CN1971069A - Ratio-variable feedback type digital fluid cylinder - Google Patents
Ratio-variable feedback type digital fluid cylinder Download PDFInfo
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- CN1971069A CN1971069A CN 200610022134 CN200610022134A CN1971069A CN 1971069 A CN1971069 A CN 1971069A CN 200610022134 CN200610022134 CN 200610022134 CN 200610022134 A CN200610022134 A CN 200610022134A CN 1971069 A CN1971069 A CN 1971069A
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Abstract
The invention relates to a digital fluid cylinder with transformer ratio feedback, belonging to fluid cylinder technology area, especially feedback control technology of self-feedback digital driving hydraulic cylinder. As the piston of fluid cylinder moves in high speed and locates precisely. Feedback bar 7 in fluid cylinder is divided into feedback bar of piston 7-1 and feedback bar of control valve 7-2 and at one end of the feedback bar of piston 7-1 transmission 6 is set. Clutch 13 is set at one end of the feedback bar of controller 7-2 and set at the position where the clutch 13 is joined with the transmission 6. NC device 1 controls the running of driving motor 2 and different clutch terminals 12 of clutch 13 to join and release with the transmission 6. The piston journey is divided into high speed moving segment of long distance and low speed accurate moving segment of micro distance by NC device. In different moving segment different clutch terminal 12 is started so that the core of control valve 14 obtains different feedback energy and different moving speed and located accuracy of piston are controlled.
Description
Technical field
The invention belongs to the fluid cylinder technical field, particularly the saturation type digitizing drives the feedback control technology field of oil hydraulic cylinder.
Background technique
Numeral oil hydraulic cylinder technology has demonstrated fully the characteristics and the advantage of digital hydraulics, originate from the 60 to 70's of last century, because countries such as Germany, Japan and China make the digital fluid cylinder technology reach the practical stage gradually in the continuous research in this field and perfect.
The digital cylinder of existing practical application is made up of numerical control device, stepper motor and the cylinder body that has a control valve, and the effect of control valve is to realize the starting and stopping that cylinder piston is moved and the control of moving direction.The basic functional principle of digital hydraulic cylinder is that microcomputer sends the control impuls sequence signal, through amplifying the motion of rear driving stepper motor, opens digital valve, thereby drives the oil hydraulic cylinder motion.In machine feedback formula numeral oil hydraulic cylinder, the feedback rod that is connected with piston thread that moves through of piston feeds back to control valve, has constituted self-regulating interior location closed loop and speed closed loop.The displacement of oil hydraulic cylinder is directly proportional with the sum of control impuls; The movement velocity of oil hydraulic cylinder is directly proportional with the frequency of control impuls; Stroke corresponding to a pulse signal lower piston of numerical control device is called as pulse equivalency.What adopt in existing digital oil hydraulic cylinder technology is single feedback rod control, all the time the contradiction that has movement velocity and Location accuracy, because what its feedback adopted is the feedback rod that directly is communicated with, it is that this was a kind of in 1: 1 that the velocity ratio of the feedback speed of feedback signal collection place and feedback signal output point has only.Promptly under the constant situation of digital control signal frequency, obtain then needs to increase pulse equivalency at a high speed, and the most direct mode is exactly oversize piston nut and the lead of screw of feeding back screw mandrel, and piston-advance speed is improved, but this mode has reduced Location accuracy; Equally,, need reduce pulse equivalency,, satisfy the requirement of Location accuracy, but the operating rate of digital cylinder is reduced if the lead of screw of piston unt with the feedback screw mandrel reduced for obtaining high Location accuracy.The contradiction of this speed and precision in existing scheme, can't overcome from structure itself, has greatly limited the popularization and the use of digital oil hydraulic cylinder.Existing solution is: adopts complicated control system, increases pulse frequency, improve movement velocity, thus the defective of indirect collocation structure.Since be subjected to stepper motor across-the-line starting frequency and hydraulic cylinder structure restriction, caused become complicated, cost of The whole control system to rise significantly, be difficult to accomplish simultaneously highi degree of accuracy and high-speed unification, this problem becomes the bottleneck of the existing digital oil hydraulic cylinder industrial applications of restriction, makes it be difficult to obtain to promote widely.
