Patent Application
20120233990
The invention relates to a method for operating a hydraulic drive device comprising a hydraulic piston-cylinder unit having a working piston that can be moved in a working direction between an upper dead point and a lower dead point, a set point for the position of the working piston in the working direction being predefined, and an actual value of the position of the working piston in the working direction being interrogated, and the movement of the working piston being regulated as a function of the set point and the actual value.
The invention additionally relates to a hydraulic drive device comprising a hydraulic piston-cylinder unit and having a working piston that can be moved in a working direction between an upper dead point and a lower dead point, a setting device being provided to predefine a set point for the position of the working piston in the working direction, it being possible for an actual value of the position of the working piston in the working direction to be interrogated, and control feedback being provided, which interacts with the setting device in order to predefine the set point as a function of the actual value.
The hydraulic drive devices mentioned are used in particular in punching, embossing, nibbling or bending machines. During a machining process, a double stroke of the working piston is regularly required, for example a movement starting from the upper dead point to the lower dead point and back to the upper dead point.
For the quality of the working result of the aforementioned processing machines, in particular the precision and reproducibility of the positions of the upper and lower dead point are critical. This can be seen, for example, in the case of an embossing or bending operation, since here the position of the lower dead point directly determines the deformation of the workpiece processed.
In this connection, it has proven to be problematical that, during the control of the movement of the working piston by predefining the set point, the actual value of the position of the working piston regularly deviates from the set point of the position. This lag, as it is known, leads to inaccuracies in the precision and reproducibility of the upper and/or lower dead point, and therefore to inaccuracies in the fabrication process.
Lag can have various causes. If, for example, the supply to the hydraulic piston-cylinder unit for moving the working piston with hydraulic fluid is carried out via a proportional valve having a displaceable valve spool for setting a variable valve opening, then, on account of its usually lower mass, the valve spool can be controlled much more quickly than the massive working piston. A change in the set point can therefore be carried out comparatively quickly, whereas the speed of the positional change of the working piston is limited by inertial forces. Furthermore, in the case of control with a proportional valve in the manner described, problems in the accuracy of the setting of an actual value result from the fact that, in the proportional control, the valve opening is changed proportionally with respect to the deviation of the actual value from the set point. As the actual value approaches the set point, the valve opening and therefore the volume flow through the control valve becomes small, which delays the movement of the working piston to the intended position.
During a double stroke, in order to move the working piston precisely and reproducibly to the upper and/or lower dead point, measures for regulating and coordinating set point and actual value are consequently necessary and variously known.
To explain the technical background,
In order to initiate the movement reversal required for a double stroke, in the variation over time according to
In order to be able to define an end of the double stroke expediently, an upper position threshold OT1 is predefined below the upper dead point OT. At a time TOT1 the actual value XFBK reaches the upper position threshold OT1. The upper position threshold OT1 is chosen to be so close to the upper dead point OT that reaching the upper position threshold OT1 can be viewed as the end of the double stroke. In this sense, the time period from the start of the process outlined to the time TOT1 can be viewed as the process time of the double stroke.
A similar control method can be gathered, for example, from EP 1 462 660 A1.
When a hydraulic drive device mentioned at the beginning is used in processing machines, in addition to the accuracy of the piston movement, which is to say the precision and reproducibility of the upper and lower dead point, the speed of the working process is additionally critical for economy. Normally, as short as possible a time period for the execution of a double stroke is desired. This makes fast movements and fast movement changes of the working piston necessary.
In the previously described control of the double stroke by means of a proportional valve, in particular the problem occurs here that the valve opening of the proportional valve and therefore the volume flow of hydraulic fluid for supplying the drive device becomes small in the event of a small deviation of the actual value from the set point. For this reason, the positional adjustment of the working piston is carried out only slowly as soon as the actual value lies in the region of the desired set point (which is to say, in particular, the upper and lower dead point). This can lead to an undesirably long process time of the double stroke.
The present invention permits operation of a hydraulic drive device with improved economy.
The method according to the invention is distinguished by the fact that, in order to carry out a double stroke of the working piston starting from the upper dead point, firstly the set point is predefined at a lower overcontrol position below the lower dead point and, when the actual value reaches a changeover value above the lower dead point, to reverse the movement of the working piston the set point is predefined at an upper overcontrol position above the upper dead point and, after that, when the actual value reaches a quiescent switching value below the upper dead point, the set point is predefined at the upper dead point.
The use of this method is suitable in particular for operating a hydraulic drive device in punching, embossing, nibbling or bending machines.
