WO2006122339A1 - Fluid operated drive and method for control thereof - Google Patents

Abstract

The invention relates to a fluid-operated drive (1) and a method for control thereof with components which may be adjusted relative to each other, of which one component may be displaced in a first and an opposing second movement direction by means of a switch element (10, 11). In a first displacement phase for the component, a first measured signal (S1) is recorded shortly before reaching the approached end position at a time (T1) by a switch flag arrangement and a second measured signal (S2) recorded at a later time (T2). A time span (t1Ist) is subsequently determined by the controller (13) from the time difference between the measured signals (S1, S2) and used by a regulator for a soft approach to the end position from a variance comparison between a fixed time span (t1Soll) and the determined time span (t1Ist) to determine a parameter for at least one of two different serial switch times for the switch element (10, 11). A switch time for the switch element (10, 11) in the further displacement phase subsequent to and in the same direction as the first displacement phase is set by means of the parameter.

Description

Fluidically actuated drive and method for controlling the same

The invention relates to a fluidically actuated drive and a method for controlling the same, as described in the preambles of claims 1, 16, 22 and 30.

From DE 44 10 103 Cl a fluidly actuated drive or a method for controlling the same with an electronic control device and actuated by this switching elements is known. The drive comprises components that can be adjusted relative to one another, of which a component can be moved between the end positions via the first switching element in a first direction of movement and via the second switching element in a second direction of movement opposite the first direction of movement. In addition, the drive is provided in its end positions with shock absorbers, which absorb the impact energy of the accumulating on this component. In order to achieve a particularly smooth approach to an end position of the component, the control is provided with a counter-pulse module which can be controlled via a pre-positioning sensor, which is associated with at least one direction of movement of the component. The counterpulse module causes a temporally adjustable reversal of the two switching elements, so that the component of the drive applied immediately before reaching its approaching end position in the direction opposite to the direction of the pressure medium over a fixed period of time and thereby a braking effect is generated. In a temporally subsequent to the reversal period of time, both the first and the second switching element in the sense of a caster are energized simultaneously. As a result, the drive is acted upon on both sides with system pressure and the component due to its inertia further driven at low speed in the direction of the end position. Thereafter, the originally active switching element is energized again and moves the component reliably in the end position. The reversal of the switching elements, the setting of the duration of the counter-pulse and the specification of the follow-up time via manually operated actuators, such as potentiometers. The fixed times via the potentiometers, however, lead to faults in the event of changing operating conditions, such as pressure fluctuations, changes in the load or friction, which can even cause damage to the drive or to a machine system. In addition, in this known drive an increased circuit complexity, since a Vorpositioniersensor and a limit sensor is required for each direction of movement. A method for controlling a fluidisclien drive and a device with a fluidically actuated drive is also known from DE 197 21 632 C2. The drive is formed by a lifting cylinder in which an actuating piston is guided with a piston rod. The piston rod is mounted in a stationary manner via a fixed bearing so that the lifting cylinder forms the moving component of the drive. The lifting cylinder is connected to a 5/3 -way valve, which can be controlled by means of two electromagnetic control magnets and with which pressure chambers of the lifting cylinder are mutually acted upon by system pressure. The control magnets are connected to an electronic control device which in turn receives control signals from sensors which can be switched electronically via switching lugs and, depending on this, actuates the 5/3 way valve and thus the movement of the lifting cylinder. In the movement phase of the lifting cylinder, a first measuring signal So and at a later, lying in the movement phase of the lifting cylinder time T _1, a second measurement signal S _{1 is} generated at a time T ₀ and from this, taking into account the actual movement parameters of the lifting cylinder, a time difference t _t calculated , For gently starting at least one of the end positions of the lifting cylinder is calculated from this time difference t _\ a time t ₂ for the beginning of a braking phase at a time T ₂ and the duration of the braking phase t ₃ to a time T ₃ , wherein the control device for braking the Lifting cylinder to the 5/3 way valve outputs a brake signal for the beginning and for the end of the braking phase. According to this prior art, it is essential that the first measurement signal S _{0 is} assigned to the end of the range of action of the end position directly at the beginning of the movement of the lifting cylinder and the second measurement signal S ₁ in the movement phase still sufficiently before the occurrence of a switching flag Sensors are detected. This proves to be a disadvantage since the state of motion over the movement phase between the time T _{1 of} the detection of the second measurement signal S ₁ and that time in which the lifting cylinder actually reaches its end position to be approached is disregarded, whereby based on the time difference ti between the first and second measuring signal S _0, S ₁ calculated braking phase is not t ₃ regardless of the varying operating conditions such as pressure fluctuations, changes in load or friction is determined, and in spite of the initiated braking phase a controlled start-up or a damped positioning of the lifting cylinder in the end positions can be ensured.

The object of the invention is to provide a fluidically actuated drive and a method for controlling the same, in which the adjustable means of pressure medium component of Drive the end position particularly gently when changing operating and environmental conditions.

The object of the invention is achieved by the measures and features of claims 1 and 16. The two measuring signals are only approached shortly before reaching the

Triggered end position and the switching elements of the control device to a late date as possible with respect to the movement phase of the pressurized medium acted on component. As a result, only a very short braking phase is required in relation to the movement phase of the component, which is sufficient for the component to be gently positioned against the end position of the stationary component of the drive and braked for the shortest possible path, so that on the one hand the movement times of the component significantly shortened between the end positions and on the other hand optionally additionally used shock absorbers designed with less power reserve or even eliminated, which has a favorable effect on the size and price of the drive. In addition, it is advantageous that changes in operating and environmental conditions, which are caused, for example, by pressure fluctuations in the pressure medium, changes in the load to be manipulated or friction conditions, hardly have any effect on the braking behavior of the component against the end position, since the calculation of the Switching times of the switching elements and correction of at least one common switching time of the switching elements underlying movement speed is determined just before reaching the end position to be approached, ie at a time in which the changes of operating and environmental conditions have the greatest effect and therefore a on the in the Near the approaching end position prevailing movement state optimally tuned correction of at least one common switching time of the switching elements can be made. In other words, the component is always decelerated to such an extent against the final position, as required by the current operating condition. In addition, it is advantageous that the pressure chambers alternately always with the system pressure (neglecting the friction losses) is applied, thus both the driving force on the component and the counterforce or braking force on the component corresponds to the maximum, which is favorable to the movement times affects the component and a simple circuit construction of the fluid control of the drive allows, especially since additional throttle check valves can account for setting the deceleration behavior. Furthermore, it is advantageous that the use of the control system achieves an adaptive system behavior - A -

is set, especially since optimal operation of the drive independently and this can be maintained over the entire operating life.

Another advantage is the measure according to claim 2, since now by the controller from her vorgebaren, actual motion parameters, such as the mass to be moved, the operating conditions for the system pressure, the valve flow and the like., Taking into account the state of motion or the speed of movement Component, a counter control period is calculated, which defines the braking phase exactly and thus a particularly smooth approach to the end position is possible. In cooperation with the opposite and sudden pressurization of the pressure chambers in the switching times at the beginning and at the end of the braking phase, the demands made on the drive with respect to dynamics and simple control can be optimally met, since on the one hand the movement time due to the control method underlying the drive can be drastically reduced for the adjusting movement of the component between the end positions and on the other hand a conservation of the mechanical design of the drive is achieved.

An advantageous measure is described in claim 3, whereby an optimal timing between the time T ₁ , in which the first measurement signal Si is triggered, and the switching times Tuzi, Tuz2 of the switching element in compliance with the derived from the time t _\ Gegensteuerdauer t _GD achieved is, so that the positioning of the switching flags having control strips on the movable member and the sensors to each other is not critical.

According to claim 4, an advantageous measure for setting the counter-control period to _{D is} described, which is easy to use and by which the beginning and the end of the braking phase are defined exactly.

An advantageous measure is also described in claim 5, with which by setting the first switching time Tuzi the counter control XQ _D or the duration of the braking phase is specified. A calculation and adjustment of the end of the braking phase can be omitted, whereby the cycle time for the control process can be reduced. This control method is therefore ideal for drives with extremely low movement times. The measure according to claim 6 is advantageous, since hereby the component arrives safely in its desired end position and the functionality of the drive is ensured. For this purpose, a renewed advance of the component in the direction of movement is exerted in the direction of its end position at the end of the braking phase for the second switching time at which the component already has an extremely low movement speed.

According to the measure according to claim 7, the movement time of the component can be optimized in the subsequent to the first movement phase with a first direction of movement, second movement phase with opposite direction of movement.

Also advantageous is the measure according to claim 8, which ensures that all calculations for the manipulated variables of the first and / or second switching time of the switching element within the time period t _{4 are} performed by the control device. This allows highly reliable control of the drive, especially as the manipulated variables are already present in the same direction of movement clearly before the start of movement of the next movement phase.

The measure according to claim 9 is advantageous, since the system-related inertia of the drive is taken into account during the time control of the switching element and the starting time is preceded by the time t ₅ , so that the component is actually set in motion at the desired time. With this measure, the movement time of the component can be further optimized.

In accordance with the measure according to claim 10, the control device of the first drive is provided with the system inertia of the second drive taking into account time t ₅ , so that, for example, a feedback signal before reaching the end position of the component triggered by the first drive and the start time of the second drive is presented. As a result of the leading feedback, the switching element assigned to it is activated at an early stage, irrespective of the system inertia of the second drive, so that the second drive starts its movement simultaneously with reaching the end position of the first drive. However, the acknowledgment signal does not necessarily have to be leading, ie it must be output to the control device or to the higher-level control before the end of the movement phase of the first drive. Also, use cases are conceivable in which the confirmation signal is emitted simultaneously or after reaching the end position of the first drive. This is necessary, for example, if absolutely vibration-free positioning of the first drive in one of its end positions is necessary for a further operation on the second drive.

Another advantage is the monitoring of the signal waveform of the sensors and their evaluation, as described in claim 11.

Due to the measures according to claims 12 and 13, an impermissible state of movement of the component can be detected in a first movement phase and corrected in the subsequent movement phase by changing the counter-control period to _D. According to claim 12 is recognized by the control device that the movement speed of the component is just before reaching its end position is too high and must be reduced taking into account the dynamic stress of the drive, including the counter-control period is increased ton. This ensures reliable operation over the entire service life of the drive. On the other hand, according to claim 13 recognized by the controller that the speed of movement of the component is relatively low shortly before reaching its end position and higher, for which the Gegensteuerdauer too reduced and the movement speed is increased so far that the movement time for the movement of the component between is optimized for the end positions.

An advantageous measure is also described in claim 14, whereby a malfunction on the drive immediately recognized, evaluated and made visible to an operator.

Another advantage is the measure according to claim 15, whereby, for example, the operation of a drive additionally used, mechanical shock absorber can be monitored and an impending failure of the shock absorber is reported as an error message to an operator. As a result, a malfunction of the drive due to malfunction, for example during a working process, such as a joining operation and the like, can be avoided.

An advantageous embodiment of the invention is described in claim 17, which allows reliable operation of the drive. In accordance with claim 18, the different evaluations, for example, the waveform of the sensors or counter-control period to _D? an operator are displayed and logged.

The development according to claim 19 is advantageous, since on the short path from the first control edges to the second control edge a change of the state of motion, in particular a strong fluctuations in the speed of movement of the component, will hardly occur and therefore the determined time t _\ or the speed of movement represents a reliable parameter for setting the counter control period. The specified minimum width of the recessed groove allows reliable detection of the control edges, by means of which the first and second measuring signals are triggered.

Also advantageous is the embodiment according to claim 20, whereby the wiring and tubing between the control device and the switching element and the pressure loss in the pressure lines between the switching element and the pressure chambers can be reduced, which has a positive effect on the time t ₅ . If the switching element is constructed on one of the components or integrated in one of the components, the pressure lines are formed by pressure medium channels, in particular inflow and outflow channels, which connect directly to the supply channels of the switching element and open into the pressure chambers, as in WO 99 / 09462 A1 is disclosed in detail and can also find applications in the drive according to the invention.

According to claim 21, any position can now be approached via the adjustment path of the movable component of the drive, for which only one or both hard stops and / or shock absorbers and / or a control bar and a sensor associated therewith must be adjusted. For example, a center position on the drive can now be approached smoothly.

However, the object of the invention is also achieved by the measures and features indicated in the characterizing part of claims 22 and 30. It is advantageous that, based on a predetermined movement time for the adjusting movement of the component between the end positions in both directions of movement an optimized as needed control of the drive made and the driving behavior of the component can be specified controlled. This allows the installer in the commissioning of the drive to specify the movement time so that the component is moved in crawl, which on the one hand possible damage to the drive due to incorrect programming or assembly can be prevented and on the other hand, the drive meets the increasing safety requirements. Especially in the commissioning of the drive, the fitter is in the effective range of the same and therefore there is a high risk potential, which can be almost completely turned off by the inventive measures. In addition, the drive is always driven with such a movement speed, as required by the current operating situation. Thus, unnecessary wear is avoided by unnecessary, low movement times, extends the maintenance intervals and increases the life of the drive. Furthermore, it is advantageous that an adaptive system behavior is achieved by the use of the control, especially since an optimal operating mode of the drive can be set independently and maintained over the entire service life. The drive according to the invention represents a good compromise between a sufficiently high speed of movement and gentle operation, since the end position of the component can be approached particularly gently.

The measures according to claims 23 and 24 are also advantageous since the energy requirement is kept low by the pulsed operation and a delay of the movement speed of the component is deliberately set until reaching its end position.

According to the measure according to claim 25, a simple control of the drive is made possible.

The measure according to claim 26 is advantageous, since now influencing variables resulting in operation can be taken into account in a simple manner and the braking behavior of the component can be optimized even better.

