WO1986002414A1 - Systeme de surveillance de la position d'un element de machine - Google Patents

Systeme de surveillance de la position d'un element de machine Download PDF

Info

Publication number
WO1986002414A1
WO1986002414A1 PCT/DE1985/000406 DE8500406W WO8602414A1 WO 1986002414 A1 WO1986002414 A1 WO 1986002414A1 DE 8500406 W DE8500406 W DE 8500406W WO 8602414 A1 WO8602414 A1 WO 8602414A1
Authority
WO
WIPO (PCT)
Prior art keywords
valve
proximity switch
follow
tool
actuator
Prior art date
Application number
PCT/DE1985/000406
Other languages
German (de)
English (en)
Inventor
Eckehart Schulze
Original Assignee
Hartmann + Lämmle Gmbh & Co.Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hartmann + Lämmle Gmbh & Co.Kg filed Critical Hartmann + Lämmle Gmbh & Co.Kg
Priority to AT85905387T priority Critical patent/ATE45615T1/de
Priority to JP60504841A priority patent/JPH0736960B2/ja
Priority to DE8585905387T priority patent/DE3572386D1/de
Publication of WO1986002414A1 publication Critical patent/WO1986002414A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/12—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor in which both the controlling element and the servomotor control the same member influencing a fluid passage and are connected to that member by means of a differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/002—Drive of the tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/24—Perforating, i.e. punching holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2861—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using magnetic means