Summary of the invention
The purpose of this invention is to provide a kind of no-load voltage ratio feedback mechanism that utilizes, the stroke when hydraulic cylinder piston is moved (speed) variable is converted into the feedback variable of different sizes, and then parameters such as piston movement speed, Location accuracy is realized the fluid cylinder of variable control.
Design of the present invention is: will have the feedback rod that connects piston 9 and control valve 4 in the fluid cylinder now and be divided into two sections for 7 sections, be i.e. piston end feedback rod 7-1 and spool end feedback rod 7-2.Piston end feedback rod 7-1 and spool end feedback rod 7-2 face end mutually, establish speed change gear 6 and clutch 13 respectively.A kind of feedback speed that speed change gear 6 is passed to piston end feedback rod 7-1 to piston 9 becomes various feedback speed.By numerical control device 1 control a certain selected clutch terminal 12 in the clutch 13 is engaged with the speed Out let 11 of corresponding speed change gear 6, make clutch 13 can obtain required friction speed, by clutch transmission spool end feedback rod 7-2, by the connecting sleeve 5 on the spool end feedback rod 7-2 the other end feedback speed is passed to control valve spool 14 again, thereby make control valve 4 obtain different reverse feedback variablees.Realize adjusting thus, can realize fast or at a slow speed (accurately) motion of piston as required kinematic parameters such as piston 9 movement velocitys, Location accuracies.
Structure of the present invention:
1. existing reaction type fluid cylinder comprises numerical control device 1, cylinder body 8.Be provided with control valve 4 and piston 9 in the cylinder body 8, be provided with control valve spool 14 in the control valve 4, control valve spool 14 is connected by rotation sliding sleeve 3 with drive motor 2; Be provided with drive unit and feedback means between control valve 4 and the piston 9, a rotatable feedback rod 7 is arranged in the feedback means.Control valve 4 generally is a spool-type valves, and effect is to realize the starting and stopping of piston motion and the control of moving direction.Thread engagement on set screw nut 10 and the feedback rod 7 is arranged in the piston 9 of existing digital fluid cylinder, and feedback rod 7 the other ends have screw pair to link to each other with control valve spool 14.The kinematic variables path increment of piston feeds back to control valve like this, and realizes the piston motion parameter control has been formed negative feed back control system in fluid cylinder inside by control valve.In order to realize control to piston 9 movement velocitys, need regulate and control feedback variable, need have several different feedback variables at same fluid cylinder, following technological improvement of the present invention can realize selecting controlled various feedback variable, thereby realizes the different kinematic parameter of piston.
2. the present invention is divided into piston end feedback rod 7-1 and control valve end feedback rod 7-2 with existing feedback rod 7, and piston end feedback rod 7-1 one end is connected in the screw pair mode with piston 9, and the piston end feedback rod 7-1 the other end is provided with speed change gear 6; Control valve end feedback rod 7-2 one end is connected in the kinematic pair mode with control valve spool 14, and the control valve end feedback rod 7-2 the other end is provided with clutch 13; Clutch 13 is located at the position that can engage with speed change gear 6; The rotation of numerical control device 1 controlling and driving motor 2, the different clutch terminals 12 of numerical control device 1 solenoidoperated cluthes 13 engage with speed change gear 6 or throw off.Generally be needs according to the displacement validity of piston 9, numerical control device 1 sends control corresponding and refers to life when piston 9 is displaced to desired location, driving different clutch terminals 12 engages with the clutch 13 speed output terminals 11 of different rotating speeds or throws off, make the different feedback signal of control valve 4 acquisition speed, thereby revise, adjust the size that 9 outputs of 4 pairs of pistons of control valve drive energy, or switch drive energy.
Control valve end feedback rod 7-2 is connected in the kinematic pair mode with control valve spool 14 through connecting sleeve 5.This is that control valve end feedback rod 7-2 transmits the preferred version that rotates variable to control valve 4.Certainly also the available velocity combination mechanism transmits feedback variable.
Feedback arrangement is simple in order to make, good reliability, feedback variable are accurate, with feedback rod 7, speed output terminal 11, clutch terminal 12, connecting sleeve 5 designs at same spin axis.
Controlling and driving motor 2 of the present invention is a certain of stepper motor, actuating motor.
Connecting sleeve 5 comprises screw pair or cam pair, promptly available screw pair, also available cam pair with the kinematic pair that is connected between the control valve 4 among the present invention.
