 23, 24 flow valve 31, 32 variable valve 41 , 42, 45, 46 Stepping motors 43, 44 Inverter motors 51, 52, 53, 54 Electromagnetic sensor

[Procedure Amendment 5]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Fig. 2]

Claims (2)

[Claims] 1. An electromagnetic valve (1) is attached to a cylinder (1).
1, 12, 13, 14) and flow valves (21, 22) are connected. Outputs from the pressurization / decompression device (2) and the high pressure pressurization / decompression device (3) are stored in a pressure holding tank (4) and a high pressure holding tank (5). A variable pressure valve (3
1, 32) are connected, the output from the high pressure holding tank is divided into two, and flow valves (23, 24) are connected to each, and electromagnetic valves (11, 12) and (13, 14) are provided in the middle. Connecting. Furthermore, stepping motors (41, 42, 43, 44, 45, 46) for flow rate and variable pressure valves.
To connect. Also, any number of electromagnetic sensors (51, 51,
52, 53, 54) attached to the outside of the cylinder to process the information of each electromagnetic sensor,
An electromagnetic control device for a cylinder equipped with an arithmetic unit (6) for controlling a stepping motor. 2. The position information of the piston taken out by the electromagnetic sensor is processed by an arithmetic unit, and the flow rate, the supply pressure and the suction / exhaust are simultaneously controlled by a plurality of electromagnetic valves and a plurality of stepping motors, whereby the piston can be arbitrarily controlled. Control method of electromagnetic control device for cylinder.