Control method for positioning position-pressure of hydraulic cylinder of large-scale forging manipulator

A technology for forging operation and pressure control, which is applied to the driving device of the forging press, etc., which can solve the problems of no front cylinder system, unstable hydraulic cylinder drift, and difficulty in hydraulic cylinder adjustment, achieve speed and control accuracy, and overcome height control difficulties Effect

Active Publication Date: 2009-06-03
CHINA FIRST HEAVY IND +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

These problems are: (1) There is no other positioning mechanism in the front cylinder system. Before the forging operation, the upper force of the hydraulic cylinder cannot be set to completely match the gra

Method used

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  • Control method for positioning position-pressure of hydraulic cylinder of large-scale forging manipulator
  • Control method for positioning position-pressure of hydraulic cylinder of large-scale forging manipulator

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Embodiment Construction

[0018] Such as figure 1 The position-pressure control method for hydraulic cylinder positioning of a large-scale forging manipulator is shown, which is used for the control of the lifting and buffering hydraulic system in front of the manipulator. The front cylinder of the manipulator is a plunger cylinder, which outputs a constant lifting force to support the weight of the workpiece and the clamp rod. During the forging process, when the forging is deformed and the central axis of the forging moves down, the front cylinder automatically follows the workpiece and descends to cooperate with the forging press to complete the forging process; when the forging hammer lifts away from the workpiece, the front cylinder automatically lifts the workpiece away from the anvil , to prepare for the workpiece feeding; when the clamp is grasping and placing the workpiece, the front cylinder automatically moves up and down following the position of the workpiece, so that the height of the cl...

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Abstract

The invention discloses a control method for positioning position-pressure of a hydraulic cylinder of a large-scale forging manipulator. The control process comprises the following steps: firstly, an uplift force value uf is predicated according to the weight of a work piece to be as system input; secondly, uf is compared with a practical uplift force vf, PID adjustment is performed according to the difference value e, and a proportional pressure valve is driven through a proportional amplifier to adjust the uplift force P; thirdly, when the practical uplift force V is close to an instruction uplift force, the difference value e is approximate to zero, and the uplift force F of the hydraulic cylinder is controlled to be above an expected value; fourthly, when gravity and forging down force are larger than the uplift force of the hydraulic cylinder, the piston of the hydraulic cylinder is compressed, and the manipulator is moved downward; conversely, the piston of the hydraulic cylinder extends out, and the manipulator is uplifted. The method is characterized in that after the manipulator is uplifted, position feed back signal Vx is compared with expected height value Ux, when Vx is smaller than Ux, the system adopts the conventional pressure control mode; conversely when Vx is larger than Ux, negative feedback cause the reducing of the output pressure, the uplifting of the hydraulic cylinder is stopped, and the system is shifted into the position-pressure control method.

Description

technical field [0001] The invention relates to a forging manipulator, in particular to a position-pressure control method for hydraulic cylinder positioning of a large forging manipulator, which is used for front lifting and buffering control of a large forging manipulator, and solves the problem of hydraulic cylinder positioning under constant lifting force control in a buffering state. Background technique [0002] In the prior art, the traditional large-scale forging manipulator front lift and buffer process pressure control scheme includes the following steps. First, estimate a command signal uf of the jacking force value according to the weight of the workpiece, and use it as a system input. The command signal uf and the actual The difference e of the jacking force vf is regulated by conventional PID control, and converted into a current signal I by a proportional amplifier to drive a proportional pressure valve to adjust the jacking pressure P of the hydraulic cylinder...

Claims

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Application Information

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IPC IPC(8): B21J9/20B21J9/12
Inventor 宋晓波杨庆光宋清玉
Owner CHINA FIRST HEAVY IND
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