Said structure realizes that the process of feedback control is as follows:
1, three of digital fluid cylinder kinds of working staties
(1) state of rest such as Fig. 1,2, high-pressure liquid feeds control valve by the oil inlet P of control valve 4, because the seal action of the shaft shoulder on the control valve spool 14, fluid does not feed in the oil pocket of cylinder body 8, at this moment piston is slack.
(2) forward travel state as shown in Figure 3, Figure 4, when being subjected to the pulse digital signal of numerical control device 1, stepper motor 2 drives, key by sliding sleeve 3 drives 14 rotations of control valve spool, because control valve spool 14 terminations have kinematic pair to be connected with connecting sleeve 5, thereby control valve spool 14 also produces moving axially away from stepper motor 2 directions when rotating.The rodless cavity that the high-pressure liquid slit between the formed shaft shoulder and valve body duct and the runner in the cylinder body after control valve spool 14 moves enter cylinder body, the fluid of rod chamber is discharged fluid through runner from the T mouth.Flow direction is seen Fig. 3, Fig. 4, travels forward thereby the high-pressure liquid of rodless cavity promotes piston 9.
(3) fallback state such as Fig. 5, change turning to of stepper motor, make control valve spool 14 to moving near the stepper motor direction, the rod chamber that the high-pressure liquid slit between the formed shaft shoulder and valve body duct and the runner in the cylinder body after control valve spool 14 moves enter cylinder body, the fluid of rodless cavity is discharged fluid through runner from the T mouth.Flow direction is seen Fig. 5, returns backward thereby the high-pressure liquid of rod chamber promotes piston 9.
2, realize the control procedure of no-load voltage ratio feedback
When piston 9 advances or retreats, its athletic meeting feeds back to control valve 4 by feedback rod 7-1 and 7-2, its feedback procedure is such: the nut 10 that drives wherein during piston 9 motions moves together, because the screw action of nut 10 and feedback rod 7-1, feedback rod 7-1 produces and rotatablely moves, by speed change gear, clutch, rotate thereby drive connecting sleeve 5, because connecting sleeve 5 has kinematic pair to be connected with control valve spool 14; Thereby the action that control valve spool 14 is pulled to original position is arranged, form the reverse feedback of position.Because speed change gear 6 can be by different drive ratios output various feedback speed, the rotating speed that each output terminal 11 of speed change gear 6 is had nothing in common with each other.The situation that engages such as Fig. 3, Fig. 4 of numerical control device 1 solenoidoperated cluthes clutch terminal 12 and speed change gear output terminal 11, when the needs piston is made high-speed motion, clutch terminal 12 is engaged than terminal with big retarding in the speed change gear output terminal 11, make clutch terminal 12 obtain through the low feedback speed behind the speed change gear big retardings.Equally when the needs piston is made low speed and is accurately moved, clutch terminal 12 is engaged with little reduction speed ratio terminal or speed increasing ratio terminal in the speed change gear output terminal 11, make higher feedback speed of clutch terminal 12 acquisitions.The clutch terminal is by control valve spool end feedback rod 7-2, make the connecting sleeve 5 can be by several different rotational speed, control valve can obtain different feedback variables, and in fact just being equal to fluid cylinder has several different feedback rods, can obtain several different pulse equivalencies
Therefore in piston motion, can produce high-speed motion or accurate microinching easily, satisfy the needs of different operating requirement well.
