阅读说明：本技术 位置微分等值法高响应四角调平系统以及调平方法 (Position differential equivalence method high-response four-corner leveling system and leveling method ) 是由 刘雪飞 凌家友 熊勇 江留宝 李波 冯学钊 于 2019-11-11 设计创作，主要内容包括：本发明公开了位置微分等值法高响应四角调平系统以及调平方法,包括设于液压机的活动横梁的四个角的第一至第四调平缸支撑臂、设于液压机底座四个角上相应于第一至第四调平缸支撑臂位置处的第一至第四调平缸、与所述第一至第四调平缸一一对应地用于检测对应活塞杆的位移的第一至第四调平缸位移传感器、与所述第一至第四调平缸一一对应的第一至第四调平缸比例伺服阀、与第一至第四调平缸比例伺服阀一一对应的第一至第四调平缸比例伺服阀单轴控制器,所述第一至第四调平缸比例伺服阀单轴控制器分别与第一至第四调平缸位移传感器电连接,所述第一至第四调平缸比例伺服阀单轴控制器还分别与所述第一至第四调平缸比例伺服阀电连接。(The invention discloses a position differential equivalence method high-response four-corner leveling system and a leveling method, which comprise first to fourth leveling cylinder supporting arms arranged at four corners of a movable cross beam of a hydraulic press, first to fourth leveling cylinders arranged at the four corners of a base of the hydraulic press and corresponding to the positions of the first to fourth leveling cylinder supporting arms, first to fourth leveling cylinder displacement sensors which are in one-to-one correspondence with the first to fourth leveling cylinders and are used for detecting the displacement of corresponding piston rods, first to fourth leveling cylinder proportional servo valves which are in one-to-one correspondence with the first to fourth leveling cylinders, and first to fourth leveling cylinder proportional servo valve single-shaft controllers which are in one-to-one correspondence with the first to fourth leveling cylinder proportional servo valves, wherein the first to fourth leveling cylinder proportional servo valve single-shaft controllers are respectively and electrically connected with the first to fourth leveling cylinder proportional servo valves .)

1. A position differential equivalence method high-response four-corner leveling method is used for leveling four corners in a working descending process of a movable cross beam of a hydraulic machine, wherein four corners of the movable cross beam are provided with first to fourth leveling cylinder supporting arms, four corners of a base of the hydraulic machine are provided with first to fourth leveling cylinders corresponding to the first to fourth leveling cylinder supporting arms, piston rods of the first to fourth leveling cylinders are vertically upward, the first to fourth leveling cylinders are respectively provided with first to fourth leveling cylinder displacement sensors for detecting displacement of the piston rods, first to fourth leveling cylinder proportional servo valves and first to fourth leveling cylinder proportional servo valve single-shaft controllers, and the method comprises the following steps:

s101, correcting common zero points of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder;

s102, enabling piston rods of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder to ascend and reset to set positions;

s103, setting a leveling starting point;

s104, enabling the first leveling cylinder supporting arm to move downwards under the driving of a movable cross beam of the hydraulic press and enabling the first leveling cylinder supporting arm to contact with a piston rod of the first leveling cylinder to contact with a piston rod of the fourth leveling cylinder to realize the passive downward movement of the piston rod;

s105, when piston rods of the first leveling cylinder to the fourth leveling cylinder passively descend to the leveling starting point, the hydraulic press main control unit sends out differential position equivalent signals to the first leveling cylinder to the fourth leveling cylinder proportional servo valve single-shaft controllers;

s106, the single-shaft controller of the proportional servo valves of the first leveling cylinder, the second leveling cylinder, the third leveling cylinder, the fourth leveling cylinder, the displacement sensor of the first leveling cylinder, the second leveling cylinder, the third leveling cylinder, the fourth leveling cylinder and the displacement sensor of the second leveling cylinder are controlled to be in closed-loop position control in a differential position equivalent interval according to differential position equivalent signals, and therefore four-corner leveling of a movable cross beam of the hydraulic machine in a working descending process is achieved.

