A cylinder linear positioner positioning system and control method

Abstract

The present invention discloses a cylinder linear positioner positioning system and control method, which relates to the field of cylinder positioning technology, including: a small slide feeding clamping device, a clamping and releasing stroke potentiometer, a lifting stroke potentiometer and a control subsystem; the clamping and releasing stroke potentiometer is arranged on the slide of the small slide feeding clamping device on which the clamping plate displacement potentiometer is fixed; the lifting stroke potentiometer is arranged on the lifting stroke potentiometer fixing plate of the small slide feeding clamping device; the lifting stroke potentiometer fixing plate is arranged on the side support block of the supporting slide; the lifting stroke potentiometer is used to detect the upper limit position information of the clamping lower module; the control subsystem is respectively connected to the clamping and releasing stroke potentiometer and the lifting stroke potentiometer; the control subsystem is used to control the clamping cylinder and the lower pressing block lifting cylinder according to the position information detected by the clamping and releasing stroke potentiometer and the lifting stroke potentiometer. The system and control method provided by the present invention can realize real-time monitoring of the clamping module position.

Description

Technical Field

[0001] The present invention relates to the technical field of cylinder positioning, and in particular to a cylinder linear positioner positioning system and a control method. Background Art

[0002] The current cylinder judgment built-in position signal all uses a travel switch. The disadvantages of the travel switch are that the position judgment range is very narrow, the repeatability is not high, the cylinder stroke often changes, the travel switch is inconvenient to adjust and is easy to damage.

[0003] The prior art still has the following technical problems:

[0004] 1. The position detection range of the magnetic switch of an ordinary cylinder is relatively wide and cannot meet the requirements of accurate position detection.

[0005] 2. The magnetic switch has only one switching function and cannot clearly indicate the position value.

[0006] 3. Cylinders with the ability to accurately detect position are relatively expensive and are less suitable for use in certain areas.

[0007] 4. Ordinary magnetic switches are installed on the outer wall of the cylinder and are usually fixed by smaller screws. When using different strokes of the cylinder for inspection, the screws will be frequently turned, which is inconvenient and the small screws will be damaged.

[0008] The clamping mechanism on the automatic unloading machine may have the following situations during the clamping process:

[0009] 1. The clamping mechanism does not clamp anything.

[0010] 2. The clamped material is not of the same specification as the set material, and the cylinder telescopic stroke does not change much.

[0011] 3. When the clamping mechanism clamps the material, there are small foreign objects between the clamp and the material.

[0012] 4. The cylinder stroke between whether the material is clamped in place and not in place is very small, and the normal stroke switch cannot distinguish it.

[0013] 5. When there is no material in the equipment, the clamping mechanism does not clamp the material.

[0014] 6. If you frequently change different materials, the cylinder clamping stroke will change and need to be adjusted frequently.

[0015] The emergence of the above situation makes the commonly used travel switches unable to meet the existing requirements, and now CNC equipment tends to be intelligent and requires a lot of feedback information to achieve mechanical intelligence. Summary of the invention

[0016] The object of the present invention is to provide a positioning system and a control method for a cylinder linear positioner, so as to realize real-time monitoring of the position of a clamping module.

[0017] To achieve the above object, the present invention provides the following solutions:

[0018] A cylinder linear positioner positioning system, comprising: a small slide feeding clamping device, a clamping and releasing stroke potentiometer, a lifting stroke potentiometer and a control subsystem;

[0019] The clamping and releasing stroke potentiometer is arranged on the fixing bracket of the clamping plate displacement potentiometer on the slide of the small slide feeding clamping device; the clamping and releasing stroke potentiometer is used to detect the upper limit position information of the clamping upper module and the lower pressing position information of the clamping upper module; the lifting stroke potentiometer is arranged on the lifting stroke potentiometer fixing plate of the small slide feeding clamping device; the lifting stroke potentiometer fixing plate is arranged on the side support block of the supporting blanking slide; the lifting stroke potentiometer is used to detect the upper limit position information of the clamping lower module;

[0020] The control subsystem is connected to the clamping and releasing stroke potentiometer and the lifting stroke potentiometer respectively; the control subsystem is used to control the clamping cylinder and the lower pressure block lifting cylinder according to the position information detected by the clamping and releasing stroke potentiometer and the lifting stroke potentiometer.

[0021] Optionally, the clamping and releasing stroke potentiometer and the lifting stroke potentiometer are both linear potentiometers.

[0022] Optionally, the cylinder linear positioner positioning system also includes a human-machine interface touch screen, which is connected to the control subsystem; the human-machine interface touch screen is used to display the position information detected by the clamping and releasing stroke potentiometer and the lifting stroke potentiometer.

[0023] Optionally, the cylinder linear positioner positioning system further includes an output alarm device; the output alarm device is connected to the control subsystem.