Definitions

  • the invention relates to a device for monitoring the position of a machine element, such as the Maschinen ⁇ head of a processing machine, the back in the course of machining of a workpiece on this and * away-directed advancing and retracting movements executes by •, whose course control
  • An electro-hydraulic drive device is provided, which comprises a follow-up control valve working with an electrical target value specification and mechanical actual value feedback, and with the further generic features mentioned in the preamble of claim 1. -.
  • Tool position compared to an electronically predetermined target value of the tool position with respect to the workpiece to be machined, due to the type of control of the motion sequence, delayed by a tracking error
  • a monitoring device by means of which it can be determined whether and / or when the tool has reached a certain position, either in order to be able to determine whether the tool has actually carried out its working stroke or whether To be able to record exactly the end point of his work stroke if the work result depends on the fact that a defined end position is actually reached, as is the case with a press or embossing machine, for example.
  • the duty cycle should be feasible high with • possible repetition frequency, it will be sufficient in most cases to monitor a position of the workpiece, it can be considered safe for their achievement that the work actually his Has completed the working stroke.
  • limit switches that can be switched over by an actuating element that moves with the tool.
  • Monitoring with limit switches is difficult, however, since such switches have to be adjusted very precisely and, depending on the nature of the workpiece and the tool itself, must be able to be adjusted very precisely to different stroke paths.
  • the response behavior of limit switches can change after prolonged use, so that readjustments can also be necessary if a machine is always equipped with one certain tool type and is only used for machining one and the same type of workpieces.
  • the object of the invention is therefore to provide a device of the type mentioned at the outset which ensures simple and precise adjustment of the tool position to be monitored and in cases in which the tool carries out its advancing and retracting movements in periodically running working cycles high repetition 's- frequency executes times enables a significant reduction in Zyklus ⁇ .
  • the device according to the invention has the advantage that the monitoring device can be adapted very precisely to the stroke distances to be carried out by the tool by electronic specification of suitable end position setpoints and without complex adjustment or adjustment work.
  • the monitoring device is easily sensitive to changes in the position of the valve actuating element and thus high precision of the actual position value monitoring can also be achieved.
  • the setpoint specification is controlled in such a way that an end position is specified which is beyond the end position which must be reached by the tool and the proximity switch is further adjusted so that the actual position display signal occurs shortly before the tool has executed its necessary working stroke and then the display signal of the proximity switch then triggers the setpoint specification for the retraction movement, otherwise settling times which would otherwise have to be waited and which would elapse before the tool would have reached its setpoint end position can be "cut off" as it were.
  • This is of great advantage in particular for periodically operating machines, since the cycle times * can be drastically reduced, as a result of which increased efficiency of a machine equipped with the device according to the invention is achieved.
  • a device according to the invention is intended to be monitored by the, as it is "necessary z-.B at a molding press or stamping machine, the running-in of the workpiece in a precisely to reach the end position, the setpoint input will also be controlled in such a way with respect to that a one greater than the setpoint value corresponding to the actual travel to be traversed, and as soon as the actual position display signal of the proximity switch indicates that the tool is in the immediate vicinity of its position linked to the desired workpiece deformation, the setpoint value returns to this position As a result, the required feed times can be shortened as a result.
  • claim 2 outline the basic structure of a proximity switch that can be used within the scope of the device according to the invention, which is more detailed as specified by the features of claims 3 and 4, with the aid of a Hall generator as a switching element, alternatively as indicated by the features of claim 5, can be realized with the help of one or more light barriers.
  • the design of the proximity switch according to the features of claim 6 has the advantage that the proximity switch can be easily adapted to the flow characteristics of various overrun control valves in a simple manner.
  • claim 7 indicate possible uses of the device according to the invention, for which its use is particularly advantageous from the point of view of shortening the cycle time.
  • 1a is a block diagram of an overrun-controlled and 1b electrohydraulic drive device with a device according to the invention for monitoring the position of the valve actuating member of an overrun control valve provided as part of the overrun control circuit and the structure of this overrun control valve,
  • FIGS. 1a and 1b shows a simplified schematic view of the monitoring device according to the invention provided in the context of the drive device according to FIGS. 1a and 1b,
  • FIG. 3 the monitoring device according to Figure 2, partly in section along the line III-III of Figure 2 and
  • FIGS. 2 and 3 each a diagram for explaining the function and 5 he monitoring device shown in FIGS. 2 and 3.
  • FIGS. 1a and 1b To explain the device according to the invention shown in detail in FIGS. 2 and 3 for monitoring the actual position value of a tool which can be driven by means of a hydraulic drive device, for example a punching tool or a press bar, reference is first made to FIGS. 1a and 1b, on the basis of which the intended use of the device 10 according to the invention is explained in advance:
  • a punching machine which is represented only schematically by a double-acting hydraulic cylinder 11 and a punching tool 12 driven by this, for example a so-called nipple machine which works with periodically repeated punching cycles, the rapid feed Load, feed and rapid retraction movements, an overall designation 13 known as an electrohydraulic follow-up control valve is provided which is known per se and which has an electrical setpoint specification and a mechanical one. Actual value feedback works.
  • the overrun control valve is designed as a 4/3-way valve with a total of four valve inserts which have control edges which can be set independently of one another.
  • these valve inserts are designed as cone seat valves 16, 17, 18 and 19; these valves can be controlled in pairs by axially displacing a valve actuating element 14 into an open or flow-through position: the open control being carried out against the action of return springs.
  • piston valves could also be provided instead of cone seat valves.
  • the position setpoint value specification is done by stepper motor-controlled rotation - a spindle nut 26 which is rotatably mounted in a sleeve 27 which is oriented in the direction of the longitudinal axis 28 of the Ventil ⁇ housing 29 arranged in this in the axial direction back and forth - slidable, but is not rotatable relative to the housing.
  • a spindle nut 26 which is rotatably mounted in a sleeve 27 which is oriented in the direction of the longitudinal axis 28 of the Ventil ⁇ housing 29 arranged in this in the axial direction back and forth - slidable, but is not rotatable relative to the housing.
  • the valve actuating member 14 By turning the spindle nut, viewed in the direction of arrow 29, in a clockwise direction, the valve actuating member 14 experiences a deflection ⁇ , according to FIG. 1b, to the left, whereby the two poppet valves 16 and 17 are opened and thereby the upper working chamber 22 of the drive cylinder 11 to the .
  • P-pressure outlet and the lower working chamber 23 of the drive * cylinder 11 are connected to the tank of the hydraulic supply pressure source (not shown). This corresponds to the flow position I, in which the piston 24 moves "down".
  • the valve actuating member 14 Upon rotation of the spindle nut 26 in the counterclockwise direction, the valve actuating member 14 experiences a deflection £ 2, as shown in FIG.
  • the function of the follow-up control valve 13, as far as its structure is concerned, consists in the fact that the rotational movements of the feedback spindle 36, mediated by the rack and pinion drive 32, deflections of the valve actuating member 14, which are directed in the opposite direction to the position setpoint value movements of the spindle nut 26, with the result that, if the actual position and target position value are identical, the valve actuating member 14 is in one another its basic position 0 shown in FIG. 1b.
  • the Einrichtuno invention. 10 for the target / actual value monitoring of the position of the tool 12 is designed in such a way that it detects this basic position of the valve actuating member 14 or responds to positions of the valve actuating member 14 which it assumes when the tool is still in one defined distance eg from its end position, which is characteristic of the conclusion of a work cycle.
  • the target of the present invention / actual value überwachungsein- device 10 is its basic structure according to a proximity switch which generates a characteristic ⁇ • signal when the valve actuator 14 after it Maschinen.die position target value setting to a specific with a Following error ⁇ s linked path £ * or £ 2 was deflected from its basic position, it returns to its basic position, which is the case, for example, in the final phase of the working feed movement, if the target that occurs in the sense of the tool feed -Value specification has ended.
  • the drive cylinder 11 runs with a settling time T determined by the loop gain of the control loop, which is determined by the relationship
  • KK ⁇ X- ⁇ '' VV is given gradually into the position determined by the final value of the setpoint specification, in the above relationship with K the circuit gain of the overtravel control circuit and with ⁇ x the permissible position error denoted by The adjustment period still expires or can be accepted, this position error being smaller than the step size of the setpoint specification.
  • This settling time can be very long in practical cases - because of the reduction in the loop gain associated with, for example, a switchover from rapid to load operation and, in extreme cases, a multiple of the time period required for the rapid feed and the load feed of the Punching tool 12 is required.
  • the target / actual value monitoring according to the invention.
  • the proximity switch designated as a whole by 40, generates an output signal which switches the switchover of the drive device 11, 13 from load feed to rapid pull back operation when the valve actuating element .4 is in its basic position, which would be characteristic of the equality of the actual position value and the desired position value, has not yet been reached, but is still located at a small, defined distance from this basic position which corresponds to a fraction of its maximum deflection.
  • a circular disk 41 is provided as an actuating element for the proximity switch 40, which rotates the housing 29 of the follow-up control valve around an axis 42, which is at right angles to the longitudinal axis 28 of the follow-up control valve 13, along the latter the displacement movements of the valve actuating member 14 take place. 2, this longitudinal axis 28 of the follow-up control valve runs perpendicular to the plane of the drawing.
  • the valve actuator 14 is connected via a finger clutch 43, de ⁇ ren coupling finger 44 in a lateral distance from the rotational axis 42 of the actuator 41 of the devisrungs ⁇ switch runs 40, drivingly coupled to the actuator 41, in such a way 'that deflections of the valve actuator 14 in Disc 41 turns are implemented, which take place in the direction of arrow 46 ′ of FIG. 3.
  • the disk-side coupling element 47 *, the finger clutch is designed as a U-shaped spring steel bracket, one leg of which is inserted into a radial bore of the rotary shaft 48 of the disk 41 and is in play-free engagement with the clutch finger 44 of the finger clutch 43, this bracket being one Elongated hole 49 is limited, which enables the compensatory movements between the disk 41 and the clutch finger 44 that are required when the disk 41 rotates.