In the method according to the invention, during to a great extent the entire movement starting from the upper dead point as far as the lower dead point and back as far as the quiescent switching value, a comparatively large deviation between the predefined set point and the actual value is brought about. As distinct from the prior art illustrated at the beginning, overrunning of the hydraulic drive device is accordingly deliberately brought about. There is therefore no waiting until the actual value virtually coincides with the set point.
As a result, firstly the control time between pre-definition of a desired set point and establishment of the associated actual value is considerably shorter. This becomes clear, for example, during operation of a hydraulic drive device having a control valve operating as a proportional valve, in which a valve opening for supplying the hydraulic drive with hydraulic fluid proportionally to the deviation between the set point and the actual value is provided. Since, in the method according to the invention, a comparatively large deviation between set point and actual value is deliberately brought about, in the control valve described, a large valve opening is established virtually over the entire double stroke. Therefore, the drive device is supplied with a comparatively large volume flow of hydraulic fluid, and the movement of the working piston is carried out more quickly, in particular in the area around the upper and lower dead point, than in the known control method described.
Overall, with the operating method according to the invention, a considerably shortened process time for a double stroke is achieved whilst maintaining the precision of the piston movement at the upper and at the lower dead point and, consequently, improved economy is achieved.
In order to ensure high precision of the movement of the working piston in the method according to the invention, the changeover value (UT2) and/or the lower overcontrol position (XUT) are advantageously chosen in such a way that, as the movement of the working piston is reversed, the actual value is located at the lower dead point.
In certain applications, however, it may also be advantageous if the changeover value and/or the lower overcontrol position are chosen in such a way that the actual value is always above the lower dead point.
As a further aspect of the method according to the invention, provision can be made for the quiescent switching value and/or the upper overcontrol position to be chosen in such a way that the actual value is always below or equal to the upper dead point. This prevents the working piston running out beyond the upper dead point.
If, by using the method according to the invention, a hydraulic drive device is operated which has a control valve for supplying the piston-cylinder unit with hydraulic fluid for moving the working piston, it being possible for the control valve to be switched at least between a deployment position for moving the working piston in the working direction (which means in the direction from the upper dead point toward the lower dead point) and a retraction position for moving the working piston counter to the working direction, an advantageous refinement of the method results from the fact that a control deviation between set point and actual value is determined and that the control valve is switched into the retraction position or into the deployment position as a function of the control deviation.
In order to achieve the object set at the beginning, in addition a hydraulic drive device is proposed which has a hydraulic piston-cylinder unit having a working piston that can be moved in a working direction between an upper dead point and a lower dead point, in addition a setting device being provided to define or predefine a set point for the position of the working piston in the working direction, it being possible for an actual value of the position of the working piston in the working direction to be interrogated, and, in addition, control feedback being provided, which interacts with the setting device in order to predefine the set point as a function of the actual value. In the drive device according to the invention, the setting device is formed in such a way that the set point can be predefined at a lower overcontrol position below the lower dead point and at an upper overcontrol position above the upper dead point, and the control feedback is designed in such a way that a changeover value UT2 above the lower dead point UT and a quiescent switching value OT2 below the upper dead point OT can be predefined, and that the control feedback interacts with the setting device in such a way that when the actual value reaches the changeover value UT2, the set point is predefined at the upper overcontrol position XOT, and that when the actual value reaches the quiescent switching value OT2 from the direction of the lower dead point UT, the set point is predefined at the upper dead point OT.
The control feedback designates, in the widest sense, means for picking up and processing the actual value interrogated in order to predefine a set point. Mechanical feedback is conceivable here, for example between working piston and setting device, but also electronic devices.
A device of this type can advantageously be operated by the method explained above. Therefore, with the device according to the invention, comparatively fast piston movements and movement changes are possible, which permits short process times for a double stroke of the working piston and therefore operation with increased economy.
The device is advantageously refined further by position indicator being provided for interrogating the actual value of the position of the working piston, in particular in the working direction. Suitable for this purpose are, for example, optical, electronic, magnetic or mechanical measuring devices.
A particularly preferred refinement results from the fact that a control valve is provided for supplying the piston-cylinder unit with hydraulic fluid for moving the working piston, it being possible for the control valve to be switched at least between a deployment position for moving the working piston in the direction from the upper dead point to the lower dead point (which means in the working direction) and a retraction position for moving the working piston in the direction from the lower dead point to the upper dead point (which means counter to the working direction). In this refinement, the control valve has to be actuated only to predefine the set point.
Here, it is advantageous if the control valve with the control feedback can be switched as a function of the set point and as a function of the actual value. The control feedback in this case acts as a setting device or comprises the setting device or is a constituent part of the setting device.