An advantageous measure is also described in claim 27, since the last switching pulse and the Nachschaltimpuls overlap each other and a repeated reversal of the switching element can be omitted to hold the component in the end position. The holding force acting on the component ensures reliable positioning of the component in the end position. Is the drive equipped with a tool that has to be moved out of the end position, For example, a work process, such as a joining process, can be carried out absolutely reliably.

The measures according to claims 28 and 29 are also advantageous, since too high a speed drop is recognized by the control device or the control unit and after a predetermined period of time the switching element is again activated and the component is actuated in order to move it into its end positions move and position against the end position. In particular, by the measure according to claim 29, the actual movement time of the component can be shortened.

An advantageous embodiment of the invention is described in claim 31, which allows reliable operation of the drive.

Finally, the embodiment according to claim 32 is also advantageous since at most necessary inputs of technical parameters can be carried out easily. Furthermore, error messages can be output in optical and / or acoustic representation. An error message can be triggered if, for example, even after the Nachschaltimpulses the component has not reached the end position and a predetermined by the control device or the higher-level control period has elapsed and a limit is exceeded. In this case, the error message may contain information about a technical defect on the drive or that a mounting part is clamped to the drive and thereby movement of the component is prevented.

The invention will be explained in more detail below with reference to the exemplary embodiments illustrated in the drawings.

Show it:

1 shows a block diagram with a first embodiment of a drive according to the invention in its right starting position, in a schematic representation;

1 a with a control bar, in an enlarged and simplified representation; FIG. 2 shows the drive from FIG. 1 in its left end position; FIG.

Fig. 3 is a block diagram of the drive in its right starting position with another

Execution to its fluidic control, in a simplified representation;

FIG. 4 shows the drive according to FIG. 3 in its left end position; FIG.

5 shows a block diagram with another embodiment of the drive according to the invention in its right starting position;

FIG. 6 shows the drive according to FIG. 5 in its left end position; FIG.

7 shows a handling system with two drives coupled to one another for movements lying at right angles to each other, in a schematic representation;

8 is a time chart of the waveforms of the sensors and the switching elements for different phases of movement of the drive of Figures 1, 2, 5 to 7 ..;

9 is a diagram for explaining the advantageous effect of the premature venting of the pressure in the previous movement phase at the end

Pressure chamber;

10 shows a time diagram of the signal curves of the sensors and of the switching element for different movement phases of the drive according to FIGS. 3 and 4;

11 shows the method according to the invention for controlling the fluidically actuated drive in the representation as a flowchart;

FIG. 1 a is a block diagram of the first control loop shown in dashed lines in FIG. 11; FIG.

Fig. IIb is a block diagram of the in Fig. 11 in dashed lines registered, second control loop; 12 shows the method according to the invention for controlling the fluidically actuated drive in a modified version, shown as a flowchart;

FIG. 12a shows the timing diagram according to FIG. 8 with the signal profile of the sensor arranged in the target end position, which detects a rebound movement of the component at the end position; FIG.

FIG. 12b shows the time diagram according to FIG. 8 with the signal curve of the sensor arranged in the target end position, which detects a pendulum movement of the component before the end position; FIG.

13 is a block diagram of the drive in its right starting position with another embodiment for its control according to the invention, in a simplified representation;

FIG. 14 shows the drive from FIG. 13 in its left end position; FIG.

Fig. 15 is a timing chart showing the waveforms of the sensors and the switching element for various movement phases of the drive of Figs. 13 and 14;

FIG. 16 is a block diagram of a control unit for controlling the drive of FIG. 13 according to the invention; FIG.

17 shows speed profiles for the component for different control traps of a start pulse, in a simplified representation;

18 is a time chart of the waveforms of the sensors and the switching elements for different phases of movement of the drive according to FIGS. 1 and 2.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location details selected in the description, such as th, laterally, etc. related to the immediately described and illustrated figure and are to be transferred to a new position in a position change accordingly. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

1 and 2, a first embodiment of a drive 1 is shown in a schematic representation. The drive 1 is formed by a lifting cylinder 2, which consists of a cylinder tube whose ends are closed with end walls 3, 4. In this lifting cylinder 2, a control piston 5 is slidably guided by a pressure medium, which in turn is connected to a piston rod 6. The lifting cylinder 2 forms a guide device for the actuating piston 5. The fluidic pressure medium is compressed air or hydraulic oil. The piston rod 6 is stationarily mounted via a corresponding fixed bearing 7, so that the lifting cylinder 2 forms the moving component and the adjusting piston 5 forms the stationary component of the drive 1 with the piston rod 6. The piston rod 6 extends through the right end wall 3 of the lifting cylinder 2 in the axial direction.

Between the left end wall 4 and the control piston 5 is a first pressure chamber 8 and between the right end wall 3 and the control piston 5, a second pressure chamber 9 is formed. As the illustrations show, the lifting cylinder 2 is a so-called double-acting fluid cylinder. The pressure chambers 8, 9 are alternately acted upon by this embodiment via two separate switching elements 10, 11, in particular two 3/2 way valves. The switching elements 10, 11 each have an electromagnetic control magnet 12 which is connected via corresponding control lines 14, 15 with an electronic control device 13, which in turn energized the switching elements 10, 11 between a rest position in de-energized state of the control magnets 12 and actuation position State of the control magnets 12 switches. The electronic control device 13 is preferably connected via an address-based network, in particular a bus system, with a higher-level control or formed by the higher-level control. The control of the control magnets 12 takes place here via electrical control signals of

Control device 13, by which the switching elements 10, 11 are actuated, as shown in FIG. 8 from the waveform for the switching position S _SC H _I , S _SC H _{2 of} the switching elements 10, 11 can be seen. The left pressure chamber 8 is connected via a first pressure line 16 to the first switching element 10 and the right pressure chamber 9 via a second pressure line 17 to the second switching element 11. The switching elements 10, 11 are in turn connected via a corresponding pressure supply connection to a pressure supply unit 18, for example a pneumatic or hydraulic pressure source, through which the pressure chambers 8, 9 are alternately subjected to system pressure, for example 6 bar.

As further indicated in FIGS. 1 and 2, the control device 13 is connected via signal lines 19, 20 to sensors 21, 22, so that the electrical control signals output by the sensors 21, 22 can be fed to the control device 13. The sensors 21, 22 are formed for example by inductively acting sensors.

The sensors 21, 22 are arranged in the end positions to be approached by the lifting cylinder 2 above the movement path defined by the drive 1 or the lifting cylinder 2. The end layers are defined by end walls 3, 4 forming the fixed stops. Of course, there is also the possibility that the first sensor 21 above the movement path of the drive 1 and the second sensor 22 are arranged below the movement path of the drive. The arrangement of the sensors 21, 22 shown is merely of a fundamental nature. In the arrangement of the sensors 21, 22, depending on the wiring, it is only necessary that they do not influence each other. At the left end of the lifting cylinder 2, which forms the movable component of the drive, a first control bar 25 is attached, which is in the position shown in Fig. 2 of the lifting cylinder 2 in the effective range of the first sensor 21. The second sensor 22 is associated with a second control bar 26 at the right end of the lifting cylinder 2, which is in the position shown in Fig. 1 position of the lifting cylinder 2 in the effective range of the second sensor 22. The control strips 25, 26 are thus fixed to the movable component of the drive 1 at its opposite ends, for example via a screw arrangement.

The control bar 25, 26, as shown enlarged in Fig. Ia, is formed by a prismatic block and has on its the sensor 21, 22 facing upper side a switching lug 27 a, b and one of her via a recess groove 28 a, b separated Endlagenabschnitt 29a, b on. The width (B) of the recessed groove 28a, b is at least between 1 mm and 5 mm, in particular between 2 mm and 4 mm. The longitudinal distance (A) between control edges 32a, b, 33a, b amounts to a maximum of between 4 mm and 15 mm, in particular between 5 mm and 9 mm. In a subsequent to the end position portion 29 a, b section of the control bar 25, 26 is a bore 30 a, b arranged to receive a fastening screw, not shown. The switching lug 27a, b, the recess groove 28a, b and the end-position portion 29a, b are arranged one behind the other in the direction of movement of the lifting cylinder 2, as indicated by arrow 31 in FIG. The length of the switching lug 27a, b is viewed by the in the direction of movement - as shown in arrow 31 - front side surface and by the towering, front groove side surface and the width of the transversely to the direction of movement - as indicated by arrow 31, opposite side surfaces of the control bar 25, 26th limited. The end-layer section 29a, b extends as a surface between the upwardly projecting rear groove side surface and the rear side surface of the control strip 25, 26 as well as between the lateral side surfaces of the control strip 25, 26 opposite the direction of movement, as shown in arrow 31 In the design of the control bars 25, 26, it is important that two control edges 32a, b, 33a, b provided in the direction of movement of the lifting cylinder 2 - according to arrow 31 - successively offset are at which a respective measurement signal S ₁ , S _{2 is} triggered when the control edge 32 a, b, 33 a, b enters the effective range of the respective sensor 21, 22, as will be described in more detail. Moreover, the control bar 25, 26, a third control edge 34 a, b, which lies between the first and second control edge 32 a, b, 33 a, b. Via the second control edge 33 a, b, a start signal S t _ta n is triggered when the control edge 33 a, b exits the effective range of the respective sensor 21, 22, as will be described in more detail.

3 and 4, the drive 1 according to the above-described embodiment is shown with a different embodiment of the control in a schematic representation. As the illustrations show, the lifting cylinder 2 is a so-called double-acting fluid cylinder.

The pressure chambers 8, 9 are alternately acted upon by this embodiment via only one switching element 36, in particular a 5/2-way valve. The switching element 36 has, for example, an electromagnetic control magnet 37, which is connected via a corresponding control line 14 with an electronic control device 13, which in turn switches the switching element 36 between a rest position in de-energized state of the control magnet 37 and actuation position in energized state of the control magnet 37 , The control of the control magnet 37 takes place via electrical control signals of the control device 13, through which the switching element 36 is actuated, as shown in FIG. 10 from the waveform for the switching position S _{SCH of} the switching element 36 can be seen.

As further indicated in FIGS. 3 and 4, the left pressure chamber 8 is connected to the switching element 36 via a first pressure line 16 and the right pressure chamber 9 via a second pressure line 17. The switching element 36 is connected to the pressure supply unit 18, through which the pressure chambers 8, 9 alternately with system pressure, for example 6 bar acted upon.

FIGS. 5 and 6 show a further embodiment variant of a fluidically actuated drive 1 ', which comprises components which are adjustable relative to one another, of which the movable component can be moved via an actuator 40' along a guide device 41 'between a right end position, as in FIG represented, and a left end position, as shown in Fig. 6, is adjustable. The movable component is formed by a guide carriage 42 'and the guide device 41' by a linear guide attached to the fixed component, wherein the Führungssclilitten 42 'is mounted on the linear guide. The fixed component is formed by a frame 43 ', on which in the direction of movement - according to arrow 31 - of the adjustable component opposite each other fixed stops 44' are arranged by the end positions are fixed. The fixed stops 44 'are formed for example by a screw-threaded arrangement and limit the maximum displacement of the movable member between the end positions.

As can be seen in FIGS. 5 and 6, shock absorbers 45 'are arranged on the frame 43' in the end positions opposite one another. These mechanical shock absorbers 45 'fulfill primarily the task of reducing the impact load on the frame 43' in the commissioning of the drive 1 'or to prevent damage to the drive 1' during operation due to unforeseen faults.

The actuator 40 'is formed by a fluid cylinder, as has been described in FIGS. 1 to 4, and attached via a fastening device 46 with the cylinder housing on the frame 43'. The piston rod 6 'of the actuator 40' is connected via a further fastening device 47 'with the guide carriage 42', so that the actuating piston 5 ' and the guide carriage 42 'are coupled in terms of movement and the retraction or extension movement of the piston rod 6' is transmitted to the guide carriage 42 '. The pressure chambers 8 ', 9' of the actuator 40 'are connected via the pressure lines 16, 17 with the switching elements 10, 11. The switching elements 10, 11 are connected to the pressure supply unit 18. The control magnets 12 of the switching elements 10, 11 are connected via the control lines 14, 15 with the electronic control device 13, which in turn drives the switching elements 10, 11. The sensors 21, 22 shown in the figures are fastened to the frame 43 'of the drive 1' and are connected to the electronic control device 13 via signal lines 19, 20.

The guide carriage 42 'is provided on its side facing the sensors 21, 22 in the direction of movement - according to arrow 31 - opposite ends with the control bars 25, 26, as they are described in detail in Fig. Ia.

Fig. 7 shows a handling system 48 composed of a plurality of fluidically actuated drives 1 ', 1 ", whose design corresponds, for example, to that of the embodiment shown in Figures 5 and 6. The first drive 1' is by a horizontal axis and the second Drive 1 '' formed by a vertical axis, wherein the second drive 1 '' with its frame 43 "on the guide carriage 42 'of the first drive 1' is fixed. The movable component of the second drive 1 "is formed by a guide carriage 42", which is mounted on the guide device 41 "vertically movable on the linear guide via the actuator 40. The fixed component is formed by the frame 43" which in the direction of movement - as shown in arrow 31 - of the movable member opposite each other fixed stops 44 "are arranged, by which the end positions are fixed .. In addition to the frame 43" in the end positions opposite to each shock absorber 45 ''. On the guide carriage 42 "of the second drive 1" are the control bars 25, 26 and, for example, a pneumatically or hydraulically actuated gripping system attached, wherein the control bars 25, 26 cooperate with the stationary sensors in the end positions. The pressure chambers of the actuator 40 "are also connected via pressure lines to one or two Schaltele- elements, as is not shown for reasons of clarity.