  • the disk 41 has a radius R, which in typical deflection is approximately five times larger than the distance between the axis 42 of the bearing shaft 48 and the central axis 51 of the 44. This means that the deflection of the edges 52 and 53 of a recess 54 of the disc 41 which is open along the periphery of the disc 41 is five times greater than the axial deflections £... And £ " 2 of the valve actuating member 14. With this translation The position of the Veritil actuator 14 can be measured to within 1/10 mm by means of the proximity switch 40, which responds to angular movements of the edges 52 and 53 of the recess 54 within a range of 0.5 mm.
  • this comprises a Hall generator 56, in the working magnetic field H of which, as indicated by the arrow 57, directed transversely to the disk 41, the outer edge 58 of the disk protrudes, it being assumed that this
  • the output signal of the Hall generator 56 is a high level signal when the disk edge 58 is in the region of the magnetic field 57 and a low level output signal when the edge recess 54 of the disk 41 enters the magnetic field 57.
  • edges 52 and 53 of the U-shaped edge recess 54 are arranged with respect to the radial center plane 59 of the edge recess 54 such that the change in the output signal level of the Hall generator 56 in both possible directions of rotation 46 of the disk occurs when the valve is turned -Actuator 14, seen in the two alternative displacement directions, is each at the same distance from its home position.
  • the recess 54 can also be designed such that the proximity switch, when the valve actuating element moves towards its basic position in alternative directions, responds at different distances from the basic position.
  • a pane with a recess 54 which is open at the edge
  • a pane with a radially projecting wing can also be used.
  • a light barrier instead of a Hall generator, the luminous flux of which can be interrupted either by the disk edge 58, 52, 53 or by a radial wing provided instead of a recess 54.
  • Inductive or capacitive proximity switches can also be used in the context of a target / actual value monitoring device according to the invention. The typical function of a device 10 according to the invention is explained below with reference to the diagram in FIG. 4, using the example of a punching machine that works with periodically repeated working cycles.
  • the punching tool 12 first moves towards the workpiece 38 at a constant speed, touching the top of the workpiece 38 at the time t *.
  • the target value specification already corresponds to the working stroke, that is to say that if the actual position corresponds to the target value specification, the tool 12 does this Workpiece 38 would have already penetrated and its punching edge would be at the level of the lower boundary surface of workpiece 38.
  • the setpoint value specification also specifies a downward stroke of the tool 12 which corresponds to an end position 63 below the workpiece 38. With this type of target value specification, a target "below" the workpiece 38 is targeted, so that the drive device drives the tool 12 into the workpiece 38 with full force.
  • the target value specification is kept at a constant value which corresponds to an end position of the tool 12 below the workpiece 38, thus a position which the tool only takes after a relative. long adjustment period, ie would reach approximately at the time t5, since from the time t.2 on the speed of the tool 12 with which it is. a approaches the position determined by the target value specification, decreases exponentially.
  • the monitoring device 10 is now set so that it changes its output signal level when the tool 12 has penetrated the workpiece 38, which is the case at time t. From this point in time, the retraction movement of the workpiece is predefined by the setpoint value specification device, as illustrated by the ascending branch 64 of the setpoint value curve 61, with the setpoint value and the actual Value is reached.
  • target value specification and position / actual value feedback explained and used according to the invention to this extent is particularly advantageous if the working movements which the tool 12 has to perform are to be carried out periodically in the shortest possible cycle times, like it for example is the case with a nipple machine. In such an application it is not important to know 5 when exactly the position required for achieving the work result - the punching through of the workpiece 38 - has been reached, but only that this position has been reached.
  • the device 10 according to the invention can also be used to indicate when a position of the tool 12 required for achieving the work result has been reached, i.e. For example, when the stroke required to achieve a specific workpiece deformation with an embossing press has been completed, beyond which the tool 12 should not be moved further.
  • the device 10 according to the invention is set so that the position-characteristic output signal of the monitoring device 10
  • the monitoring device 10 is therefore set such that the change in its output signal level in the illustration in FIG. 4 occurs at a point in time t 3 'in which the tool has reached a position which is practically the target end position corresponds.
  • FIG. 5 shows, in a course-curve representation analogous to FIG. 4, in dash-dotted lines the temporal development of the target value specification and in drawn-out lines the temporal development of the actual position of the addressing tool.
  • the straight line 66 running parallel to the time axis - the abscissa of the diagram - marks the position of the pressing tool in which it touches the workpiece, coming from above during load operation, which is the case at time t2 be.
  • the straight line 67 that runs parallel to the abscissa represents the end position of the tool to be reached, which it achieves must achieve the desired permanent deformation of the workpiece.
  • the target value specification corresponds to this position for the first time, represented by the curve 61 *. As already explained with reference to FIG. 4, the target value specification is continued beyond this time t.
  • the proximity switch 40 responds and thereby triggers a reset of the position setpoint to the value corresponding to the end position of the tool, represented by the straight line 67, the setpoint specification being given at time t 5
  • the target value specification and the actual position of the tool practically matched, from this point on the target value specification is kept at the value corresponding to the end position at, which is significantly shorter than the settling time to be waited that would result if the target value setting t- already at the time