2. A position differential equivalence method high-response four-corner leveling system comprises first to fourth leveling cylinder supporting arms arranged at four corners of a movable beam of a hydraulic machine, first to fourth leveling cylinders arranged at four corners of a base of the hydraulic machine and corresponding to the positions of the first to fourth leveling cylinder supporting arms, first to fourth leveling cylinder displacement sensors which are in one-to-one correspondence with the first to fourth leveling cylinders and are used for detecting the displacement of corresponding piston rods, first to fourth leveling cylinder proportional servo valves which are in one-to-one correspondence with the first to fourth leveling cylinders, and first to fourth leveling cylinder proportional servo valve single-shaft controllers which are in one-to-one correspondence with the first to fourth leveling cylinder proportional servo valves, wherein the first to fourth leveling cylinder proportional servo valve single-shaft controllers are respectively and electrically connected with the first to fourth leveling cylinder displacement sensors, the first to fourth leveling cylinder proportional servo valve single-shaft controllers are respectively and electrically connected with the first to fourth leveling cylinder proportional servo valves, the adjusting device is used for adjusting the inlet and outlet quantity proportion of the corresponding leveling cylinder according to the position of the corresponding leveling cylinder, so that the parallelism of the lower plane of the movable cross beam relative to the bottom plane of the hydraulic press is within a preset tolerance in the working descending process of the movable cross beam.

Technical Field

The invention relates to a position differential equivalence method high-response four-corner leveling system and a leveling method.

Background

When the composite material product hydraulic press is used for compression molding of medium and large composite material products, the asymmetry of the shapes, structures or the placing positions of raw materials of parts of the parts can easily cause the compression molding unbalance loading, the precision of the compression molding products can be influenced, the precision of a machine body of the hydraulic press can be damaged, and the four-corner leveling technology is one of important measures for solving the influence of the compression molding unbalance loading. The four-corner leveling technology has high control level requirement, the core technology is integrated in a multi-axis controller and integrated control software, the manufacturing of a four-corner leveling system of the hydraulic machine is basically in the state of manufacturing of matched hardware, and the integrated control software and the multi-axis controller are in a complete set introduction state.

Disclosure of Invention

Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: the position differential equivalence method high-response four-corner leveling system and the leveling method have the advantages of high leveling precision, capability of respectively adjusting a single shaft, simple structure, stable operation and lower cost.

In order to solve the technical problems, the invention adopts a technical scheme that: the method is used for leveling four corners in the working downlink process of a movable cross beam of a hydraulic machine, wherein four corners of the movable cross beam are provided with first to fourth leveling cylinder supporting arms, four corners of a base of the hydraulic machine are provided with first to fourth leveling cylinders corresponding to the first to fourth leveling cylinder supporting arms, piston rods of the first to fourth leveling cylinders are vertically upward, the first to fourth leveling cylinders are respectively provided with first to fourth leveling cylinder displacement sensors for detecting the displacement of the piston rods, first to fourth leveling cylinder proportional servo valves and first to fourth leveling cylinder proportional servo valve single-shaft controllers, and the method comprises the following steps:

s101, correcting common zero points of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder to correct the upper end face of the piston rod;

s102, enabling piston rods of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder to ascend and reset to set positions;

s103, setting a leveling starting point;

s104, enabling the first leveling cylinder supporting arm to move downwards under the driving of a movable cross beam of the hydraulic press and enabling the first leveling cylinder supporting arm to contact with a piston rod of the first leveling cylinder to contact with a piston rod of the fourth leveling cylinder to realize the passive downward movement of the piston rod;

s105, when piston rods of the first leveling cylinder to the fourth leveling cylinder passively descend to the leveling starting point, the hydraulic press main control unit sends out differential position equivalent signals to the first leveling cylinder to the fourth leveling cylinder proportional servo valve single-shaft controllers;

s106, the single-shaft controller of the proportional servo valves of the first leveling cylinder, the second leveling cylinder, the third leveling cylinder, the fourth leveling cylinder, the displacement sensor of the first leveling cylinder, the second leveling cylinder, the third leveling cylinder, the fourth leveling cylinder and the displacement sensor of the second leveling cylinder are controlled to be in closed-loop position control in a differential position equivalent interval according to differential position equivalent signals, and therefore four-corner leveling of a movable cross beam of the hydraulic machine in a working descending process is achieved.