The control method of each drive 1 ', 1 "will be described in the following: As not shown in detail, in a preferred embodiment both drives 1', However, it would also be conceivable for each drive 1 ', 1 "to be connected to its own control device 13, each of which comprises a control unit and a memory. The control device (s) are preferably connected via an address-based network, in particular a bus system, for data or signal exchange with the higher-level control or formed by the latter. If two control devices 13 are used, they are connected to one another via a further, address-based network, in particular a bus system. Between the control devices 13 and / or the (n) control device (s) 13 and the higher-level control, the Ethernet can be used. Since the described drives 1 ', 1 "are usually integrated in a high number in a machine system, it is also advantageous if the sensors 21, 22 and the control magnet 12 of the switching elements 10, 11 for data or signal exchange with the control device 13 and / or the higher-level control to an address-based network, in particular a bus system, such as a fieldbus, are connected to which the control device (s) 13 and possibly the higher-level control can be connected.

Although the drive 1 ', 1 "in Figs. 5 to 7 is driven by two 3/2 way valves, this could also be done only with a 5/2 way valve.

Fig. 8 shows the principle timing diagram for the drive 1; 1 '; 1, according to the embodiments shown in FIGS. 1, 2, 5, 6, 7. In this case, the signal curve S _R for the feedback, the signal sequences S _E1 and S _{E2 of} the two sensors 21, 22 as well as the switch positions S _SCHI and S _{SCH2 of} the switching elements 10, 11 is shown over the time of three movement phases of the component movable between the end positions.Fig. 1 and 2, the first and third movement phases correspond to an extension movement - according to arrow 31 - of the lifting cylinder 2 and the second phase of movement of a retraction movement - according to arrow 31 '- of the lifting cylinder. 2

At the start time Ts _tart , a start signal is transmitted to the electronic control device 13 via a higher-level control (not shown), as indicated by the arrow 50 in the figures, whereby the first switching element 10 is energized via the control device 13 by energizing the control magnet 12 1 and the guide carriage 42 ', 42 "according to Fig. 5, 7 - from its initial position in Rieh- activated and the movable member - the lifting cylinder 2 of FIG. tion of the arrow 31 is adjusted from right to left or up to down. By activating the switching element 10 in the in Figs. 1; 5 shown, actuated switch position and thus opens the pressure line 16, so that the pressure chamber 8; 9 'of the drive 1, 1' is connected to the pressure supply unit 18 and pressurized with system pressure. The second switching element 11 remains unactuated and is the drain chamber 9; 8 'connected via the pressure line 17 with a vent line 51, so that in the pressure chamber 9; 8 'located pressure medium or working fluid can escape unhindered into the atmosphere. Therefore, in the right end position of the movable member, the pressure chamber 9; 8 'separated from the pressure supply unit 18.

Appropriately, with the activation of the first switching element 10 from the control device 13 to the higher-level controller, a confirmation signal is transmitted, as indicated by the arrow 52. This procedure confirms proper operation. By the pressurization of the pressure chamber 8; 9 ', the component moves from its initial position, which corresponds to the right end position, in the direction of the left end position.

By activating the first switching element 10, the first movement phase is initiated, as will be described in more detail below.

With the beginning of the movement of the component from its initial position or right end position to the start time Tstart the control bar 26 is moved past the stationary sensor 22 and triggered in this the waveform shown in Fig. 8. If, at the start time Ts _tart, the end position section 29b of the control _strip 26 opposes the effective range of the sensor 22, the sensor 22 outputs to the control device 13 an acknowledgment signal S _B. The confirmation signal S _B is still detected at the time of the standstill of the component. With the confirmation signal SB, the control device 13 is signaled that the component at the starting time Ts _{tart is} safe in its initial position and the first movement phase can be initiated. By this measure, a high reliability of the drive 1; 1'; If the confirmation signal S _B has not yet been output to the control device 13 at the start time T _start , an error message in the form of an optical and / or acoustic signal is sent to an output device 53 of the control device 13 and / or to the higher-level control Signal output. After the start of movement of the component, the end position _{section 29 b} leaves the effective range of the sensor 22 arranged in the start end position and a start signal S _{tart is} triggered at the control _{edge 33 b} at the time T ₀ and transmitted to the control _device 13. As will be explained later, the falling signal edge of the sensor 22 is evaluated. The further rising and falling signal edge, which are triggered at the edges 34b and 32b of the switching flag 27b are not evaluated on the movement of the component from its right end position to the left end position.

The sensor 21 arranged in the target end position to be approached is switched by the control bar 25 moved past the latter. If the switching lug 27a with its control edge 32a enters the effective range of the stationary sensor 21, it triggers a first measuring signal S ₁ at the time T ₁ , which signal is passed on to the control device 13 via the signal line 19. At a later time T ₂ , which is in the movement phase, the end position section 29 a comes with its control edge 33 a into the effective range of the sensor 21 and triggers a second measurement signal S ₂ in the sensor 21, which is likewise transmitted to the control device 13 via the signal line 19. With the time T ₂ , the end of movement is reached. As can be seen in FIG. 8, the rising signal edges of the signal curves S _E1 , S _E2 are evaluated as measurement signals S ₁ , S ₂ . This is advantageous because now, regardless of the vertical distance between the control edge 32a, b, 33a, b and sensor 21, 22 always the same time t _is measured and a straightforward installation of the sensors 21, 22 on the drive 1; V; Although the measuring signal triggered by the control edge 34a of the switching lug 27a on the sensor 21 is detected as a falling signal edge, it is not evaluated.The control device 13 determines from the time difference between the measuring signals S ₁ , S ₂ a time period t.sub.i which corresponds to FIG determined actual value tu _st in the first movement phase corresponds.

As can be seen in conjunction with FIG. 1, the control device 13 in addition to the output device 53 also comprises an electronic memory 54, an electronic control unit 55 and a computer module 56, in particular microprocessor, as shown schematically in the figures. The computer module 56 is integrated in the controller unit 55. In the memory 54 a desired value This setpoint is for the time ti stored I ₁ soii available, which is tuned to a type of drive 1, 1 ', 1 "for the period of time tis _o ii is on the various embodiments of the drives. 1; V determined mathematically or empirically from the determined period of time tπ _st and the specified time t _1So ii is from the controller unit 55th the controller 13, a target-actual comparison performed, a control deviation calculated from the difference between the setpoint and actual value and a control variable formed, as shown in FIG. I Ib. The period tπ _st is thus determined during the movement phase of the component and further processed in the manner indicated above by the control device 13.

According to the method of the invention, based on the control deviation from the first movement phase of the component, a common first switchover time Tuzi of the switching elements 10, 11 and a second, in the movement phase subsequent, common switchover time Tuz _{2 of} the switching elements 10, 11 calculated and in the memory 54th stored. If the third movement phase of the component is started, therefore the movement of the component in the same direction of movement as that of the first movement phase of the component, the previously calculated switching times Tuzi, Tuz2 of the switching elements 10, 11 are read from the memory 54 and at least one of the switching times Tuzi, Tuz2 is set in the third movement phase so that the control deviation is corrected, as will be described in more detail in FIG. 11.

In the commissioning of the drive 1; 1'; 1 ", the switching _times T _ucl , Tuz _{2 of} the switching elements 10, 11 are predetermined by the control device 13. For example, the switching times for each direction of movement - in accordance with arrow 31, 31 '- will respectively become /

Tuzi, Tu _{Z2 of} the switching elements 10, 11 or a period of time to _D in the last movement phase of the component before the stoppage of the drive 1; 1'; 1 ", stored and used after the restart of the drive 1, 1 ', 1" in the first and second movement phase. Before the first commissioning of the drive 1; 1'; 1 ", the switching times Tuzi, Tuz _{2 of} the switching elements 10, 11 or the time period toD is also set by the control device 13.

As can be seen from the signal curves for the switch positions SSCH _I , S _{SCH2 of} the switching elements 10, 11, the first switching element 10 is initially moved to its starting position Ts _tart via an off position for the movement of the component from its starting position or right end position into the left end position the controller 13 to the control solenoid 12 dispensed, redesign the first control signal in the operating position and held until the first switching Tuzi in the operating position for the period tscm. Within this time span tscm will be the Pressure chamber 8; 9 'vented with system pressure and thus a pressurization of the component in the direction of movement - as indicated by arrow 31 - causes, while the other switching element 11 for the period tsc _H i ύi the rest position remains and the pressure chamber 9; 8 'depressurized or vented.

In the first switching time Tuzi, a second control signal is output by the control device 13 to the control magnets 12 again, with which the switching element 10 to the rest position and the switching element 11 in the operating position for a period of time to redesign. As a result, the originally pressurized pressure chamber 8; 9 'vented, the originally unpressurized pressure chamber 9; 8 'vented with system pressure for the period to _D and thus a small pressure cushion built up just before the end of the movement phase of the component, against which the moving component runs, so that a hard stop in the end position of the component is excluded.

The time span to _D results from the time difference between Tuzi and

or the control signals output by the control device 13 for reversing the switching elements 10, 11 and is determined by the control device 13, as described in FIG. 11. The time period ton for the duration of the counter-control of the pressure chambers 8, 9; 8 ', 9' is derived from the time t _\ . By the reversal of the switching elements 10, 11 and change the pressure conditions in the pressure chambers 8, 9; 8 ', 9', a braking phase is inserted towards the end of the movement phase, in which by the in the pressure chamber 9; 8 'constructed pressure pad is a deceleration of in the direction of movement - according to arrow 31 - to the switching time Tuzi moving at the maximum possible speed component occurs. Accordingly, the braking phase is initiated in the first switchover time Tuzi and the braking phase is ended in the second switchover time Tuz ₂ . The braking phase is thus determined by the switching times Tuzi ₉ Tuz2 and / or the duration of the countersteering or the time period to _D.

At the end of the braking phase in the second switching time Tuz ₂ , a third control signal is again output by the control device 13 to the control magnets 12 of the switching elements 10, 11, and the pressure chambers 8, 9; 8 ', 9' driven in opposite directions, wherein the component again shortly before reaching its end position in the direction of movement again with system pressure or the pressure chamber 8; 9 'in turn subjected to system pressure and the pressure chamber 9; 8 'is vented. As a result, the component experiences at the end of the braking phase, where this already one has low movement speed, again a feed in the direction of movement - as indicated by arrow 31 - in the direction of its left end position. This ensures that the component reliably reaches its end position. For this purpose, a third control signal corresponding Nachschaltssignal SN _{S is} generated in the second switching time T _UZ2 , through which via the control device 13, the feed of the component into the original

Movement direction - according to arrow 31 - causing switching element 10 is driven at least until the end of the movement phase and with reaching the end position. In a preferred embodiment, the reset signal S _N s is applied to the control magnet 12 of the switching element 10 for a period of time tscm until the component starts to move in the second movement phase, in which the component moves from its left end position into its right end position in the opposite direction of movement Arrow 31 '- is moved. Thus, over the entire period tscm in the pressure chamber 8; 9 ', the system pressure and is held by the component positioned for a certain time in the approached end position. The time interval tsc _H 2 results from the time difference between the second switching time Tuz ₂ and a third switching time Tuz _{3 of} the switching elements 10, 11. In the third switching time T \ _JZ3 is again by the control _device 13 to the control _magnets 12 of the switching elements 10, 11 a fourth control signal and the pressure chambers 8, 9; 8 ', 9' driven in opposite directions. The fourth control signal corresponds to the start signal for the second movement _phase at the time Ts _tart. The switching element 11 is always controlled in opposite directions to the switching element 10 and remains in its rest position for the time span tscH2.

As can be seen from the described, the switching elements 10, 11 and the pressure chambers 8, 9; 8 ', 9' within a movement phase abruptly and in opposite directions, exactly to the calculated switching times Tuzi, Tuz2 and by the control device 13 or the higher-level control predetermined switching Tuz3 be driven, as is achieved by known from the prior art quick-acting valves.

Also advantageous is a measure in which prior to the start of movement of the component in the opposite direction of movement - according to arrow 31 '- therefore before the start time Tst _{art of} the second movement phase of the control device 13 that switching element 10 a

Pre-control signal Sys supplied and the switching state is changed, which causes the pressurization in the direction of movement - as indicated by arrow 31 - as shown in dotted lines in Fig. 8. The pilot control signal Svs is triggered at the pre-control time Tys. The Time difference between the pre-control time TVs and the start time Tstar _t for the second movement phase corresponds to the time t ₂ , wherein the start time Ts _tart the third switching time Tuz _{3 of} the switching elements 10, 11 corresponds. The period of time t ₂ is preferably determined empirically and stored in the memory 54 of the control device 13 on call bar. As described above, the third switching time Tuz _{3 of} the switching elements 10, 11 is specified by the control device 13 or the higher-level control. The pre-control time Tvs is calculated in each movement phase of the component from the time difference between the switching time Tuz ₃ and the time t ₂ and switched before the movement of the component in the previous movement phase opposite movement direction, the pressurization in the direction of movement of the component causing switching element 10, 11.

If the pilot control signal Svs is triggered by the control device 13, as shown in FIG. 8, the pressure chamber 8; 9 'vented before the start of movement of the component in the second movement phase or the pressure in this pressure chamber 8; 9 'reduced, so that the movement of the component to the start of movement in the second movement phase counteracts only a minimized or no counterforce. This is advantageous since, with the drive force set by the system pressure, a high acceleration is achieved at the start of movement of the second movement phase and, further, the movement time of the component between the end positions is substantially reduced, as shown in FIG first movement phase is shown. As can be seen, the movement time of the component in the subsequent movement phase - according to the representation of FIG. 8 in the second movement phase - by the "early" venting in the previous movement phase - according to the illustration of FIG. 8 in the first Movement phase - pressure-loaded pressure chamber 8, 9, 8 ', 9' are reduced with increasing duration of the venting time.