Advantage of the present invention: the digital oil hydraulic cylinder of the present invention's development has adopted no-load voltage ratio feedback mechanism and segmentation controlling method, can be by the unified control of numerical control device.Owing to designed the no-load voltage ratio feedback mechanism, clutch terminal 12 is engaged than terminal with the friction speed of speed change gear output terminal 11, make clutch terminal 12 obtain through low feedback speed or a higher feedback speed after the speed change.The clutch terminal is by control valve spool end feedback rod 7-2, make the connecting sleeve 5 can be by several different rotational speed, can realize the feedback motion of controllable different feedback speed ratios between control valve and piston, piston can produce high-speed motion or accurate microinching easily.Therefore the method for segmentation control be can adopt, high-speed motion and pinpoint purpose reached simultaneously with same fluid cylinder.For example: need piston motion 302.44mm, we have preset corresponding program in numerical control device 1, automatically carry out segmentation, as be divided into: two sections of 300mm and 2.44mm, utilize the big gear ratio feedback of status of speed change gear and clutch in the incipient stage, high-speed motion 300mm, after finishing high-speed motion, numerical control device 1 is according to preset program, send instruction during to the relevant position in piston motion, speed change gear and clutch automatically switch to little gear ratio feedback states, realize accurate microinching 2.44mm, thereby guarantee that final stroke is 300mm+2.44mm.Such controlling method and structure make digital fluid cylinder all produce huge improvement at aspects such as product structure, control system and service conditions:
1) under the constant situation of certain pulse frequency and motor step elongation, the Location accuracy of piston stroke depends on pulse equivalency, by the lead of screw decision of feedback rod 7; Same helical pitch is difficult to satisfy high-speed motion and pinpoint needs simultaneously, and adopts the no-load voltage ratio feedback to equal multiple helical pitch feedback rod 7, can overcome high-speed motion and pinpoint contradiction well.
2) owing to adopted this mechanical mechanism, but realized that piston 9 is the rapid movement unification of precision location again, can design the mechanical mechanism of fluid cylinder according to usage requirement, make cylinder body work accurately, reliable, control system is simple, and is easy to operate.
3) because can be generally speaking not high in numerical control device 1 pulse frequency, but the rapid movement that piston 9 can obtain industrial requirements precision location again.Thereby control system no longer needs subdivision driver and intelligent control module, and digital fluid cylinder manufacture cost falls 1/3～1/5.
4) under the situation of numerical control device 1 same pulse equivalency, because feedback speed improves, the valve port opening when making control valve 4 work balances strengthens, and to the requirement reduction of fluid filter precision, hydraulic system obtains simplifying, and operating cost reduces greatly.
5) owing to be subjected to stepper motor 2 to start the restriction of frequency, as when satisfying the Location accuracy of 0.01mm, piston 9 whole process of existing digital fluid cylinder can only reach the movement velocity of 30mm/s.After adopting no-load voltage ratio feedback mechanism of the present invention, the quick stage of piston 9 and at a slow speed the average movement velocity in stage can easily reach more than the 200mm/s, and Location accuracy guarantees the grade at 0.01mm.Owing to do not need the screw mandrel of big especially helical pitch, the processing of the required screw mandrel of fluid cylinder becomes than being easier to simultaneously.
6) promote Location accuracy.As according to the Precision Design fluid cylinder that satisfies 0.01mm, after speed change gear adopts the speedup design, can reduce the pulse equivalency of fluid cylinder.Adopt the digital fluid cylinder of the present invention can be under the situation of the accurate screw mandrel of stepper motor that does not need very little step angle and little helical pitch, can realize high position precision with the Location accuracy of piston 9 by the grade that 0.01mm is promoted to 0.002mm.
Stack up, the digital fluid cylinder of ratio-variable feedback type of the present invention can be satisfied the above big stroke of 1m, and velocity of piston is in the adjustable technical requirements of 10～500mm/s scope simultaneously.
Description of drawings
Fig. 1 is basic principle figure of the present invention;
Fig. 2 is the schematic representation that piston of the present invention remains static;
Fig. 3 is the schematic representation that piston of the present invention is in quick forward travel state
Fig. 4 piston of the present invention is in the schematic representation of accurate forward travel state;
Fig. 5 is the schematic representation that piston of the present invention is in fallback state;
1 is numerical control device, the 2nd among the figure, controlling and driving motor, the 3rd, and rotation sliding sleeve, the 4th, control valve, the 5th, connecting sleeve, the 6th, speed change gear, the 7th, feedback rod, 7-1 are that piston end feedback rod, 7-2 are spool end feedback rods, the 8th, cylinder body, the 9th, piston, the 10th, set screw nut, the 11st, speed change gear output terminal, the 12nd, clutch terminal, the 13rd, clutch, the 14th, control valve spool.