As a further refinement, the control valve can be switched between the deployment position, the retraction position and a neutral position, in which the piston-cylinder unit is supplied with no hydraulic fluid or in which at least a supply to the piston-cylinder unit with hydraulic fluid for the purpose of moving the working piston is suppressed. This makes it possible to keep the working position in a rest position. In particular, a 3/3-way or a 4/3-way directional control valve is suitable as control value.
Advantageously, the control feedback is designed in such a way that a holding value for the position of the working piston can be predefined, and that the control valve is switched into the neutral position when the actual value coincides or at least substantially coincides with the holding value or both the set point and the actual value coincide or at least substantially coincide with the holding value, for example within a pre-definable position window around the holding value or between a position threshold and the holding value. As a result, the working piston can be kept at rest when the end of a process, for example a double stroke, has been reached.
In order to refine the device further, the control valve is designed as a continuously operated valve, and the control feedback is designed in such a way that the piston-cylinder unit is supplied with a volume flow that is greater the more the actual value deviates from the set point. On the basis of this proportional control, the movement of the working piston becomes faster the more the variation of the actual value over time trails the variation of the predefined set point over time. The control valve is, for example, designed as a proportional valve with a displaceable valve spool, it being possible for a continuously variable valve opening to be provided by displacing the valve spool.
A further refinement results from the fact that the control valve is designed as a proportional valve with a continuously variable control opening and that the control feedback is designed in such a way that a control deviation between set point and actual value can be determined, and that the control opening can be varied proportionally with respect to the control deviation. On account of the continuously variable control opening of the proportional valve, continuous adjustment of a volume flow through the control valve is possible. The control deviation is determined in particular as the difference between set point and actual value, a positive value being assigned for example starting from the upper dead point in the direction of the lower dead point, and therefore the control deviation being positive when the set point is closer to the lower dead point than the actual value. Of course, the choice of sign can also be made in the opposite way.
In order to predefine the set point, the setting device preferably comprises a linear motor, in particular an electric motor, or a rotary motor-piston-rack unit. It is also conceivable for the set point to be predefined via a rotary motor which interacts with a control valve that can be switched between retraction position and deployment position by rotation. It is further conceivable for the actual value to be supplied to the control valve by rotating a pinion via a rack which meshes with a pinion.
In order also to permit complex movement sequences for the working piston, for example a double stroke with a piston speed that varies section by section, whilst simultaneously maintaining the precision of the upper and lower dead point, a CNC control unit is advantageously provided, by means of which the setting device for predefining the set point can be controlled.
Further advantageous refinements of the invention can be gathered from the following description, by using which the embodiments of the invention illustrated in the figures are described and explained in more detail.
In the figures:
a shows the variation over time of set point and actual value during a double stroke in order to explain the technical background;
b shows the variation over time of set point and actual value during a double stroke according to the method of the invention.
The hydraulic drive device 10 illustrated in
To determine an actual value XFBK, which represents the position of the working piston 16 in the working direction 14, position indicator 18 is provided.
The working piston 16 delimits a deployment pressure chamber A, which can be pressurized with a hydraulic pressure fluid in order to move the working piston 16 in the working direction 14. In addition, the working piston 16 delimits a refraction pressure chamber B, which can be pressurized with pressure fluid in order to retract the working piston 16 counter to the working direction 14. Here, the hydraulic piston-cylinder unit 12 is designed as a hydraulic differential cylinder, the effective hydraulic surface for moving the working piston 16 for the retraction pressure chamber B being smaller than the effective hydraulic surface for the deployment pressure chamber A.
To supply the piston-cylinder unit 12 with hydraulic fluid, the hydraulic drive device 10 has a control valve 20. The control valve 20 is designed as a 3/3-way directional control valve, which has a working connection connected to the deployment pressure chamber A, and also a pressure connection P and a tank connection T. The control valve 20 can be switched between three switching positions a, 0, b; in the switching position a the pressure connection P is connected to the working connection, i.e. to the deployment pressure chamber A. In the switching position b the deployment pressure chamber A is connected to the tank connection T. The switching position 0 represents a neutral position, in which the drive pressure chamber A is closed off against the supply or discharge of hydraulic fluid. In all three switching positions, the retraction pressure chamber B with the smaller effective hydraulic surface has a pressure connection to the pressure connection P.
In order to define or predefine a set point XCMD for the position of the working piston 16, a setting device 30 is provided in the drive device 10. The setting device 30 comprises a rotary motor M1, by means of which a pinion 32 which meshes with a rack 34 can be rotated. The rack 34 can therefore be displaced by the rotary motor M1. In
In the example illustrated, the set point is predefined by means of interaction of the setting device 30 with the control valve 20, the setting device 30 in particular actuating the control valve 20.