In contrast, the switching element 11 is switched by the control _device 13 at the start time Ts _tart , whereby the pressure _{supply unit} 18 via the switching element 11 and the pressure line 17 to the pressure chamber 9; 8 'connected and this is acted upon by the system pressure, so that the component is moved from its left end position to the right end position. According to this embodiment, the time span tsc _H 2 for the switching element 10 effecting the movement of the component results from the time difference between the second changeover time Tuz ₂ and the pilot control signal Svs _>, as is not entered in the figure. The time span tsc _H 2 for the other switching element 11 remains unchanged.

As further entered in FIG. 8, the control device 13 also evaluates the time periods t ₃ , 1 ₄ and t ₅ . The time period t ₃ is from the control device 13 from the time difference between the third control signals to the second switching time

and the first measurement signal S ₁ at time T ₁ as actual value t _31st determined. In the memory 54 of the control inputs direction 13 is for the period of time t _3, a nominal values t ₃ s _o ii stored, which is tuned to a type of drive 1, 1 ', 1 "and is mathematically calculated or determined empirically. Also, as yet is described in more detail in Fig. IIa, is carried out by the electronic control unit 55 between the set time t ₃ s ₀ n and the determined time t _31st a target-actual comparison, a control deviation calculated from the difference between the SoIl- and actual value and Based on the control deviation, the first and / or second switching time Tuzi, Tuz _{2 of} the switching elements 10, 11 is set for the respective next movement phase of the component in the same direction of movement - and the time period toD fixed.

The entered time period t ₄ is triggered at the time T ₂ and ends at a later time, in which it is ensured that all arithmetic operations of the control unit 55 are completed and the control deviation or manipulated variables for the next movement phase are available in the same direction of movement. This time period t ₄ can for example be fixed and is stored in the memory 54. After completion of the calculations of the control deviations, the control device 13 generates a release signal with which the second movement phase of the component can be started by the control device 13 or superordinate control. This version is zav application, if due to the movement of the drive 1; 1'; 1 "is known that between the first and second movement phase of the drive 1, 1 ', 1" the component remains in the respective end position for a certain time, within which the calculations of the deviations and all other mathematical functions can be completed. This application corresponds to the usual use of the drive 1 according to the invention; 1'; 1 "as the axis of a multi-axis handling system, after which the computer power of the control device 13 can be designed lower.

However, it is equally possible that a powerful microprocessor is used, which carries out the calculations of the control deviations and all other mathematical functions from the first movement phase within the second movement phase, so that the corresponding control values and other calculation results, such as the pre-control time TV , are available before the third movement phase begins. This execution is used when an alternating movement of the component is required and the residence time of the same should be as low as possible in its end positions.

As entered in FIG. 8, the time t _{5 is} determined by the control device 13 at the start of movement of the component, which is the time difference between the control signal at the start time Ts _tart of the switching element 10 initiating the movement of the component and the start signal S _ta rt at the time T ₀ results. This time interval t ₅ results from the inertia of the system, for example from the switching time of the switching element 10, pressure propagation in the pressure lines 16, 17, friction between the relatively adjustable components, mass of the component to be moved and the like. To this inertia of the drive 1; 1'; 1 ", the first control signal or switching signal for the movement of the component causing switching element 10 by the time t ₅ earlier than the actual start of movement of the component triggered and thereby the pressurization of the component prematurely initiated, so that the inertia of the drive 1, 1 ', 1 "does not cause a negative effect on the movement time of the component.

Since, according to FIG. 8, the first movement phase corresponds to the movement of the component from its starting position to the left end position, the time span t _{5 is} read from the memory 54. For this purpose, before stopping the drive 1; Y; 1 ", the determined time intervals t ₅ from the last movement phase of the component of each movement direction - according to arrow 31, 31 '- stored in the memory 54. In the commissioning of the drive 1; 1', 1" is after the restart of the drive 1; V; 1 "for the first movement phase of the component, the determined time intervals t ₅ from the last movement phase of the component of the same direction of movement - according to arrow 31 - and for the second phase of movement of the component, the determined time intervals t ₅ from the last phase of movement of the component in the same direction of movement - as indicated by arrow 31 '- used. In operation, the time interval t _{5 is} calculated continuously in all movement phases, stored in the memory 54 and used in the next movement phase in the same direction of movement. The control device 13 determines or calculates the time period t _5, for example, in the first movement phase and switches this or the higher-level control in the third movement phase, the switching element 10 to the calculated from the first movement phase, the new start time Tstart

If, for example, two drives V, 1 "are coupled with one another in terms of movement, as is shown in FIG. 7, it is advantageous that a feedback _signal S _{RETK is} output to the at least one control device 13 and / or higher-level control before the end of the movement _{phase of} the first drive 1 ' and the starting time Ts _{tart of} the second drive 1 "is presented at least by the time t ₅ . At the start time Tst _art , the movement of the component causing switching element is switched, the corresponding pressure chamber of the actuator 40 "applied system pressure and the guide carriage 43", for example, adjusted from top to bottom between its end positions. The leading feedback or the leading feedback _signal S _RUOIC compensates for the inertia so that the second drive 1 "actually starts its movement when the first drive 1 'has reached its end position, thereby achieving a considerable reduction of the movement times of the handling system 48 ,

However, the acknowledgment _signal S _RETK does not necessarily have to be _{output in advance} , that is to _say before the end of the movement _{phase of} the first drive 1 'to the control device 13 or higher-order control (not shown). Applications are also conceivable in which the feedback _signal S _{RETk is emitted} simultaneously with reaching or after reaching the end position of the first drive 1 '. This may be the case when the second drive 1 "is equipped with a laser beam head which must be moved from the end position of the first drive 1 'by means of the second drive 1" to a welding point is absolutely free of vibration, the movement of the second drive 1 "is started with the laser beam head at the earliest with reaching the end position of the first drive 1 '.

The time T _R (not shown in the _figures ), in which the feedback _signal S _{RUCK is} triggered, is calculated by the control device 13 or the higher-level controller and results from the difference between the time T _{2 of} the sensor 21 from the first drive 1; 1 'and the time t ₅ to the start of movement of the second drive 1 ". Since the time T ₂ is detected only after reaching the verify moving end position, this need for the calculation of the time T _R of the preceding movement phase of the actuator 1' are attracted manufacturing , which can be determined by the control device 13, the time TR for the subsequent movement phase of the second drive 1 ".

It is understood that in the reverse direction of movement - according to arrow 31 '- a correspondingly reversed control of the switching elements 10, 11 takes place, as entered in Fig. 8 for the second phase of movement, wherein the corresponding measurement signals S ₁ , S ₂ from the sensor 22, the Confirmation signal S _B and start signal Ss _{tart be triggered} by the sensor 21. The switching element 11 receives at the time Tstart the first control signal for the beginning of the movement of the component from its left end position to the right end position again from the control device 13 or the higher-level control. Also for this movement direction, the control device 13 calculates the first and / or second changeover time Tuzu Tuz2 of the switching elements 10, 11 in the case of a control deviation in the second movement phase of the component, and the first and / or second changeover time Tu _Z1 in the fourth movement phase of the component , Tuz2 the switching elements 10, 11 set accordingly.

10 shows the basic timing diagram for the drive 1 according to the embodiments shown in FIGS. 3, 4. The signal curve SR for the feedback, the signal sequences S _EI and S _{E2 of} the two sensors 21, 22 and the switching position S are shown in FIG _{SCH of} the switching element 36 over the time of three movement phases of the movable between the end positions component. According to the embodiment of the drive 1 according to FIGS. 3 and 4, the first and third movement phases correspond to an extension movement - according to arrow 31 - of the lifting cylinder 2 and the second movement phase of an insertion movement - according to arrow 31 '- of the lifting cylinder 2 Refer to the detailed description of the determination of the different signal curves SR, SEI, SE ₂ , times T ₁ , T _Sta rt, To, T ₁ , T ₂ , Tuzi, Tuz ₂ , Tuz 3, T _R and time periods t _1; t ₃ , t ₄ 1 ₅ , tscm, tscm, since these correspond to those of FIG. 8.

At the start time T _start , a start signal is initially transmitted via a higher-level control (not shown) of the electronic control device 13, as shown in FIG Arrow 50 indicated, and then discharged from the control device 13 to the control magnet 37, a first control signal, whereby the control magnet 37 energized and the switching element 36 is switched to the operating position and the movable member - according to the execution of the lifting cylinder 2 - from its initial position in the direction of Arrow 31 is adjusted from right to left. Now is the switching element 36 in the operating position shown in Fig. 3, the pressure line 16 is opened, so that the pressure chamber 8 of the drive 1 is connected to the pressure supply unit 18 and pressurized with system pressure, while the pressure chamber 9 via the pressure line 17 with a vent line 51st is connected to the switching element 36, so that the pressure medium or working medium located in the pressure chamber 9 can escape unhindered into the atmosphere. Therefore, in the right end position of the movable component, the pressure chamber 9 is disconnected from the pressure supply unit 18.

With the start of the movement of the component from its starting position or right end position to the start time Tstart, the control bar 26 is moved past the stationary sensor 22 and triggered in this sem, the waveform shown in Fig. 10. This waveform corresponds to that in FIG. 8 and is therefore dispensed with a repeated description at this point.

The arranged in the end position sensor 21 is switched by the moving past these control bar 25. If the switching lug 27a with its control edge 32a enters the effective range of the stationary sensor 21, it triggers a first measuring signal S ₁ at the time T ₁ , which signal is passed on to the control device 13 via the signal line 19. At a later time T ₂ , which is in the movement phase, the end position section 29 a comes with its control edge 33 a into the effective range of the sensor 21 and triggers a second measurement signal S ₂ in the sensor 21, which is also transmitted to the control device 13. Reference is made here to the detailed description of FIG. 8, in which the signal profile at the sensor 21 is explained, and is therefore removed from a repetition at this point.

According to the method of the invention, a first switching time Tuzi of the switching element 36 and / or a second switching point Tuz _{2 of} the switching element 36 subsequent to the movement phase are calculated and stored in the memory 54 on the basis of the control deviation in the first movement phase of the component. If the third movement phase of the component is started, therefore, the movement of the component in the same direction of movement as the the first movement phase of the component, the previously calculated switching time (t) Tuzi _> Tuz _{2 of} the switching elements 36 are read from the memory 54 and at least one of the switching times Tuzi,

in the third movement phase adjusted so that the control deviation is corrected.

As can be seen from the signal curve for the switching position S _SC H of the switching element 36, the switching element 36 is at the start time Tst _art on the output from the control device 13 to the control magnet 37 for the movement of the component from its initial position or right end position in the left end position to redesign the first control signal into the actuation position and held in the actuation position for the time span tsc _H i until the first changeover time Tuzi. Within this period of time tscm, the pressure chamber 8 is aerated with system pressure and thus pressurization of the component in the direction of movement - according to arrow 31 - causes while the pressure chamber 9 is vented.

In the first switching time Tuzi, a second control signal is output by the control device 13 to the control magnet 37, with which the switching element 36 is transformed into the rest position for a time period t _GD . As a result, the originally pressurized pressure chamber 8 is vented, the originally pressureless pressure chamber 9 for the time t _GD ventilated with system pressure and thus a small pressure pad shortly before the end of the movement phase of the component constructed against which the moving component runs, so that a hard stop is excluded in the end position of the component.

The time period t _GD results from the time difference between Tuzi and Tχjz2 or the control signals output by the control device 13 for the reversal of the switching element 36 and is determined by the control device 13. By the reversal of the switching element 36 and its switching positions and changing the pressure conditions in the pressure chambers 8, 9, a braking phase is inserted towards the end of the movement phase, in which by the built-up in the pressure chamber 9 pressure pad a deceleration of the direction of movement - as indicated by arrow 31 -. until the switching time Tuzi with the maximum possible speed moving component takes place.

At the end of the braking phase in the second switching time Tuz ₂ , a third control signal is again output from the control device 13 to the control magnet 37 of the switching element 36. give and the pressure chambers 8, 9 driven in opposite directions, wherein the component shortly before reaching its end position in the direction of movement in turn with system pressure or the pressure chamber 8 is pressurized with system pressure and the pressure chamber 9 is vented. As a result, at the end of the braking phase, when the latter already has a low speed of movement, it again receives an advance in the direction of movement - as indicated by arrow 31 - in the direction of its left-hand end position. This ensures that the component reliably reaches its end position. For this purpose, in the second switching time

generates a subsequent switching signal S _NS corresponding to the third control signal, which is connected to the control magnet 37 in the second movement phase over a period of time tscm until the start of movement of the component. The effect of the subsequent signal SN _S has already been described in detail above.

In the third switching time T \ _JZ3 , a fourth control signal is output again from the control _device 13 to the control _magnet 37 of the switching element 36 and the pressure chambers 8, 9 are actuated in opposite directions. The fourth control signal corresponds to the start signal for the second movement phase at the time Tstart-

It is understood that in the reverse direction of movement - according to arrow 31 '- a corresponding reverse control of the switching element 36 takes place, as shown in Fig. 10 for the second movement phase, wherein the corresponding measurement signals S ₁ , S ₂ from the sensor 22, the confirmation signal S _B and start signal S s _ta r _{t be} triggered by the sensor 21. The switching element 36 is this switched from the registered in Fig. 3 operating position in the registered in Fig. 4 rest position by the start time Ts _tart the second movement _phase of the higher-level control or control device 13 of the control _magnet 37 is driven with the first control signal and the control magnet 37th in the unbestromtem

State is spent. As a result, the component is moved from its left end position counter to the original direction of movement - as indicated by arrow 31 - in the right end position. In this switching position of the switching element 36, the pressure line 17 is opened, so that the pressure chamber 9 of the drive 1 is connected to the pressure supply unit 18 and pressurized with system pressure, while the pressure chamber 8 is connected via the pressure line 16 with a vent line 51 on the switching element 36, so that the located in the pressure chamber 8 pressure medium or working fluid can escape unhindered into the atmosphere. Also for this direction of movement, is in the second phase of movement of the component of The control device 13 calculates the first and / or second changeover time Tuzi, Tuz _{2 of} the switching element 36, and in the fourth movement phase of the component, sets the new, first and / or second changeover time Tuzi _» Tuz2 of the switching element 36 accordingly.