Specific embodiment
Ratio-variable feedback type digital fluid cylinder of the present invention, comprise that parts and structure thereof that existing numerical control fluid cylinder also has are: numerical control device 1, controlling and driving motor 2, cylinder body 8, and the piston in the cylinder body 89, control valve 4 and feedback rod 7, control valve spool 14 is connected in rotation sliding sleeve 3 modes with controlling and driving motor 2, and control valve 4 is spool-type valves.The effect of control valve 4 is to realize piston motion start-stop and moving direction are changed control.Motor is moved in the 2 usefulness steppings of present embodiment controlling and driving motor.Feedback mechanism in the present embodiment digital fluid cylinder is:
Feedback rod of the present invention is formed by two sections, wherein on a section of adjacent pistons 9 piston end feedback rod 7-1, piston end feedback rod 7-1 one end has screw thread, keep the screw pair mode to be connected with nut 10 fixing on the piston 9, the other end fixedly connected the ball bearing speed change gear that A, B, three speed Out lets 11 of C are arranged, wherein, A terminal and piston end feedback rod 7-1 directly connect, and the speed ratio of A terminal rotating speed and piston end feedback rod rotating speed is 1: 1.Any one to-and-fro motion speed of piston 9, three kinds of different rotational velocity outputs of A, B, three speed Out lets 11 of C all can be arranged at ball bearing speed change gear speed output terminal, ratio between these three kinds of rotational velocity can be determined by the mode that designs different ball bearing speed change gears as required.Generally the to-and-fro motion Location accuracy at piston 9 is under the situation of 0.01mm, and the ratio of the speed of three kinds of rotating speeds of ball bearing speed change gear can be: A: B: C=9: 3: 1.
The control valve spool end feedback rod 7-2 that aforementioned another section feedback rod that will have the numerical control fluid cylinder now is adjacent control valve 4, control valve spool end feedback rod 7-2 one end keeps being connected with screw pair with control valve 4, and the other end is fixedly connected with magnetic clutch 13.Magnetic clutch 13 has three clutch terminals 12 of X, Y, Z that can engage with speed change gear A, B, three speed Out lets 11 of C, and wherein clutch terminal 12 is respectively by its joint of corresponding magnet control or disengagement action.Each electromagnet all links to each other with numerical control device 1, be subjected to the control of numerical control device 1, such three clutch terminal X, Y, Z can engage with the speed Out let of A, B, three ball bearing speed change gears of C respectively, that is: three kinds of compound modes of A → X or B → Y or C → Z in the different time.Therefore the ratio of three resulting rotating speeds of clutch terminal also is X: Y: Z=9: 3: 1, wherein the rotating speed of X terminal equated with the rotating speed of piston end feedback rod 7-1.If the rotating speed of piston end feedback rod 7-1 is 900 rev/mins, then the rotating speed of X terminal output is 900 rev/mins, and the rotating speed of Y terminal is 300 rev/mins, and the Z terminal is 100 rev/mins.The clutch terminal is by control valve spool end feedback rod 7-2, make the connecting sleeve 5 also can be at different time by three kinds of different rotational speed, therefore can obtain three kinds of different feedback control speed at the different time control valve, come down to different time and can obtain three different pulse equivalencies, the ratio of the pulse equivalency of A → X, B → Y, three kinds of compound mode gained of C → Z is 1: 3: 9, and it is 1: 3: 9 movement velocity that piston can obtain three kinds of friction speed ratios.
Clutch 13 is located at the position that can engage with speed change gear 6.
The process of present embodiment numerical control device 1 control piston 9 motions is:
For example require piston 9 to stretch out 141.85 millimeters of cylinder bodies.At first; guarantee that by design the motion positions precision of piston is for being higher than 0.01mm; secondly; numerical control device 1 carries out segmentation to whole stroke automatically; as be divided into: two sections of 140mm and 1.85mm; utilize the big gear ratio feedback of status of speed change gear and clutch in the incipient stage; high-speed motion 140mm; after finishing high-speed motion; speed change gear and clutch automatically switch to little gear ratio feedback states; realize accurate microinching 1.85mm; thereby guarantee that final stroke is 140mm+1.85=141.85mm; as control signal that can be by numerical control device 1, the X terminal in the clutch terminal 12 and the A termination of speed change gear output terminal 11 are closed, perhaps the C termination of Z terminal in the clutch terminal 12 and speed change gear output terminal 11 is closed.At pulse equivalency=0.01mm, during the control impuls frequency of numerical control device=3000/s, the control signal of numerical control device 1 is at first feasible, being in the Z terminal in the clutch terminal 12 and the C termination of speed change gear output terminal 11 closes, feedback signal was by gearing down transmission in 9: 1, then the pulse equivalency of piston motion is bigger, and piston is realized high-speed motion, and piston-advance speed is 270mm/s; After high-speed motion has been finished the stroke of 140mm, numerical control device 1 follow procedure, send new control signal, make and to be in X terminal in the clutch terminal 12 and the A termination of speed change gear output terminal 11 is closed, feedback signal was transmitted by 1: 1, and then the pulse equivalency of piston motion is less, and piston is realized at a slow speed accurately motion, forward velocity is 30mm/s, and omnidistance mean velocity is 266mm/s.Both guarantee the Location accuracy of stroke, satisfied the needs of high-speed motion again.