In order to solve the technical problem, the invention adopts another technical scheme that: the position differential equivalence method high-response four-corner leveling system comprises first to fourth leveling cylinder supporting arms arranged at four corners of a movable cross beam of a hydraulic machine, first to fourth leveling cylinders arranged at the four corners of a base of the hydraulic machine and corresponding to the positions of the first to fourth leveling cylinder supporting arms, first to fourth leveling cylinder displacement sensors which are in one-to-one correspondence with the first to fourth leveling cylinders and are used for detecting the displacement of corresponding piston rods, first to fourth leveling cylinder proportional servo valves which are in one-to-one correspondence with the first to fourth leveling cylinders, and first to fourth leveling cylinder proportional servo valve single-shaft controllers which are in one-to-one correspondence with the first to fourth leveling cylinder proportional servo valves, wherein the first to fourth leveling cylinder proportional servo valve single-shaft controllers are respectively and electrically connected with the first to fourth leveling cylinder proportional servo valves, the adjusting device is used for adjusting the inlet and outlet quantity proportion of the corresponding leveling cylinder according to the position of the corresponding leveling cylinder, so that the parallelism of the lower plane of the movable cross beam relative to the bottom plane of the hydraulic press is within a preset tolerance in the working descending process of the movable cross beam.

Compared with the prior four-shaft leveling system which controls the four leveling cylinder proportional servo valves by the four shaft controllers and special integrated control software, the four-shaft leveling system has the following advantages that:

1. the single-shaft controller belongs to a high-maturity simple controller, and is lower in cost and failure probability.

2. The position differential equivalence method is characterized in that a simple control means is adopted to send position differential signals to each single-shaft controller, the control is more direct, the complex comparison operation in the four-shaft controller of the existing four-corner leveling system is simplified, the response speed of the control system is improved, and meanwhile, the single-shaft controller belongs to a high-maturity simple controller, and the operation speed is higher than that of the four-shaft controller.

3. The special control software of the four-axis controller is not needed any more, and the control difficulty is reduced.

4. The time for fault maintenance processing is shortened.

Drawings

FIG. 1 is a schematic diagram of the position differential equivalence method high-response four-corner leveling system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the position differential equivalence method high-response four-corner leveling system of the present invention includes first to fourth leveling cylinder support arms a1 to a4 provided at four corners of a movable beam of a hydraulic machine, first to fourth leveling cylinders C1 to C4 provided at four corners of a base of the hydraulic machine corresponding to the first to fourth leveling cylinder support arms a1 to a4, first to fourth leveling cylinder displacement sensors B1 to B4 installed on the first to fourth leveling cylinders C1 to C4 in a one-to-one correspondence for detecting displacements of corresponding piston rods, first to fourth leveling cylinder proportional servo valves G1 to G4 corresponding to the first to fourth leveling cylinders C1 to C4, first to fourth cylinder proportional servo valves G1 to G4, first to fourth cylinder proportional servo valve single-axis controllers H1 to H4 corresponding to the first to fourth leveling cylinder proportional servo valves G3748 to G4, and first to fourth single axis servo valves H1 to B4 to B4624, and the first to fourth leveling cylinder proportional servo valves G1 to G4 are electrically connected and used for adjusting the inlet and outlet quantity proportion of the corresponding leveling cylinders according to the positions of the corresponding leveling cylinders, so that the water level positions of the piston rods of the four leveling cylinders are within a preset tolerance. As basic configurations, these basic configurations are the same as or similar to the prior art, and first to fourth pressure sensors are provided for the first to fourth leveling cylinders, first to fourth leveling cylinder plug chamber safety relief valves are also provided for the first to fourth leveling cylinders, and leveling cylinder rod chamber suction valves are also provided for the first to fourth leveling cylinders. A four-corner leveling system basic configuration part: the device comprises an energy accumulator K, an energy accumulator maintenance oil drain valve L, an energy accumulator safety overflow valve M (the pressure is limited by 32MPa), a high-pressure fine filter N (the filtering precision is limited by 5U), and a pressure oil source P (the pressure is limited by 0-31.5 MPa). These pressure parameters are not intended to limit the scope of the present invention, and the configuration is mainly to ensure the effective operation of the leveling cylinder, and the configuration structure and method can be referred to the conventional configuration, and will not be described herein.