The erfmdungsgemäße method for controlling the fluidically actuated drive 1; 1 ' ; 1 "will now be described in more detail with reference to the process sequences shown in FIGS. 11 to 12b.

The start of movement of the component in the first movement phase is symbolized by block 70 and the end of movement of the component in the first movement phase by block 71. The movement of the component is monitored by means of a monitoring device 72 having the control device 13, as shown schematically in the preceding figures. This monitoring device 72 is formed, for example, by an electronic or programmed counter, which detects the number of state changes of a signal level between a high level and a low level of the sensor 21 and / or 22. A value for the minimum number of state changes of a signal level between a high level and a low level of the sensor 21 and / or 22 is stored in the memory 54 of the control device 13.

In method step 73, the controller 13 performs a comparison between the determined number of state changes of a signal level between a high level and a low level and a specified minimum number of state changes of a signal level between a high level and a low level, and an evaluation made. If the determined number of state changes falls below the specified minimum number of state changes, an error message is displayed on the output device 53 of the control device 13 and / or on the higher-level control. This error message is shown as block 74. After this execution, the minimum number of state changes is set greater than one and an error message is issued, if the determined number of state change is, for example, one or zero. The cause of the error message may be, for example, a defective sensor 21, 22 or a hindrance to the movement of the component. The latter, for example, if a technical defect on the drive 1; 1 '; 1 "occurs or a mounting part on the drive 1; Y; 1" pinched and thereby movement of the component is prevented. If, however, the determined number of state changes is higher than the specified minimum number of state changes, method step 75 is initiated.

In this method step 75, a setpoint-actual comparison between the set time interval t ₃ s _o n and the determined time interval t _31st is first carried out by the control unit 55 of the control device 13. If the determined time interval t ₃ i _s t deviates from the set time interval t ₃ s _o ii, a control variable for setting the switching times Tuzu Tuz2 is formed from these in a first control loop of the control unit 55.

In Fig. 1 Ia the first control loop is shown in detail. As can be seen, in the first movement phase for the next movement phase in the same direction of movement of the component on a comparison element 76, a control deviation (e) between the determined time period t ₃ i _st and the specified time period t ₃ s _o n is calculated and a first controller 77 supplied to the control unit 55. In controller 77, the manipulated variables for setting both switching times Tuzi, Tuz _{2 are} calculated from the control deviation (e) according to a defined control law and then stored in memory 54. If the movement of the component in the third movement phase is now started, then the corresponding manipulated variables are read from the memory 54 and applied to the switching elements 10, 11 according to the embodiments in FIGS. 1, 2; 5, 6; 7 or the switching element 36 according to the embodiment in Figs. 3, 4 switched on. The switching elements 10, 11; 36 form the actuators of the control loop, as they are not shown in Fig. I Ia. From what has been said above, it can thus be seen that, given a deviation of the time span t _31s t from the time interval t ₃ soib, the switching times Tuzu Tuz _{2 are} readjusted for the next movement phase in the same direction. In this way it is now ensured that a control deviation (e), which is detected in a preceding movement phase in the first direction of movement - according to arrow 31 - is adjusted by changing the switching times Tuzi, Tuz2 and in the subsequent movement phase in the same Direction of movement - according to arrow 31 - the or the switching element (s) 10, 11; 36 after the calculated switching times Tuzu Tuz ₂ are controlled, so that the detected time period t ₃ i _st the set time t ₃ s _o n corresponds. After this regulation, the new switching times Tuzi, Tuz2 are calculated, the time period to _D remaining unchanged in all subsequent phases of movement in the same direction of movement, as shown by arrow 31. As a result, this control _{intervention substantially} corresponds to a shift of the switching _times T _UZ1 ,

at a constant distance from time T ₁ . On the other hand, if the actual value of the ascertained time interval t ₃ i _st corresponds to the set desired value of the time span tss _o ii, a control intervention and thus a shift of the switchover times Tuzi, Tuz ₂ on the time axis with respect to the time T _{1 can be} omitted and the method step 78 immediately becomes initiated.

In this process step 78 is performed again by the controller unit 55, a desired-actual comparison of the fixed period of time tis and the time ii _o tπ determined _st. Deviates the time period determined tπ _st of the set period of time t ^ _o u from, is initially formed in the first movement phase for the next phase of movement in the same direction of movement of the component, the control deviation (e) to a comparator 79 and a second controller supplied 80 the controller unit 55 , as shown in Fig. 1 Ib as a second control loop of the control unit 55. In the controller 80, only one manipulated variable for setting the switchover time Tuzi or the time period to _{D is} formed from the control deviation (e) according to a defined control law and then stored in the memory 54. If now the movement of the component in the third movement phase is started, then the corresponding manipulated variable is read from the memory 54 and applied to the switching elements 10, 11 according to the embodiments in FIGS. 1, 2; 5, 6; 7 or the switching element 36 according to the embodiment in Figs. 3, 4 switched. Accordingly, in this control circuit, the second switching time Tuz2 is maintained and the time period to _D or the duration of the counter-control is changed, in which the first switching time Tuzi is shifted on the time axis.

On the other hand corresponds to the period of time determined tπ _st the specified period I) ₁ s _oll, a change in the period of time TGD or the duration of the counter controlling is omitted and the component dot with reference to the force in the last movement phase setting for the first transfer time Tuzi driven.

The first and second regulators 77, 80 of the control unit 55 are formed by an I-controller. A simplification of the control method is also achieved in that the time periods tis _o ii, t ₃ s _o ii are defined as a time window with a lower and upper limit and a control intervention takes place only if the determined time intervals tπ _st , t ₃ i _st outside the Zeitbzw. Tolerance window lie. The lower and upper limits of the time window are defined in such a way that nevertheless an optimal deceleration behavior and smooth approach of the end position is possible. Fig. 12 shows a modified method for controlling the drive 1; 1 ', 1 "in a flow chart The modification concerns the consideration or correction of the movement sequence of the component On the one hand it can happen that the component is moved at too high a speed towards the end position and due to the high kinetic impact energy , This is moved from the end position against the target movement and results in, the approaching end position associated sensor 21 a waveform, as shown in Fig. 12a.Other can occur the case that the component with too low a speed is moved against the end position and he executes a pendulum motion before reaching the end position, so that the signal waveform shown in Fig. 12b results for the sensor 21 located in the approaching end position The end position is formed by a mechanical limiting element, such as a fixed stop or shock absorber.

In order to be able to differentiate between these two cases, during the movement of the component via the monitoring device 72 entered in the previous FIGURE, the signal profile at the sensor 21 arranged in the end position to be approached is determined and the number of state changes of a signal level between a high Level and low level evaluated. If the determined number of state changes of a signal level at the sensor 21 exceeds a limit number of state changes of a signal level determined by the control device 13, the method step 82 is initiated.

In the method step 82, the controller unit 55 of the control device 13 carries out a desired-actual comparison between a defined time period tis _o ii and the determined time interval tπ _st . Falls below the amount of time determined tπ _st the predetermined period of time t ^ _o i _b the controller 13 can determine by evaluation of the waveform that the construction part is moved at an excessively high speed in the end position.

This situation is shown by the waveform shown in Fig. 12a. In this case, the control device 13 is supplied with three measurement signals S ₁ , S ₂ , S ₃ . The first measuring signal S ₁ is detected at a time T ₁ when, for example, the control strip 25 attached to the moving component enters the effective range of the sensor 21 arranged in the approaching end position in the direction of movement - as indicated by arrow 31 - front control edge 32 a, while the second Measuring signal is detected at a time T ₂ , in which the control bar 25 with the second control edge 33 a in the effective range of the sensor arranged in the end position to be approached 21 enters. If the speed of movement of the component is too high, it is initially moved counter to its desired movement due to its excessive impact energy at the end position and then driven by the repeated application of pressure for safe starting of the end position in its original direction of movement. As a result, the component is again moved in the direction of the end position and braked against the end position, so that the second control edge 33a again enters the effective range of the arranged in the end position sensor 21 and thereby triggers the third measurement signal S ₃ at a later time T ₃ , However, this third measurement signal S ₃ is not evaluated by the control device 13.

Since the time period tπ _{st is} much too low for the described situation, the second control loop is run through as described above. It is essential that the corrected period of time to _{D be} calculated on the basis of the preceding movement phase, and that the corrected or reduced time period ton be set in the movement direction of the component in the subsequent movement phase. The setting of the time period to _D is again performed by the correction of at least one of the switching times Tuzi, Tuz2 of the switching elements 10, 11; 36th

In contrast, if determined in step 82 that the time period determined _st tπ the predetermined period of time tis _o ii exceeds, this will be evaluated in the first movement phase of the control device 13 as a pendulum movement, which is eliminated by reducing the amount of time to _D. For this purpose, the time period ton stored in the memory 54 is multiplied by a weighting factor which is defined, for example, as a constant between 0.6 and 0.8. But it is equally possible tπ to specify the weighting factor as a function of the difference between the specified time tis _o ii and the amount of time determined _st. This process is represented by a block 83 in FIG. 12. The time period too, corrected by the weight factor, is again used as a new time period to _D in the third movement phase.

This situation is shown by the waveform shown in Fig. 12b. In this case, the control device 13 is supplied with three measurement signals S ₁ , S ₂ , S ₃ . The first measuring signal S ₁ is detected at a time T ₁ when, for example, the control bar 25 attached to the moving component enters the effective range of the sensor 21 arranged in the approaching end position with the front control edge 32 a in the direction of movement. If the speed of movement of the component is too low, the component will Position moves counter to its desired movement, so that the control bar 25 again leaves the effective range of the sensor 21. By applying pressure to safely approach the end position, the component is again driven in its original direction of movement, so that the front control edge 32a at time T ₂ again enters the effective range of arranged in the end position sensor 21 to be approached. If the end position is reached, then at a later time T ₃ , when the control edge 33a enters the effective range of the sensor 21, the third measurement signal S _{3 is} triggered, in which the component has actually reached the end position. However, this third measurement signal S ₃ is not evaluated by the control device 13.

The time interval t ₄ entered in FIGS. 12 a, 12 b is triggered at the time T ₃ and ends at a later point in time, in which it is ensured that all arithmetic operations of the control unit 55 have been completed and the control deviation or manipulated variables for the next phase of movement into it Movement direction are available. The end of movement is reached only at time T ₃ . Likewise occurs a shift in the time TR (not shown in the _figures ), in which the feedback _signal S _{RÜCIC is} triggered.

As described above, the end position can be determined either solely by the skillful control of the drive 1; 1'; 1 "or by the combination of the skillful control of the drive 1, 1 ', 1" and a shock absorber gently approached. If a shock absorber is used, then that part of the kinetic impact energy of the component is absorbed, which was not degraded by the countermeasures over the time period t _GD . Therefore, the proportion of the kinetic energy to be absorbed by the shock absorber is significantly influenced by the duration of the counteracting to _D. As described above, the time period to _D for the duration of the counter-control results from the period ti. The shock absorber acts with its spring force counter to the direction of movement of the component, so that the determined time tu _st slightly increase when the moving component runs onto the shock absorber. On the other hand, by the regulation from the determined period tπ _st, the time period ton is slightly reduced for the duration of the countermeasure. If, due to a defect, the shock absorber fails or has been mounted incorrectly, the time period tπ _{st is} significantly reduced, so that the time span tGD for the duration of the counter control is increased by the regulation from the determined time period tπ _st . To prevent failure of the shock absorber via the control unit direction 13 or to be able to detect the higher-order control, a time lower limit and upper limit are defined for the period to _D. If the calculated time period to _D exceeds the upper limit defined by the control device 13 and stored in the memory 54, an error message in the form of an optical and / or acoustic signal is output at the output device 53 or the higher-level control and / or the drive 1; 1 '; 1 "shut down.

It should be pointed out at this point that the switch-over times Tuzi _» Tuz ₂ or the time span too for the third movement phase are still calculated in the first and / or second movement phase or during the residence time of the component in the end position.

In the jointly described FIGS. 13 to 18, another embodiment of the method according to the invention is shown, which may optionally represent an independent, inventive solution.

Fig. 13 shows a drive 100, which is also formed according to this embodiment by a double-acting lifting cylinder 101, which consists of a cylinder tube, whose ends are closed with end walls 102, 103. In this lifting cylinder 101 is displaceable by a pressure medium, a control piston 104 out, which in turn is connected to a piston rod 105. The piston rod 105 is mounted in a stationary manner via a corresponding fixed bearing 106, so that the lifting cylinder 101 forms the movable component and the adjusting piston 104 forms the stationary component of the drive 100 with the piston rod 105. Between the left end wall 103 and the control piston 104, a first pressure chamber 107 and between the right end wall 102 and the control piston 105, a second pressure chamber 108 is formed.

The pressure chambers 107, 108 are acted upon by this embodiment via only one switching element 109, in particular a 5/3 way valve alternately with system pressure. The switching element 109 has, for example, two electromagnetic control magnets 110, which are connected via corresponding control lines 111, 112 to an electronic control device 116, which in turn drives the switching element 109. In the de-energized state of

Control magnet 110 is the 5/3 -way valve in the unentered middle position (B). In the middle position (B), both pressure chambers 107, 108 are connected to return ports of the 5/3 way valve. In energized state (first operating position A) of left control solenoid 110, the first pressure chamber 107 via a first pressure line 113 to the pressure supply unit 114 and in energized state (second operating position C) of the right control solenoid 110, the second pressure chamber 108 via a second pressure line 115 to the pressure supply unit 114 is connectable. The switching element 109 is connected to the pressure supply unit 114. The control of the control magnet 110 takes place here via electrical control signals of the control device 116, as can be seen in Fig. 15 from the waveform for the switching position S _{SCH of} the switching element 109.