[0024] To achieve the above object, the present invention also provides the following solution:

[0025] A cylinder linear positioner positioning control method, the cylinder linear positioner positioning control method is applied to the above cylinder linear positioner positioning system, the cylinder linear positioner positioning control method comprises:

[0026] When the material is held normally, the position information of the material pressing down by the upper clamping module is obtained;

[0027] Determine whether the material clamping upper module lower pressing material position information is equal to the preset material clamping upper module lower pressing material position information to obtain a first determination result;

[0028] If the first judgment result indicates that the material clamping upper module lower pressing material position information is equal to the preset material clamping upper module lower pressing material position information, it is determined that the material clamping upper module lower pressing material position information is correct;

[0029] If the first judgment result indicates that the material clamping upper module lower pressing material position information is not equal to the preset material clamping upper module lower pressing material position information, then determine whether the material clamping upper module lower pressing material position information is greater than the preset material clamping upper module lower pressing material position information to obtain a second judgment result;

[0030] If the second judgment result indicates that the material clamping upper module lower pressing material position information is greater than the preset material clamping upper module lower pressing material position information, it is determined that the first problem occurs; the first problem is that there is no material, the material has been processed, the outer size of the material is unqualified, or the feeding direction of the material is incorrect;

[0031] If the second judgment result indicates that the material clamping upper module lower pressing material position information is less than the preset material clamping upper module lower pressing material position information, it is determined that the second problem occurs; the second problem is that there is foreign matter between the clamping module and the material, the outer dimensions of the material are unqualified, or the feeding direction of the material is incorrect;

[0032] When the material is released normally, the limit position information on the clamping module is obtained;

[0033] Determine whether the upper limit position information of the clamping upper module is equal to the preset upper limit position information of the clamping upper module, and obtain a third determination result;

[0034] If the third judgment result indicates that the upper limit position information of the clamping upper module is equal to the preset upper limit position information of the clamping upper module, it is determined that the upper limit position information of the clamping upper module is correct;

[0035] If the third judgment result indicates that the upper limit position information of the clamping upper module is not equal to the preset upper limit position information of the clamping upper module, then it is judged whether the upper limit position information of the clamping upper module is greater than the preset upper limit position information of the clamping upper module to obtain a fourth judgment result;

[0036] If the fourth judgment result indicates that the upper limit position information of the clamping upper module is greater than the preset upper limit position information of the clamping upper module, it is determined that the clamping module connection limit bolt is damaged;

[0037] If the fourth judgment result indicates that the upper limit position information of the clamping upper module is less than the preset upper limit position information of the clamping upper module, it is determined that the limit bolts connecting the clamping module are damaged or a mechanical jam occurs.

[0038] Optionally, the cylinder linear positioner positioning control method further includes:

[0039] Get the upper limit position information of the clamping lower module;

[0040] When the material is normally held, it is determined whether the upper limit position information of the clamping lower module is greater than the preset upper limit position information of the clamping lower module, and a fifth determination result is obtained;

[0041] If the fifth judgment result indicates that the upper limit position information of the clamping lower module is greater than the preset upper limit position information of the clamping lower module, it is determined that there is a foreign object between the clamping block under the material support slide and the side support block of the material support slide;

[0042] When the material is released normally, it is determined whether the upper limit position information of the clamping lower module is greater than the preset upper limit position information of the clamping lower module, and a sixth determination result is obtained;

[0043] If the sixth judgment result indicates that the upper limit position information of the lower clamping module is greater than the preset upper limit position information of the lower clamping module, it is determined that there is a foreign object between the clamping block under the support and blanking slide and the guide rail slider.

[0044] Optionally, the positioning control method of the cylinder linear positioner further includes storing preset upper limit position information of the clamping upper module; the storing preset upper limit position information of the clamping upper module specifically includes:

[0045] Send the clamping cylinder movement command and determine the clamping cylinder movement time;

[0046] Determine whether the movement time of the clamping cylinder is greater than the first preset time, and obtain a seventh determination result;

[0047] If the seventh judgment result indicates that the movement time of the clamping cylinder is less than or equal to the first preset time, the upper limit position information of the clamping upper module is obtained and stored.

[0048] Optionally, the positioning control method of the cylinder linear positioner further includes storing preset information about the position of the upper clamping module pressing the material in place; the storing of preset information about the position of the upper clamping module pressing the material in place specifically includes:

[0049] Send the clamping cylinder movement command and determine the clamping cylinder movement time;

[0050] Determine whether the movement time of the clamping cylinder is greater than a second preset time, and obtain an eighth determination result;

[0051] If the eighth judgment result indicates that the movement time of the clamping cylinder is less than or equal to the second preset time, the position information of the clamping upper module pressing the material down is obtained and stored.

[0052] Optionally, the positioning control method of the cylinder linear positioner further includes storing preset upper limit position information of the lower clamping module; the storing preset upper limit position information of the lower clamping module specifically includes:

[0053] Send a movement instruction for the lower pressure block lifting cylinder and determine the movement time of the lower pressure block lifting cylinder;

[0054] Determine whether the movement time of the lower pressing block lifting cylinder is greater than the third preset time, and obtain a ninth determination result;

[0055] If the ninth judgment result indicates that the movement time of the lifting cylinder of the lower pressure block is less than or equal to the third preset time, the upper limit position information of the lower clamping module is obtained and stored.