To this end, for example the actual value XFBK of the working piston 16 is fed mechanically via a yoke 38 to a control input of the control valve 20. Also conceivable, however, is an electric feed. With regard to the feed, it is for example conceivable for the control valve 20 to comprise a valve spool (not illustrated) that can be displaced between positions assigned to the switching positions a, 0, b; by displacing the valve spool into the position a (or b), a control opening of the control valve 20 is provided which is larger the further the valve spool is displaced into the position a (or b). The valve spool is coupled here via the yoke 38 to the movement of the working piston 16, so that the control valve 20 operates in the manner of a copying valve. As indicated in
As a result of such an arrangement, the control valve 20 is switched into the switching position a if the set point XCMD leads the actual value XFBK in the working direction 14. Conversely, the control valve 20 is switched into the switching position b if the set point XCMD remains behind the actual value XFBK. The control valve 20 is switched into the neutral position 0 if the set point XCMD coincides with the actual value XFBK.
In order to predefine the set point XCMD as a function of the actual value XFBK, control feedback 40 is provided in the hydraulic drive device 10. The control feedback 40 comprises a control device 42, which is fed the actual value XFBK interrogated by the position indicator 18, for example as an electric signal. Depending on the signal XFBK, the control device 42 then generates an output signal to predefine the set point XCMD for the setting device 30.
The drive device 10 further comprises a CNC control device 50, for example for predefining a timed movement sequence. By means of the CNC control device 50, time-variable position values X can be predefined, which are likewise fed to the control device 42. The control device 42 consequently controls the setting device 30 for predefining the set point XCMD, on the one hand as a function of the actual value XFBK, on the other hand as a function of the position values X.
In the following text, using
At the start of the process, the working piston 16 is at the upper dead point OT, which means in a retracted state counter to the working direction 14. Accordingly, the actual value XFBK and the set point XCMD are located at the upper dead point OT. However, it is also conceivable that the set point XCMD is set to another value and the actual value XFBK is located only instantaneously at the upper dead point (OT).
In order to initiate a double stroke between the upper dead point OT and the lower dead point UT, firstly the set point XCMD is predefined at a lower overcontrol position XUT below the lower dead point UT.
For this purpose, in the drive device 10 the CNC control device 50 generates a corresponding position value X, which is fed to the control device 42. The control device 42 then controls the rotary motor M1 of the setting device 30 in such a way that the control valve 20 is switched into the switching position a. In the process, for example, a valve spool provided in the control valve 20 is displaced in a corresponding way. Accordingly, the possible speed at which the set point XCMD can be led from the upper dead point OT to the lower overcontrol position XUT is limited, in particular by the speed of movement of the valve spool. Consequently, in
On the other hand, it is also conceivable for the variation over time of the set point XCMD to be deliberately predefined in a continuous manner by the CNC control device 50.
On account of the mass moment of inertia of the working piston 16 and/or on account of the limited volume flow of hydraulic fluid through the control valve 20, the actual value XFBK does not follow the set point XCMD directly but remains behind the latter as time progresses.
After a time TUT2, the actual value XFBK reaches a lower changeover value UT2. This is detected by the position indicator 18 and fed to the control device 42. The set point XCMD is then predefined at an upper overcontrol position XOT by means of the setting device 30.
As explained above, this change in the set point XCMD is not carried out in a stepwise manner but with a continuous variation over time. In particular, it can be seen in
At a time TOT2 the actual value XFBK exceeds, from the direction of the lower dead point UT, a quiescent switching value OT2 below the upper dead point OT. As a result, the set point XCMD is led back from the upper overcontrol position XOT to the upper dead point OT.
In the example according to
Furthermore, the variation in the movement of the actual value XFBK after the reversal of the movement can be influenced by means of a suitable definition of the quiescent switching value OT2 and/or the upper overcontrol position XOT.
The speed of change of the actual value XFBK can firstly be varied directly by the set point XCMD being predefined with an appropriate variation over time.
If a proportional valve is used for the control valve 20, as explained above, then the volume flow of hydraulic fluid through the control valve 20 is greater, and therefore the movement of the working piston 16 is faster, the more strongly the actual value XFBK deviates from the set point XCMD. Thus, the rate of change of the actual value XFBK can also be influenced by the deviation between actual value XFBK and set point XCMD being set accordingly. This can also be done by choosing the lower overcontrol position XUT, the changeover value UT2, the upper overcontrol position XOT and the quiescent switching value OT2. In particular as a result, a fast or else a delayed reversal of the movement can be brought about.
For comparative purposes, an upper position threshold OT3 which exceeds the actual value XFBK at a time TOT3 has been drawn in
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2010 038 448.8 | Jul 2010 | DE | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/EP2011/057009 | 5/3/2011 | WO | 00 | 12/15/2011 |