As further noted in the figures, the control device 116 is connected via signal lines 117, 118 to sensors 119, 120, so that the electrical control signals output by the sensors 119, 120 can be fed to the control device 116. The control device 116 may also be formed by the higher-level control. In this case, the sensors 119, 120 are arranged in a stationary manner above the travel path defined by the drive 100 in the end positions to be approached by the movable component. These sensors 119, 120 cooperate with switching lugs 27a, b of the control bars 25, 26 described above, which are fastened to the opposite ends of the movable component, therefore the lifting cylinder 101. The arrangement of the control strips 25, 26 shown is only of a basic nature. Switching lugs 27a, b, which are formed by a prismatic block, could equally well be used, or reed switches are used, ie sensors with which the end positions of the component are without switching flags 27a, b is monitored. It is essential that over arranged in the end positions sensors 119, 120, an actual move time t _ß i _st of the moving member between the end positions to be accurately detected.

FIG. 15 shows the basic time diagram for the drive 100. The signal sequences S _E1 and S _{E2 of} the two sensors 119, 120 and the switching position S _{SCH of} the switching element 109 are shown over the time of three movement phases of the component movable between the end positions. According to the embodiment shown, the first and third movement phase corresponds to an extension movement - according to arrow 31 - of the lifting cylinder 101 and the second movement phase of a retraction movement - according to arrow 31 '- of the lifting cylinder 101st

At the start time Ts _tart , a start signal is first transmitted to the electronic control device 116 via a higher-level control (not shown), as indicated by the arrow 50 in FIGS. 13 and 14, and then by the control device 116 to the left Control magnet 110 outputs a first control signal, whereby the control magnet 110 is energized and the switching element 109 is switched to the actuation position (A) and the movable member - according to shown embodiment of the lifting cylinder 101 - is adjusted from its initial position in the direction of arrow 31 from right to left. If the shift element 109 is now in the actuation position (A) shown in FIG. 13, the pressure line 113 is opened so that the pressure chamber 107 of the drive 100 is connected to the pressure supply unit 114 and pressurized with system pressure, while the pressure chamber 108 via the pressure line 115 is connected to a vent line 125 on the switching element 109, so that the pressure medium located in the pressure chamber 108 can escape unhindered into the atmosphere.

By activating the switching element 109, the first movement phase is initiated, as will be described in more detail below.

With the beginning of the movement of the component from its initial position or right end position to the start time Ts _tart the control bar 26 is moved past the stationary sensor 120 and triggered in this the waveform shown in Fig. 15. This waveform corresponds to that in FIG. 8 and is therefore dispensed with a repeated description at this point.

According to the method of the invention, a setpoint value for the movement time t _β s _o ii of the component between the end positions of each movement phase is preset statically or dynamically determined before the actual start of movement of the component at the start time Tstart by the control device 116 or the higher-level control (not shown). The statically predetermined desired value tssoii is determined mathematically or empirically, for example, and stored in a memory 129 of the control device 116. On the other hand, the reference value t s _{o ß} ii can also be determined dynamically. In other words, the reference value t s _{o ß} ii, for example, continuously adapted to a machine cycle of a co-operating with the drive system 100 machines and read continuously the memory 129th From the setpoint for the movement time tsssoii, a theoretical start time Ts _tart (movement start) is set or calculated by the control device 116 and a theoretical end time TTE (theoretical end of movement) is calculated.

Via the sensors 119, 120, the actual movement in the first movement phase is now tion time of the adjusting movement of the component between the end positions as actual value t _ß i _st detected. The detected actual value t _ß i _st of the electronic control device 116 is supplied, followed by a this having controller unit 127 between the determined travel time t _ßlst and the predetermined movement time tssoii a target actual is performed comparison, as shown in FIG. 16 can be seen.

A control deviation (e) from the difference between the predetermined for the first phase of movement desired move time t _{ß o} ii and is actual movement time determined from the first movement phase TSSI _st calculated, as by a controller 128 according to a control law GR nigstens a manipulated variable for controlling the switching element 109 is formed. The manipulated variable is temporarily stored in the memory 129. For this purpose, the controller unit 127 has a computer module 130, in particular a microprocessor.

If the third movement phase is started, the manipulated variable calculated by the first movement phase is read from the memory 129 and adjusted according to the manipulated variable of at least one of the two chronologically consecutive switching times Tuzi, Tuz2, so that the control deviation (e) is corrected in the third movement phase is.

The first switching time Tuzi corresponds to the starting time Tstar _t determined by the control device 116 or the higher-level control, in which the switching element

109 is activated by a first control signal of the control device 116 or the higher-level control and energizing the left control magnet 110 from the middle position (rest position) to the actuated position (A). In the actuated position (A), the pressure chamber 107 is subjected to system pressure, so that the component is moved in the direction of the left end positions. With the setting of at least one of the switching times Tuzi, Tuz ₂ , a control duration ts _{D of} a start pulse is changed. It proves to be advantageous if the first switchover time Tuzi remains unchanged with respect to the time axis and the control duration ts _{D of} the start pulse is set by changing the second switchover time Tuz ₂ . The start pulse is predetermined by the rising edge in the first switchover time Tuzi and the falling edge in the second switchover time Tuz2. The pressure chamber 107 is subjected to system pressure via the control duration ts _D , so that the component accelerates from standstill in the starting position or right end position to a _desired speed Vs _0I i and moves in the direction of movement - according to arrow 31 - to its left end position becomes. In the second switching time, the control device 116 or the higher-level control again outputs a second control signal to the left-hand control magnet 110, with which the left-hand control magnet 110 is deactivated and the switching element 109 is moved from the actuation position (A) into the middle position (rest position). In the center position, the pressure chamber 107 is connected to the return port of the switching element 109 and thereby the originally pressurized pressure chamber 107 is vented.

The start pulse is followed within a period of time tos by a plurality of switching pulses of short duration tsc _H , by which the switching element 109 is actuated by the control device 116 or the higher-level control in intervals of successive intervals between the center position (B) and the actuation position (A) , In other words, the switching element 109 is pulsed controlled over the period toss and the system pressure is applied to the pressure chamber 107 over the duration tscH of each switching pulse. The pulse pauses are plotted in FIG. 15 as periods of time t _P within which the switching element 109 remains in the middle position (B) and the pressure chamber 107 is depressurized over the periods tp of each pulse break and the component is solely driven in the direction of motion due to its mass inertia - Moved further as indicated by arrow 31. Follows the pulse break a switching pulse, the pressure chamber 107 is applied over the periods tsc _H with system pressure and the component in turn accelerated over the duration tsc _H.

As entered in FIG. 15, within the time span t _{GB of} the pulsed actuation of the switching element 109, the left control magnet 110 is actuated by the control device 116 or the higher-level control via control signals at the switching times Tuz ₃ - Tuz _n several times. At the switching time Tuz ₃ , the left control magnet 110 receives a third control signal, with which the switching element 109 is actuated from its original middle position (B) back to the operating position (A) and the pressure chamber 107 is acted upon. In the switching time Tuzn, the left control magnet 110 receives an nth control signal within the time period tos, with which the switching element 109 is actuated from its original actuation position (A) back to the middle position (B) and the pressure chamber 107 is vented. The duration of the pulsed actuation of the switching element 109 results from the

Time tos between the second control or switching signal in the second switching time Tuz ₂ and the control or switching signal to the n-th switching Tuz _n - At the end of the period t _{GB of} the theoretical end time T _{TE is} reached. The switching time Tuz _n corresponds to the calculated end time T _TE , to which the component should have reached its end position.

According to FIG. 15, however, in the first movement phase the left end position is not reached within the desired movement time t _β s _o ii, but only at a later end time T _EE determined via the approaching sensors 119 (corresponds to T ₂ ) theoretical end time TT _E is. This circumstance can change the operating conditions and environmental conditions, for example, be changed by the additional load of the drive, the friction conditions occur. Based on the time difference .DELTA.t between the theoretical end time T _TE and the determined end time T _EE , the control deviation (e) is now calculated and the at least one manipulated variable for setting at least one switching time Tuzi _» Tuz2bzw. formed the control period tso of the start pulse, which is the switching element 109 is switched in the third movement phase. After the control duration ts _{D of} the start pulse is changed, the electronic control unit 127, in particular the computer module 130 of the control device 116, also calculates the pulse interval tp between two successive switching pulses within the time span tos. These switching pulses follow the pulse pauses, which are defined by the time difference between two directly successive control signals at the switching times Tuz _2, Tuz ₃ to Tuzn. The duration tscH of the switching element 109 impressed switching pulses is preferably fixed depending on the type of drive and is stored in the memory 129. Likewise, the number of switching pulses within the period to _{ß is selected} depending on the drive type and stored in the memory 129. However, it is equally possible for the duration tscH and the number of switching pulses to be input by the fitter before the drive 100 is put into operation via an input device 131, in particular a computer (PC), or the higher-level controller of the control device 116. In Figs. 13 and 14, the controller 116 has the input device 131.

In practice, it has been shown that the number of switching pulses is decisively determined by the planned field of application. If, for example, a vibration-free positioning of the component in the end position or a possible jerk-free adjustment of the component between the end positions must be ensured, the duration tsc _{H is selected to be} smaller and / or the number of switching pulses higher. As the number of switching pulses increases, the variations in the speed of movement of the component are minimized. Likewise, the must Duration tscπ and / or the number of switching pulses to the adjustment path of the component to be adjusted. For this purpose, the controller unit 127 may also have a dynamic learning mode (adaptive control) for setting the duration tscH and / or the number of switching pulses. The component is initially controlled between the end positions based on Gmndeinstellungen for the duration tscπ and / or the number of switching pulses and meanwhile recorded sensed at this excited vibrations. If the vibrations exceed a limit value, the duration tscH and / or the number of switching pulses are automatically adapted until the vibrations are within a permissible range and an optimum driving behavior of the component is achieved. Even during operation, an automatic adaptation can be maintained, that is, changes in sliding properties, masses, signs of aging,

Impact energy in the end position and the like can be continuously adapted to be compensated by changing the duration tscH and / or the number of switching pulses.

Thus, the computer module 130 of the controller unit 127 can calculate the time span tp j of each pulse break after a computing algorithm stored in the memory 129 and described below.

r ₁ t _ß s _o n ~ ^X _SΌ ^~ (number of switching pulses t _SCH ) t _p [ms J =

Number of switching pulses

Different speed profiles of the component are shown in FIG. 17. If there is a long control period tsD, the speed curve entered in full lines results, while the speed profile entered in dotted lines results for a short control period tsD. As can be seen, the component reaches its maximum setpoint speed vs _o ii in a time span over the control duration tsD. From the second switchover time Tuz2 within the time period toB, the component increasingly loses movement speed, so that it is moved with respect to the maximum target speed vs _o ii reduced movement speed against the end position.

The speed drop Δv varies depending on the control duration ts _{D of} the start pulse. _Ss i enters a high control deviation (e), therefore, the detected movement time t _st is higher than the predetermined movement time tßsoii, the control time is t _S o of the start pulse increases and thereby the component in the first time period at a high Bewegungsgeschwin- speeding up. Accordingly, as the control duration ts _{D of} the starting pulse increases, the duration tp of each pulse break is reduced uniformly, that is, the component is moved without drive over shorter intervals, as indicated in solid lines. If, on the other hand, the control duration tsσ of the start pulse is reduced, then the duration tp of each pulse break is increased uniformly, that is to say the component is driven without drive over longer intervals, as indicated in dotted lines.

The method according to the invention makes use of the knowledge that the ambient conditions, in particular the friction or aging phenomena, during the drive-less movement of the component bring about targeted deceleration of the component on its displacement path, for example from the right-hand end position to the end position, so that the component gently drives against the final position.

If the speed drop Δv is too high, the time difference Δt increases. In order to prevent an unnecessarily high increase in the time difference .DELTA.t and thus the movement time of the component on its adjustment between the end positions, the theoretical end of movement at the end time TV _E by a monitoring device 132 of the control device 116 is triggered a monitoring signal So, with which a first time period is specified , If this period of time has expired and the component is not yet in its planned end position, which is monitored by the sensor 119, the control device 116 the switching element 109 at a switching time TU _ZA a Nachschaltsignal S _N S is switched on and the pressure chamber 107 over a period I _{A driven} with system pressure, so that the component in the direction of movement - moves in the direction of its end position, as shown in arrow 31 - pressed against them and kept positioned in this with a holding force. The time interval t _A results from the time difference between the switching time TU _{ZA of} the first movement _phase and the first switching time T _uzl or the starting time Ts _tart the second movement _phase in the opposite direction of movement - according to arrow 31 '. The post-switching signal SN _S accordingly corresponds to a subsequent switching pulse. If the component is actually in its end position, the signal S _{2 is} triggered via the control edge 33 a at the sensor 119 arranged in the end position to be approached at the time T _EE or T ₂ (not registered). Reference is here made to the detailed description of FIG. 8, in which the signal curve S _E2 is explained on the sensor 21 and can be transmitted to this embodiment for the sensor 119. Furthermore, it is possible for the control device 116 or the higher-level controller to convert a second time interval t _F from the time difference between the first measuring signal S ₁ and the last switching time Tuzn, therefore when the switching element 109 is converted from its actuating position A into the rest position B, is evaluated. If the first period of time exceeds the second time interval (tp), the monitoring device 132 generates the reset signal S _NS before the end of the first period of time and activates the switching element 109 so that system pressure is applied to the component early in the direction of movement, as indicated by arrow 31 , Thereby, the actual movement time can be shortened when the target movement time T _ßSO ii deviates from the actual movement time T _ßlst .