The position differential equivalence method high-response four-corner leveling system adjusts the parallelism of an upper die connected with the lower plane of the movable cross beam relative to a lower die connected with the upper plane of the hydraulic press bottom in the working descending process of the movable cross beam by adjusting the parallelism of the lower plane of the movable cross beam relative to the upper plane of the hydraulic press bottom in the working descending process of the movable cross beam. The problem of non-parallel upper and lower dies in the pressing process during working of large thin-wall composite material workpieces with different thicknesses is solved. The problem of correction of large unbalance loading of the press caused by certain asymmetrical workpieces is solved, and the hydraulic press is protected.

The invention discloses a high-response four-corner leveling method by a position differential equivalence method, which is used for leveling four corners of a movable cross beam of a hydraulic machine in a working descending process, wherein four corners of the movable cross beam are provided with first to fourth leveling cylinder supporting arms A1-A4 (rigidly connected with the movable cross beam), four corners of a base of the hydraulic machine are provided with first to fourth leveling cylinders C1-C4 at positions corresponding to the first to fourth leveling cylinder supporting arms A1-A4, piston rods of the first to fourth leveling cylinders C1-C4 are all vertically upward, the first to fourth leveling cylinders C1-C4 are respectively provided with first to fourth leveling cylinder displacement sensors B1-B4 for detecting the displacement of the piston rods, first to fourth leveling cylinder proportional servo valves G1-G4 and first to fourth leveling cylinder proportional servo valve single-shaft controllers H1-H4 for detecting the displacement of the piston rods, and the method comprises the following steps:

s101, correcting common zero points of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder; the datum point needs to be adjusted first, and although the initial counts of the four displacement sensors are all zero, the actual mounting positions do not match the initial readings, and therefore the common zero point needs to be corrected first.

S102, enabling piston rods of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder to ascend and reset to set positions; the set position needs to be higher than the upper surface of the lower die and higher than the upper surface of the workpiece;

s103, setting a leveling starting point; the leveling starting point refers to a conditional trigger point informing the main control unit, and in principle, the leveling starting point refers to a point when the first to fourth leveling cylinders contact the corresponding piston rods.

S104, enabling the first leveling cylinder supporting arm to move downwards under the driving of a movable cross beam of the hydraulic press and enabling the first leveling cylinder supporting arm to contact with a piston rod of the first leveling cylinder to contact with a piston rod of the fourth leveling cylinder to realize the passive downward movement of the piston rod;

s105, when piston rods of the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder are passively descended to the leveling starting point, the hydraulic press main control unit sends out differential position equivalent signals to the first leveling cylinder, the second leveling cylinder and the fourth leveling cylinder proportional servo valve single-shaft controllers;

s106, the single-shaft controller of the proportional servo valves of the first leveling cylinder, the second leveling cylinder, the third leveling cylinder, the fourth leveling cylinder, the displacement sensor of the first leveling cylinder, the second leveling cylinder, the third leveling cylinder, the fourth leveling cylinder, the displacement sensor of the second leveling cylinder and the displacement sensor of the first leveling cylinder are controlled to be in closed-loop position control in a differential position equivalent interval according to differential position equivalent signals, and therefore four-corner leveling of a movable cross beam of the hydraulic machine in a working descending process is achieved.

The position differential equivalence method high-response four-corner leveling system controls four leveling cylinder proportional servo valves by four single-shaft controllers and applying a position differential equivalence method, and compared with the prior four-corner leveling system which controls four leveling cylinder proportional servo valves by four single-shaft controllers and applying special integrated control software, the position differential equivalence method high-response four-corner leveling system has the following advantages that:

1. the single-shaft controller belongs to a high-maturity simple controller, and is lower in cost and failure probability.

2. The position differential equivalence method is characterized in that a simple control means is adopted to send position differential signals to each single-shaft controller, the control is more direct, the complex comparison operation in the four-shaft controller of the existing four-corner leveling system is simplified, the response speed of the control system is improved, and meanwhile, the single-shaft controller belongs to a high-maturity simple controller, and the operation speed is higher than that of the four-shaft controller.

3. The special control software of the four-axis controller is not needed any more, and the control difficulty is reduced.

4. The time for fault maintenance processing is shortened.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.