As embodiment 1, its difference only is that clutch terminal 12 quantity of speed change gear speed output terminal 11 and clutch 13 are different with relative scale.The ball bearing speed change gear of three speed output terminals 11 is changed to the speed change gear of five speed output terminals 11, be A, B, C, D, five speed Out lets 11 of E, wherein, A terminal and piston end feedback rod 7-1 directly connect, and the velocity ratio of A terminal rotating speed and piston end feedback rod rotating speed is 1: 1.Magnetic clutch 13 also has five clutch terminals 12 of U, W, X, Y, Z that can engage with these five speed Out lets 11 respectively.
Control valve end feedback rod 7-2 is connected in the screw pair mode with control valve 4 through connecting sleeve 5.
The output speed of speed change gear A, B, C, D, five speed Out lets 11 of E is adjusted by different speed change gear structural types of design and size.As the to-and-fro motion Location accuracy at piston 9 is under the situation of 0.01mm, and the ratio of the output speed value of speed change gear A, B, C, D, five speed Out lets 11 of E can be: 16: 8: 4: 2: 1.
The same with embodiment 1, another section feedback rod of numerical control fluid cylinder is the control valve spool end feedback rod 7-2 of adjacent control valve 4, and control valve spool end feedback rod 7-2 one end keeps being connected with screw pair with control valve 4.The other end of control valve end feedback rod 7-2 is fixedly connected with magnetic clutch 13, magnetic clutch 13 has U, the W that can engage with five speed output terminals 11 of speed change gear, X, Y, Z totally 5 clutch terminals 12, and clutch terminal 12 is respectively by its joint of corresponding magnet control or throw off action.Each electromagnet all links to each other with numerical control device 1, be subjected to the control of numerical control device 1, U, W, X, Y, five clutch terminals 12 of Z are in the different time like this, can engage with A, B, C, D, five speed Out lets 11 of E respectively, that is: five kinds of compound modes of A → U or B → W or C → X or D → Y or E → Z.Therefore the ratio of five resulting rotating speeds of clutch terminal also is 16: 8: 4: 2: 1, wherein the rotating speed of U terminal equated with the rotating speed of piston end feedback rod 7-1.If the rotating speed of piston end feedback rod 7-1 is 800 rev/mins, then the rotating speed of U terminal output is 800 rev/mins, and the rotating speed of W terminal is 400 rev/mins, and the X terminal is 200 rev/mins, and the rotating speed of Y terminal is 100 rev/mins, and the Z terminal is 50 rev/mins.The clutch terminal is by control valve spool end feedback rod 7-2, make the connecting sleeve 5 also can be at different time by 5 kinds of different rotational speed, therefore can obtain 5 kinds of different feedback control speed at the different time control valve, come down to different time and can obtain 5 different pulse equivalencies, A → U, B → W, C → X, D → Y,, E → Z the ratio of the pulse equivalency of totally 5 kinds of compound mode gained be 1: 2: 4: 8: 16, it was 1: 2: 4 that piston can obtain 5 kinds of friction speed ratios: 8: 16 movement velocity.
In addition, feedback rod 7, speed output terminal 11, clutch terminal 12, connecting sleeve 5 and control valve 4 have same spin axis.
The process of present embodiment numerical control device 1 control piston 9 motions is:
For example require piston 9 to stretch out cylinder body, finish the work of two strokes respectively by being approximately two kinds of different speed motion 152.43mm and 533.78mm of 120mm/s and 240mm/s.At first, the motion positions precision of guaranteeing piston by design is for being higher than 0.01mm, and secondly, numerical control device 1 carries out segmentation to whole stroke automatically, as 152.43mm is divided into: two sections of 151mm and 1.43mm; 533.78mm also is divided into two sections of 531mm and 2.78mm.