As shown in Fig. 15 in the third movement phase, the control deviation (e) between the target movement time Te _so iiund actual movement time Tai _st compensated by the control period ts _{D of} the start pulse and the periods tp of the pulse pauses are set so that the _Actual movement time T is _{equal to} the setpoint movement time T _BSOII and the component reaches the left end position within the predefined setpoint movement time Tsssoii. The control duration ts _{D of} the start pulse is extended and the periods tp shortened. If the component has reached its end position, a signal S _{2 is} triggered on the sensor 119 and supplied to the control device 116, whereupon the switching element 109 at a switching time T _UZA a subsequent switching signal S _{NS switched} on and the pressure chamber 107 is controlled over a period TA with system pressure so that the component is essentially pressed only against the end position and held in position with a holding force. Since there is no control deviation in the third movement phase, the adjustment of the control duration ts _{D of} the start pulse and the time intervals tp of the pulse pauses is maintained for all subsequent movement phases in the same direction of movement until a control deviation (e) is again calculated by changing the friction conditions.

It is also advantageous if the switching pulses over the time period t _{GB are} regularly divided and the last switching pulse the switching element 109 just before the component reaches its end position, is switched. The component runs against the end position, even before it has reached its maximum speed, as shown in Fig. 17 in dotted line. Thus, the speed impressed on the component over the last switching pulse Tuz _n at the changeover instant corresponds to only a fraction of the speed which the component in each case reaches via the preceding switching pulses to the respective switchover pulse. times is impressed, so that the end position is approached particularly gently. Conveniently, the control duration ts _D and the time period t _GB or the time period tp of the pulse pauses is divided into the target movement time such that the switching time Tuz _n coincides with the switching time TU _ZA . As a result, the last switching pulse passes directly to the reset pulse and the component is already driven against the end position via the last switching pulse and pressed against it with a holding force which is maintained by switching on the subsequent pulse over the time t _A , as in the third movement phase is entered. Since the component has reached the end position monitored by the sensor 119 at the theoretical end time T _J E, no monitoring signal St) is triggered by the control device 116. After the component has reached the end position, the aftershift signal SN _S is triggered by response of the sensor 119 and supplied to the control device 116.

It is understood that in the reverse direction of movement - according to arrow 31 '- a correspondingly reversed activation of the switching element 109 takes place, as shown in Fig. 15 for the second movement phase, wherein the corresponding measurement signals S ₁ , S ₂ from the sensor 120, the Confirmation signal S _B and start signal Sstart are triggered by the sensor 119. At the time Tstart, the switching element 109 receives the first control signal for the start of the movement of the component from its left end position into the right end position again from the control device 116 or the higher-level control. In this case, the right-hand control magnet 110 is actuated by the higher-order controller or control device 116 with the first control signal and is brought into the non-energized state, with the result that the switching element 109 at the start time Tstar _{t of} the second movement phase moves from the inoperative position into the actuating position (C) entered in FIG. is connected, in which the pressure chamber 108 is connected to the pressure supply unit 114 and pressurized with system pressure, while the pressure chamber 107 is connected via the pressure line 113 with a vent line 125. In the case of a control deviation (e) in the second movement phase, control time tso of the start pulse and time intervals tp of the pulse pauses are also calculated for this direction of movement, and second switching time Tuz ₂ of switching element 109 is set accordingly in the fourth movement phase ,

Of course, there is also the possibility in this embodiment that the pressure chambers 107, 108 are each controlled via a switching element 133, 134. These switching elements 133, 134 are preferably formed by 3/2-way valves. Such an embodiment is shown in FIGS. 1 and 2 and the control method according to the invention can also be transferred to this embodiment. The control of the switching elements 133, 134 via the control device 116, which in turn is connected via a first control line 14 with a control magnet of the left switching element 133 and a second control line 15 with a control magnet of the right switching element 134. The associated timing diagram with the switching positions S _SC H _I , Sscm of the switching elements 133, 134 is shown in FIG.

Finally, it should be pointed out that the control device is suitable for processing both control methods according to the invention. For this purpose, the control and calculation algorithm of the two driving characteristics of the component are stored in the memory of the control device. After the first driving behavior - according to the embodiments of FIGS. 1 to 12b - the component should be moved as quickly as possible between the end positions, whereas after the second driving behavior - according to the embodiments of FIGS. 13 to 18 - the component moves at a targeted speed shall be. The choice of driving behavior can be done in different ways.

In a first embodiment, the corresponding driving behavior is selected via an input and / or output device, in particular a computer (PC), or the higher-level control of the control device. For this purpose, a user program is opened and output to the input and / or output device before commissioning the drive and selected by the fitter the desired driving behavior for the adjustment movement of the component in a first direction of movement and in a direction opposite to this movement direction. With the choice of one of the driving behavior of the control device of the corresponding control method associated control and calculation algorithm is activated and made the control of the drive in the manner described above. For example, the first driving behavior for the first movement direction and the second driving behavior for the other movement direction or either the first or second driving behavior for both directions of movement can be selected.

In a second embodiment, the driving behavior of the component is set dynamically. By way of example, based on a required cycle time of a handling system composed of a plurality of drives or of a machine interacting with the drive. given the respective favorable driving behavior of the control device or the higher-level control system. Suitably, the required cycle time is communicated by the higher-level, central control of the decentralized control device, which in turn makes the choice of the driving behavior based on the information of the available movement time. Thus, a current work process may require a particularly low cycle time, so that the drives of the handling system are controlled for both directions of movement after the first driving behavior. If the cycle time is less critical, but certain other parameters must be adhered to the handling system, for example, must be a vibration-free positioning of the drives, at least one of the drives according to the second driving behavior is controlled.

It should also be noted that the movable component can also be provided only with a control bar, which cooperates with a sensor arranged in the approaching end position. Such an embodiment is realized in those cases in which the component only has to be gently positioned against one of the end positions.

The embodiments show possible embodiments of the drive 1; 1'; 1 ", 100 and the method, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather also various combinations of the individual embodiments are possible with each other and this possibility of variation due to the teaching of technical action by representational It is therefore also possible to include all conceivable design variants that are possible by combinations of individual details of the illustrated and described embodiment variant of the scope of protection.

For the sake of order, it should finally be pointed out that for a better understanding of the structure of the drive 1; 1'; 1 "; 100, this or its components have been shown partly unevenly and / or enlarged and / or reduced In particular, the individual embodiments shown in Figures 1 to 12, 13 to 18 form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures. Designation of sign

1 drive 34a control edge 1 'drive 34b control edge

1 "drive 36 switching element

2 lifting cylinders 37 control magnet

3 end wall 40 'actuator

4 end wall 40 "actuator 5 actuator piston

41 'guiding device

6 piston rod 41 "guide device

7 fixed bearing 42 'guide carriage

8 pressure chamber 42 "guide carriage 9 pressure chamber 43 'frame

10 switching element 43 "frame

11 switching element 44 'fixed stop

12 Control solenoid 44 "Fixed stop 13 Control device 45 'Shock absorber

14 control cable 45 "shock absorber

15 control line

46 'fastening device

16 pressure line 47 'fastening device 17 pressure line 48 handling system

18 Pressure supply unit 50 Arrow

19 signal line 51 vent line

20 signal line

52 arrow 21 sensor 53 output device

22 sensor 54 memory

25 Control bar 55 Control unit

56 Computer block

26 control bar 27a switching flag 70 block

27b switching flag 71 block

28a recess groove 72 monitoring device

28b recess groove 73 process step

74 block 29a end position section 75 method step

29b end position section

30a bore 76 comparison element

30b bore 77 regulator

78 Process step 31 Direction of movement 79 Comparison element

31 'direction of movement 80 controller

32a control edge

32b control edge 81 process step

33a control edge 82 process step 33b control edge 83 block 100 drive

101 lifting cylinder

102 front wall

103 end wall 104 actuating piston

105 piston rod

106 fixed storage

107 pressure chamber 108 pressure chamber

109 switching element

110 control magnet

111 control line 112 control line

113 pressure line

114 pressure supply unit

115 pressure line 116 control device

117 signal line

118 signal line

119 sensor

120 sensor

125 vent line

127 control unit

128 controllers

129 Memory 130 Computer block

131 input and / or output device

132 monitoring device

133 switching element 134 switching element

Claims

Patent claims

1. A method for controlling a fluidly actuated drive (1, 1 ', 1'') with relatively adjustable components, of which a component via at least one switching element (10, 11, 36) in a first direction of movement (31) and in one of the first Movement direction (31) opposite, second direction of movement (31 ') between end positions and is braked against at least one of the end positions, wherein a control device (13) each of a via a switching flag (27 a, b) electronically switchable and arranged in the end position sensor ( 21, 22) control signals for the timing of the movement phase of the component for gently starting the end position are supplied and by the control device (13) the switching element (10, 11, 36) is actuated by means of the control signals and pressure chambers (8, 9) of the drive (1; 1 ', 1 ") are driven in opposite directions, characterized in that in a first phase of movement of the component shortly before reaching the end position to be approached the switch flag-sensor arrangement a first measurement signal (S ₁₎ and a second measurement signal (S ₂₎ at a time point (T ₁₎ at a later time (T ₂₎ is detected and then the control means (13) at least one Time interval (tπ _st ) from the time difference between the measured signals (S ₁ , S ₂ ) and determined by a control unit (55) of the control device (13) for gently starting the final position of a target-actual comparison between a predetermined period (tis _o ii) and the determined time period (t _llst ) at least one manipulated variable for at least one of two temporally successive switching times (Tuzi, Tυzi) of the switching element (10, 11; 36) and that this switching time (Tuzi, Tuz ₂ ) of the switching element (10, 11; 36) is set in the same direction of movement (31, 31 ') according to the manipulated variable in the subsequent movement phase of the component following the first movement phase.

2. The method according to claim 1, characterized in that by the control device (13) a time period (too) from the time difference between control signals in the switching times (Tuzi, Tuz2) of the switching element (10, 11, 36) is calculated or specified and that a braking phase determined by the time interval (ton) is initiated in the first switching instant (Tuzi) of the switching element (10, 11; 36) and terminated in the second switching instant (Tuz ₂ ) of the switching element (10, 11; 36), wherein at the first switching instant ( Tu ₂₁ ) of the switching element (10, 11; 36) constructed in the during the movement of the component originally unpressurized pressure chamber (8, 9) of the movement direction (31, 31 ') of the component opposite system pressure and in the original during the movement of the component pressurized pressure chamber (8, 9) acting in Bewegungsrichtimg (31, 31 ') of the component system pressure is reduced and the second switching time (Tuzi) of the switching element (10, 11, 36) in the during the period (tG _ü ) pressurized pressure chamber ( 8, 9), a direction of movement (31, 31 'removed) of the component opposite the system pressure and in which the, 31 in the original direction of movement (31 during the period (. _GD) dracklosen pressure chamber (8, 9)' acting) of the component system pressure is built.

3. The method according to claim 1, characterized in that of the control device (13) in the first movement phase of the component, a further time period (t ₃ i _st ) from the time difference between the first measurement signal (S ₁ ) and a control signal for the switching element

(10, 11; 36) is determined in the second switching time (Tuz2) and then by the control unit (55) of the control device (13) for smooth starting of the end position from a target-actual comparison between a predetermined period (t ₃ s ₀ n ) and the determined time interval (t ₃ i _st ) manipulated variables in each case for a first and second switching time (Tuzi, Tuz ₂ ) of the switching element (10, 11, 36) are calculated and that these switching times (Tuzi, Tuz ₂ ) of the switching element (10 , 11; 36) are set in the same direction of movement (31, 31 ') according to the manipulated variables in the further movement phase of the component following the first movement phase, provided that the determined time interval (t ₃ i _st ) differs from the set time interval (t ₃ s _o ii) deviates.

4. The method according to claim 3, characterized in that of the control device (13) in the first movement phase of the component, a time period (X _GD ) from the time difference between control signals in the switching times (Tuzi, Tuz2) of the switching element (10, 11; ) and that the first and second switching times (Tuzi, Tuz ₂ ) of the

Switching element (10, 11, 36) in one of the time period (tüo) corresponding, constant time interval relative to the first measurement signal (S ₁ ) are shifted on the time axis.

5. The method according to claim 1, characterized in that by the control device (13) a time period (t _GD ) from the time difference between control signals in the switching times (Tuzi, Tuz ₂ ) of the switching element (10, 11, 36) is calculated and changed and, for this purpose, by the control unit (55), in terms of time, the first changeover time (Tuzi) of the switching element (10, 11, 36) corresponding to the calculated manipulated variable in the first Movement phase subsequent, further movement phase of the component in the same direction of movement (31, 31 ') set and considered in terms of time, second switching time (Tuz ₂ ) of the switching element (10, 11, 36) is determined, provided the determined time period (tn _s t) of the specified period (tisoii) deviates.

6. The method according to claim 2, characterized in that generated by the control device (13) for the second switching time (Tuz2) of the switching element (10, 11, 36) a secondary signal (S _NS ) and the switching element (10, 11; ) is switched on and from this the pressure chamber (8, 9) over a period of time (tsc _t c) is driven with system pressure, so that the component is applied to the safe reaching its end position in the direction of movement (31, 31 ') with system pressure.

7. The method according to claim 1 or 6, characterized in that from the control device (13) to the switching element (10, 11, 36) at the pre-control time (T vs) a pilot signal (Svs) is delivered, through which the switching element (10, 11; 36) is vented in the further movement phase in one of the movement direction (31) of the first movement phase opposite direction of movement (31 ') before the start of movement of the component which is pressurized with system pressure chamber pressure.