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Presses (AREA)
  • Drilling And Boring (AREA)

Abstract

Un système de surveillance de la position d'un élément de machine, dont l'entraînement est doté d'un système d'entraînement hydraulique qui, pour la commande des mouvements de va-et-vient de cet élément de machine, comporte une valve de réglage de poursuite fonctionnant avec une indication de la valeur de consigne, commandée électriquement, et avec annonce mécanique de la position réelle; le système de surveillance est équipé d'un dispositif de transformation mécanique qui transforme les déviations du servoélément de la valve de réglage de poursuite (14) en déviations plus grandes, liées à celles-ci, de l'élément mécanique de travail d'un interrupteur de proximité (40) qui, vu dans le sens de son élément de travail, est disposé à une distance spécifique par rapport à la position assumée par l'élément de travail lorsque le servoélément de la valve de réglage de poursuite (14) se trouve dans sa position caractéristique de base pour l'équivalence de la valeur de consigne et la valeur réelle. L'interrupteur à proximité envisagé est un générateur Hall (56), dans l'ouverture de champ duquel s'étend le rebord d'un bras de commutation (41) qui peut être entraîné en rotation par les mouvements de déviation du servoélément (14) de la valve de réglage de poursuite.
PCT/DE1985/000406 1984-10-20 1985-10-19 Systeme de surveillance de la position d'un element de machine WO1986002414A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AT85905387T ATE45615T1 (de) 1984-10-20 1985-10-19 Einrichtung zur ueberwachung der position eines maschinenelementes.
JP60504841A JPH0736960B2 (ja) 1984-10-20 1985-10-19 機械要素の位置を監視するための装置
DE8585905387T DE3572386D1 (en) 1984-10-20 1985-10-19 System for monitoring the position of a machine component

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP3438600.9 1984-10-20
DE19843438600 DE3438600A1 (de) 1984-10-20 1984-10-20 Einrichtung zur ueberwachung der position eines maschinenelements

Publications (1)

Publication Number Publication Date
WO1986002414A1 true WO1986002414A1 (fr) 1986-04-24

Family

ID=6248454

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1985/000406 WO1986002414A1 (fr) 1984-10-20 1985-10-19 Systeme de surveillance de la position d'un element de machine

Country Status (4)

Country Link
EP (1) EP0198055B1 (fr)
JP (1) JPH0736960B2 (fr)
DE (2) DE3438600A1 (fr)
WO (1) WO1986002414A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3914860A1 (de) * 1989-05-07 1990-11-08 Hartmann Hans Hydraulische antriebsvorrichtung
DE4412224A1 (de) * 1994-04-09 1995-10-12 Graebener Pressensysteme Gmbh Presse für eine Kaltverformung von Metallwerkstücken
DE102007054533C5 (de) 2007-11-15 2012-04-05 Hoerbiger Automatisierungstechnik Holding Gmbh CNC-Stanzmaschine
CN103016459B (zh) * 2012-12-20 2015-04-29 中国船舶重工集团公司第七一九研究所 一种机液伺服的液压缸自动复位和顺序控制装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2501761A1 (de) * 1975-01-17 1976-07-22 Hartmann & Laemmle Kg Elektrohydraulischer nachlaufverstaerker
DE2714550A1 (de) * 1977-04-01 1978-10-05 Vdo Schindling Manometer in flachprofilbauweise
GB2050627A (en) * 1979-05-16 1981-01-07 Ransome Hoffmann Pollard Improvements in mechanical assemblies employing sensing means for sensing motion or position

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2501761A1 (de) * 1975-01-17 1976-07-22 Hartmann & Laemmle Kg Elektrohydraulischer nachlaufverstaerker
DE2714550A1 (de) * 1977-04-01 1978-10-05 Vdo Schindling Manometer in flachprofilbauweise
GB2050627A (en) * 1979-05-16 1981-01-07 Ransome Hoffmann Pollard Improvements in mechanical assemblies employing sensing means for sensing motion or position

Also Published As

Publication number Publication date
DE3572386D1 (en) 1989-09-21
EP0198055A1 (fr) 1986-10-22
JPH0736960B2 (ja) 1995-04-26
JPS62501401A (ja) 1987-06-11
DE3438600A1 (de) 1986-07-10
DE3438600C2 (fr) 1992-03-26
EP0198055B1 (fr) 1989-08-16

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