In the incipient stage of first stroke, the control signal of numerical control device 1 is at first feasible, the big gear ratio feedback of status of speed change gear and clutch state engages, as passing through the control signal of numerical control device 1, the X terminal in the clutch terminal 12 and the C termination of speed change gear output terminal 11 are closed, feedback signal was by gearing down transmission in 4: 1, then the pulse equivalency of piston motion is bigger, piston is realized high-speed motion, at pulse equivalency=0.01mm, during the control impuls frequency of numerical control device=3000/s, piston-advance speed is 120mm/s; High-speed motion 151mm, after finishing high-speed motion, numerical control device 1 follow procedure, send new control signal, speed change gear and clutch automatically switch to little gear ratio feedback states, make and to be in X terminal in the clutch terminal 12 and the A termination of speed change gear output terminal 11 is closed, feedback signal was transmitted by 1: 1, then the pulse equivalency of piston motion is less, piston is realized at a slow speed accurately motion, and forward velocity is 30mm/s, realizes accurate microinching 1.43mm, thereby guarantee that final stroke is 151mm+1.43=152.43mm, and omnidistance mean velocity is 119.95mm/s.
Next, in the incipient stage of second stroke, the control signal of numerical control device 1 can at first make the Y terminal in the clutch terminal 12 and the D termination of speed change gear output terminal 11 close, feedback signal was by 8: 1 transmission gearing down, then the pulse equivalency of piston motion is bigger, and piston is realized high-speed motion, at pulse equivalency=0.01mm, during the control impuls frequency of numerical control device=3000/s, piston-advance speed is 240mm/s; High-speed motion 531mm, after finishing high-speed motion, numerical control device 1 follow procedure, send new control signal, speed change gear and clutch automatically switch to little gear ratio feedback states, make and to be in X terminal in the clutch terminal 12 and the A termination of speed change gear output terminal 11 is closed, feedback signal was transmitted by 1: 1, then the pulse equivalency of piston motion is less, and piston is realized at a slow speed accurately motion, and forward velocity is 30mm/s, realize accurate microinching 2.78mm, thereby guarantee that final stroke is 531mm+2.78=533.78mm,, and omnidistance mean velocity is 238.9mm/s.
Whole stroke has guaranteed the Location accuracy of stroke, has satisfied the needs of high-speed motion again.
As embodiment 1, but the ball bearing speed change gear of three speed output terminals 11 is changed to the friction wheel speed change gear of A, two speed output terminals 11 of B, and wherein, A terminal and piston end feedback rod 7-1 directly connect, and velocity ratio is 1: 1.Any one to-and-fro motion speed of piston 9 all can have 2 kinds of different rotational velocity outputs at friction wheel speed change gear speed output terminal 11, and the ratio between these 2 kinds of rotational velocity can be taken turns determining of speed change gear by the design differentiated friction as required.As the to-and-fro motion Location accuracy at piston 9 is under the situation of 0.01mm, and the speed ratio of 2 kinds of rotating speeds of friction wheel speed change gear can be 1: 4.If the rotating speed of A terminal output is 100 rev/mins, then the rotating speed of B terminal is 400 rev/mins.
Control valve end feedback rod 7-2 is connected in the secondary mode of cam with control valve 4 through connecting sleeve 5.
Present embodiment controlling and driving motor 2 is used actuating motor.
The process of present embodiment numerical control device 1 control piston 9 motions is:
For example the stroke that requires piston 9 to stretch out cylinder body is 141.85mm and 150.025mm.Movement velocity is not done requirement.
At first, guarantee that by design the motion positions precision of piston is 0.01mm.
If do not adopt the present invention, only with the digital fluid cylinder of Location accuracy=0.01mm, be the requirement that to satisfy the Location accuracy of second stroke.Can realize using the structure of Location accuracy 0.01mm now by the present invention, realize the Location accuracy of 0.025mm.