8. The method according to claim 1, characterized in that by the control device (13) at the time (T ₂ ) a time period (t ₄ ) for the residence time of the component in its final position specified and at the end of the period (t ₄ ) an enable signal with which or at a later starting time (Tstart) determined by the control device (13) or a higher-level control, the switching element (10, 11, 36) for the movement start of the component in the further, in one of the movement direction (31 ) is reversed the first phase of movement opposite direction of movement (31 ').

9. The method according to claim 1, characterized in that of the control device (13) in the first movement phase of the component, a time period (t ₅ ) from the time difference between one of the control device (13) or a higher-level control to the component driving the switching element (10, 11, 36) emitted control signal at the start time (Ts _tart ) and a triggered after the start of movement of the component in the movement _phase , via a arranged in the movement start-side end position sensor (21, 22) preconceived start signal (Sst _art) is calculated at the time (T ₀₎ and that the start time (Ts _tart), in which the control signal triggered and to the switching element (10, 11; 36) is discharged corresponding to the calculated period (t ₅₎ is set in the subsequent movement phase of the subsequent movement phase of the component in the same direction of movement (31, 31 ').

10. The method according to claim 1, characterized in that the control device (13) calculates a time (T _R ) taking into account the system properties of the drive (1, 1 ') operatively connected, further drive (1 "), to which a feedback signal (S _RÜCIC ) is triggered and by which the further drive (1 ") before, at the same time or after reaching the end position of the component by the first drive (1, 1 ') is controlled.

11. The method according to claim 1, characterized in that of a monitoring device (72) of the control device (13) evaluated a signal waveform of the sensors (21, 22) during the movement phase of the component between its end positions and thereby the number of state change of a signal level between a High level and low level is monitored.

12. The method according to claim 11, characterized in that of the control device (13) defines a limit number of state change of a signal level between a high level and low level and in the first movement phase of the component a target-actual comparison between a predetermined period (tis _o ii) and the determined time period (tπ _st ) is performed, if the determined number of state change exceeds the specified limit number of state change and that of the control unit (55) for gently approaching the end position from the target-actual comparison between a fixed period of time (tis _o ii) and the determined period of time (tπ _st ), a manipulated variable is calculated for at least one of two temporally successive switching times (Tuzi, Tσz2) of the switching element (10, 11; 36) and then a period of time (t _G o) for the application of force to the component in its direction of movement (31) opposite direction of movement (31 ') entsprec In the next phase of the movement following the first movement phase, the set value is

Component in the same direction of movement (31, 31 ') is increased, provided that the determined time interval (tπ _s t) falls below the predetermined period of time (tis _o ii).

13. The method according to claim 11, characterized in that of the control device (13) defines a limit number of state change of a signal level between a high level and low level and in the first movement phase of the component a desired-actual comparison between a specified period (tisoii) and the determined period of time (t _llst ) is performed, if the determined number of state change exceeds the predetermined limit number of state change and that of the control device (13) for safe starting of the end position, a time period (to _D ) for the application of force is reduced to the component in its direction of movement (31) opposite direction of movement (31 ') according to a weighting factor in the movement phase following the first movement phase, further movement phase of the component in the same direction of movement (31, 31'), provided the determined time period ( tu _st ) exceeds the specified period of time (tιs ₀ n).

14. The method according to claim 11, characterized in that of the control device (13), the determined number of state change of a signal level between a high level and low level and a predetermined minimum number of state change of a signal level between a high level and low level is compared and evaluated and an error message at an output device (53) of the control device (13) or a higher-level control is issued, provided that the determined number of state changes below the specified minimum number of state change.

15. The method according to claim 1, characterized in that of the control device (13) monitors the time period (toα) for the opposite control of the pressure chambers (8, 9) and an error message to an output device (53) of the control device (13) or a is output higher-level control, if a specified by the control device (13), time upper limit for the period (to _ü ) is exceeded.

16. Fluidically actuated drive (1, 1 ', 1'') for carrying out the method according to one of claims 1 to 15, with components which can be adjusted relative to one another, of which one component is in at least one switching element (10, 11, 36) in a first direction of movement (31) and in a first direction of movement (31) opposite, second movement direction (31 ') is braked between end positions and against at least one of the end positions, wherein an electronic control device (13) each of a via a switching flag (27 a, b) electronically switchable and in the end position arranged sensor (21, 22) control signals for the timing of the movement phase of the component for smooth starting of the end position can be fed and by the control device (13) the switching element (10, 11, 36) can be actuated by means of the control signals and pressure chambers (8, 9) of the drive (1, 1 '; 1 ") can be actuated in opposite directions, characterized in that the movable component is provided with a control strip (25, 26) at its opposite ends in the direction of movement (31, 31 '), the control strip (25, 26) being the switching flag (25). 27a, b) and in the direction of movement (31, 31 ') of the component in succession offset at least two control edges (32a, b, 33a, b) comprises, such that in the movement phase of the component of the first control edge (32a, b ) in the effective range of the arranged in the end position sensor (21, 22) at a time (T ₁ ) a first measurement signal (S ₁ ) and from the second control edge (33a, b) in the effective range of the same sensor (21, 22) to a later time (T ₂ ) a zw ees measuring signal (S ₂ ) can be triggered, and that the control device (13) for gently starting the end position from a target-actual comparison between a predetermined period (t _1So ii) and a determined period (t _llst ) at least one manipulated variable for at least one of two temporally lew consecutive switching times (Tuzi, Tuz2) of the switching element (10, 11; 36) and the switching element (10, 11; 36) for adjusting at least one switching time (Tuz _b Tuz2) corresponding to the manipulated variable in the subsequent movement phase of the component in the same direction of movement (31, 31 ') is provided.

17. Drive according to claim 16, characterized in that the control device (13) additionally comprises a monitoring device (72) for evaluating a signal waveform of the sensors (21, 22) during the movement of the component between its end positions or a period of time (to _ü ) for the Duration of the counter-control of the pressure chambers (8, 9).

18. Drive according to claim 16 or 17, characterized in that the control device (13) additionally comprises an output device (53) for evaluating the signal waveform of the sensors (21, 22) or output an error message.

19. Drive according to claim 16, characterized in that the control bar (25, 26) has a transversely to the direction of movement (31, 31 ') formed over part of its thickness recess groove (28 a, b), via which the switching flag (27 a, b ) and an end layer section (29a, b) are separated from each other, wherein a width (B) of the recessed groove (28a, b) at least between 1 mm and 5 mm, in particular between 2 mm and 4 mm, for example 3 mm and a longitudinal distance (A) between the control edges (32a, b, 33a, b) a maximum of between 4 mm and 15 mm, in particular between 5 mm and 12 mm, for example 9 mm.

20. Drive according to claim 16, characterized in that the control device (13) and / or the at least one switching element (10, 11, 36) is constructed on one of the components or integrated in one of the components.

21. Drive according to claim 1, characterized in that at least one of the end positions by changing the position of a fixed stop (3, 4, 44 ', 44 ") and / or shock absorber

(45 ', 45 ") and / or a control bar (25, 26) and one of these associated sensor (21, 22) is adjustable.

22. A method for controlling a fluidically actuated drive (100) with components that can be adjusted relative to one another, of which one component is connected via at least one switching element (109;

134) is moved in a first direction of movement (31) and in a direction of movement (31) opposite, second movement direction (31 ') regulated between end positions, wherein a control device (116) arranged in the end positions sensors (119, 120) electrical Control signals for the timing of the movement phase of the component for gently starting the end position are supplied and by the control device (116)

Switching element (109, 133, 134) is actuated on the basis of the control signals, characterized in that via the control device (116) or a higher-level control a desired value of the movement time (t _ß s _o ii) for the movement of the component from the one end position in the set other end position and the sensors (119, 120) on the adjustment movement of the component from one end position to the other end position an actual value of the movement time (t _ßlst ) is detected and that of a control unit (127) of the control device (116) for soft starting the final position of a desired-actual comparison between the fixed movement time (t _ß s _o ii) and the determined movement time (tsist) a manipulated variable for at least one of two temporally successive switching times (Tuzi, Tuz ₂ ) of the switching element (109; , 134) and that a control duration (tso) predetermined by the switching times (Tuzi ₅ Tuz2) is changed by changing the switching time (Tuzi, T ^ υzi ) is set in the same direction of movement (31, 31 ') in accordance with the manipulated variable in the further movement phase of the component following the first movement phase, whereby initially half the set control duration O _SD ) of the component accelerated to a desired speed and then the switching element (109, 133, 134) starting from the second switching time (Tuz ₂ ) over a period of time (tGß) up to a by the fixed movement time (t _BSo ii) predetermined theoretical end time (T _TE ) is pulsed actuated.

23. The method according to claim 22, characterized in that the switching element (109, 133, 134) via the control device (116) or the higher-level control within the period (toβ) by a plurality of temporally successive switching pulses short duration (tsc _H ) is switched by which a component controlling the control pressure chamber (107, 108) of the drive (100) is acted upon in intervals of pulses pauses successive system pressure, so that the component starting from the second switching time (Tuza) in the direction of movement (31, 31 ') with respect to the Target speed decreasing speed of movement is moved in the approaching end position.

24. The method according to claim 23, characterized in that by the control device (116) or the higher-level controller, a time interval (tp) of the pulse pauses is calculated, within which the component due to its inertia without drive in the direction of movement (31, 31 ') in the direction is moved to the approaching end position.

25. The method according to claim 23, characterized in that via the control device (116) or the higher-level control, the number and / or duration (tscπ) of Schaltinapulse is fixed.

26. The method according to claim 23, characterized in that the number of and / or the duration (tsca) of the switching pulses in a dynamic learning mode is continuously determined by the control device (116) or the higher-level control, in which initially the component is controlled in the end position driven and thereby a state of motion, such as the speed curve, the excited vibrations at the drive or the mechanical load on the drive due to the impact load at the end position impacting component is detected, and then by continuously changing the number and / or the duration O _SC H) the switching pulses an optimum state of motion on the drive (100) is set.

27. The method according to claim 22, characterized in that by the control device (116) with the arrival of the component in its approaching end position within the specified movement time (t _ß soii) at the time (T ₂ or TE _E ) a subsequent switching signal (SN _S ) generated and the switching element (109, 133, 134) is switched and from this the pressure chamber (107, 108) is controlled over a period of time (t _A ) with system pressure, so that the component in the direction of movement (31, 31 ') subjected to system pressure and with a holding force is held in the end position.

28. The method according to claim 22, characterized in that of a monitoring device (132) of the control device (116) at a control deviation (e) between the fixed movement time (tßsoii) and determined movement time (tßist), the theoretical end time (T _T E) of the fixed movement time (tssoii) a monitoring signal (St)) is triggered, with which a first time period is specified, and at the end of this period generates a reset signal (S _NS ) and the switching element (109, 133, 134) as well as from this, the pressure chamber (107, 108) is actuated with system pressure over a period of time (I _A ), so that the component to systemic pressure until it reaches its end position in the direction of movement (31, 31 ') and held with a holding force in the end position becomes.

29. The method according to claim 28, characterized in that in the movement phase of the component shortly before reaching the approaching end position via a switching lug (27a, b) on the sensor (119, 120) at a time (T ₁ ) a first measurement signal (S ₁ ) and at a later time (T ₂ ), a second measurement signal (S ₂ ) is detected and that a second time period (tp) from the time difference between the first measurement signal (S ₁ ) and a to the switching time (Tuz _n ) triggered control signal of the last Switching pulse is determined and the Nachschaltsignal (S _NS ) generated by the monitoring device (132) before the end of the first period of time and the switching element (109, 133, 134) is switched, if the first time period exceeds the second time period (t _F ), so that the component is acted upon early in the direction of movement (31, 31 ') with system pressure.

30. Fluidically actuated drive (100) for carrying out the method according to any one of claims 22 to 29, with relatively adjustable components, of which a component via at least one switching element (109, 133, 134) in a first direction of movement (31) and in one of the first movement direction (31) opposite, second movement direction (31 ') between end positions is movable, wherein an electronic control device (116) arranged in the end position sensor (119, 120) control signals for the timing of the movement phase of the component for soft starting can be fed to the end position and by the control device (116), the switching element (109, 133, 134) is actuated based on the control signals, characterized in that via the control device (116) a desired value of the movement time (t _ß s _o ii) for the movement of the component of the one end position in the other end position can be determined and the sensors (119, 120) on the adjustment of the component from one end position to the other end position an actual value of the movement time (t _ß i _st ) can be detected and that the control device (116 ) for gently approaching the end position one of a target-actual comparison between the set movement time (tsssoii) and the determined Bewegu ngszeit (t _ß i _st ) a manipulated variable for at least one of two temporally successive switching times (Tu _Z1 , Tuz ₂ ) of the switching element (109; 133, 134) and the switching element (109; 133, 134) for setting a control duration (I _SD ) predetermined by the switching times (Tuzi _> Tuz2) by changing the switching time (Tuzi, Tuz2) in accordance with Manipulated variable in the subsequent movement phase of the first movement phase of the component in the same direction of movement (31, 31 ') is provided and that the component by controlled control of the switching element (109, 133, 134) initially within the set control period (Ü _SD ) on a setpoint speed is accelerated and thereafter the switching element (109; 133, 134) starting from the second switching time (Tuz2) over a period of time (toß) to a predetermined by the fixed movement time (t _ß s _o ii), theoretical end time (T _TE ) is pulsed actuated by the control device (116).

31. Drive according to claim 30, characterized in that the control device (116) additionally comprises a monitoring device (132) for generating a monitoring signal (Sü) and evaluation of a first and second time period (tp).

32. Drive according to claim 30, characterized in that the control device (116) additionally has an input and / or output device (131) for setting the number and / or duration (tscπ) of the switching pulses or output an error message.