Secondly, numerical control device 1 carries out segmentation to whole stroke automatically, be divided into: 141.85mm section and follow-up 150.025-141.85=8.175mm section, the control signal in the incipient stage by numerical control device 1 is closed the X terminal in the clutch terminal 12 and the A termination of speed change gear output terminal 11, feedback signal was transmitted by 1: 1, at pulse equivalency=0.01mm, during the control impuls of numerical control device frequency=3000/s, piston is 0.01mm by precision, speed is 30mm/s motion 141.85mm, reaches specified position.
Next, numerical control device 1 follow procedure sends new control signal, being in the Y terminal in the clutch terminal 12 and the B termination of speed change gear output terminal 11 closes, feedback signal is transmitted by speedup transmission in 1: 4, and then the pulse equivalency of piston motion diminishes, and piston can be realized higher Location accuracy.At this moment pulse equivalency is 0.01/4=0.025mm, only needs a numerical control device send 327 pulse signals, just can the advance stroke of 0.025 * 327=8.175mm of piston.Can reach the purpose that realizes high-precision motion requirement with low precision fluid cylinder thus.
Claims (8)
1, ratio-variable feedback type digital fluid cylinder, comprise numerical control device (1), cylinder body (8), be provided with control valve (4) and piston (9) in the cylinder body (8), be provided with control valve spool (14) in the control valve (4), control valve spool (14) is connected by rotation sliding sleeve (3) with drive motor (2); Be provided with drive unit and feedback means between control valve (4) and the piston (9), a rotatable feedback rod (7) is arranged in the feedback means, it is characterized in that: feedback rod (7) is divided into piston end feedback rod (7-1) and control valve end feedback rod (7-2), piston end feedback rod (7-1) end and piston (9) are by set screw nut (10), connect in the screw pair mode, piston end feedback rod (7-1) the other end is provided with speed change gear (6); Control valve end feedback rod (7-2) end is connected in the kinematic pair mode with control valve spool (14), and control valve end feedback rod (7-2) the other end is provided with clutch (13); Clutch (13) is located at the position that can engage with speed change gear (6); The rotation of numerical control device (1) controlling and driving motor (2), the different clutch terminals (12) of numerical control device (1) solenoidoperated cluthes (13) engage with speed change gear (6) or throw off.
2, ratio-variable feedback type digital fluid cylinder according to claim 1 is characterized in that: the continuous connecting sleeve (5) of control valve end feedback rod (7-2) is connected in the kinematic pair mode with control valve spool (14).
3, ratio-variable feedback type digital fluid cylinder according to claim 1 is characterized in that: speed change gear (6) is provided with one or more speed output terminals (11), can export one or more rotating speeds; Clutch (13) is provided with one or more clutch terminals (12), and each speed output terminal (11) of speed change gear (6) all is furnished with a clutch terminal (12) that can engage.
4, according to claim 1 or 3 described ratio-variable feedback type digital fluid cylinders, it is characterized in that: numerical control device (1) the different clutch terminals of control (12) engage with the friction speed output terminal (11) of speed change gear (6) or throw off, make clutch (13) obtain different rotating speeds, thereby control valve end feedback rod (7-2) obtain different feedback rotating speeds.
5, ratio-variable feedback type digital fluid cylinder according to claim 1 is characterized in that: feedback rod (7), speed output terminal (11), clutch terminal (12), connecting sleeve (5) have same spin axis.
6, ratio-variable feedback type digital fluid cylinder according to claim 1 is characterized in that: speed change gear (6) is a certain of speed change gear, ball bearing speed change gear, friction wheel speed change gear.
7, ratio-variable feedback type digital fluid cylinder according to claim 1 is characterized in that: controlling and driving motor (2) is a certain of stepper motor, actuating motor.
8, ratio-variable feedback type digital fluid cylinder according to claim 2 is characterized in that: the kinematic pair that is connected between connecting sleeve (5) and the control valve spool (14) is a kind of in screw pair or the cam pair.
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| CNB2006100221349A CN100449158C (en) | 2006-10-27 | 2006-10-27 | Ratio-variable feedback type digital fluid cylinder |
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| CNB2006100221349A CN100449158C (en) | 2006-10-27 | 2006-10-27 | Ratio-variable feedback type digital fluid cylinder |
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| CN100449158C CN100449158C (en) | 2009-01-07 |
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| FR2438295B1 (en) * | 1978-10-05 | 1982-12-17 | Dba | |
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