[0056] Optionally, the positioning control method of the cylinder linear positioner further includes storing preset lower limit position information of the clamping lower module; the storing preset lower limit position information of the clamping lower module specifically includes:

[0057] Send a movement instruction for the lower pressure block lifting cylinder and determine the movement time of the lower pressure block lifting cylinder;

[0058] Determine whether the movement time of the lower pressing block lifting cylinder is greater than a fourth preset time, and obtain a tenth determination result;

[0059] If the tenth judgment result indicates that the movement time of the lower pressure block lifting cylinder is less than or equal to the fourth preset time, the lower limit position information of the clamping lower module is obtained and stored.

[0060] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0061] The present invention provides a cylinder linear positioner positioning system and control method, which obtains the position information of the clamping module in real time by setting a clamping and releasing stroke potentiometer and a lifting stroke potentiometer, and judges the position of the clamping module by a control subsystem, thereby determining the problem of the automatic feeding machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0063] Figure 1 This is a schematic diagram of a positioning system for a cylinder linear positioner according to an embodiment of the present invention;

[0064] Figure 2A front view of a small slide feeding clamping device of a cylinder linear positioner positioning system according to an embodiment of the present invention Figure 1 ;

[0065] Figure 3 A front view of a small slide feeding clamping device of a cylinder linear positioner positioning system according to an embodiment of the present invention Figure 2 ;

[0066] Figure 4 It is a side view of a small slide feeding clamping device of a cylinder linear positioner positioning system according to an embodiment of the present invention;

[0067] Figure 5 A three-dimensional diagram of a small slide feeding clamping device of a cylinder linear positioner positioning system according to an embodiment of the present invention;

[0068] Figure 6 This is a disassembled diagram of a small slide feeding clamping device of a cylinder linear positioner positioning system according to an embodiment of the present invention;

[0069] Figure 7 This is an electrical schematic diagram of a linear potentiometer of a positioning system of a cylinder linear positioner according to an embodiment of the present invention;

[0070] Figure 8 This is a flow chart of a positioning control method for a cylinder linear positioner according to an embodiment of the present invention;

[0071] Fig. 9 Schematic diagram of the upper limit position of the clamping module of the positioning system of the cylinder linear positioner according to an embodiment of the present invention.

[0072] Explanation of symbols:

[0073] 1-clamping plate cylinder fixing plate on the slide; 2-clamping cylinder; 3-lower pressure block lifting cylinder; 4-clamping and releasing stroke potentiometer; 6-clamping plate cylinder fixing plate under the slide; 8-guide column; 9-clamping plate on the support and blanking slide; 10-lifting stroke potentiometer fixing plate; 12-lifting stroke potentiometer; 13-clamping plate displacement potentiometer connecting block under the slide; 17-clamping plate under the support and blanking slide; 20-support and blanking slide bottom plate; 21-guide rail slider; 22-clamping upper module; 23-clamping lower module; 24-clamping plate displacement potentiometer fixing bracket on the slide; 26-clamping mold connection limit bolt; 27-human-machine interface touch screen; 28-PLC; 29-first power cord; 30-output line; 31-second power cord. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] The object of the present invention is to provide a positioning system and a control method for a cylinder linear positioner, so as to realize real-time monitoring of the position of a clamping module.

[0076] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] Embodiment 1

[0078] like Figure 1 As shown, the present invention provides a cylinder linear positioner positioning system, including: Figure 2-6 The small slide feeding clamping device, clamping and releasing stroke potentiometer 4, lifting stroke potentiometer 12 and control subsystem are shown.

[0079] The clamping and releasing stroke potentiometer 4 is arranged on the clamping plate displacement potentiometer fixing bracket 24 on the slide of the small slide feeding clamping device; the clamping and releasing stroke potentiometer 4 is used to detect the upper limit position information of the clamping upper module 22 and the lower pressing position information of the clamping upper module 22; the lifting stroke potentiometer 12 is arranged on the lifting stroke potentiometer fixing plate 11 of the small slide feeding clamping device; the lifting stroke potentiometer fixing plate 11 is arranged on the side support block 10 of the supporting slide; the lifting stroke potentiometer 12 is used to detect the upper limit position information of the clamping lower module 23.

[0080] The control subsystem is connected to the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12 respectively; the control subsystem is used to control the clamping cylinder 2 and the lower pressure block lifting cylinder 3 according to the position information detected by the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12. Among them, the control subsystem specifically includes the PLC28 system. The PLC system includes a PLC analog input module, a PLC analog internal processing module and a PLC output terminal. The PLC analog input module is used to obtain the position information detected by the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12. The PLC analog internal processing module is used to process and judge the position information detected by the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12. The PLC output terminal is used to output the processing result of the PLC analog internal processing module. Among them, the analog input module can be divided into a PLC built-in analog input module and a PLC external analog input module. In this embodiment, the PLC external analog input module is taken as an example.

[0081] In addition, the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12 are both linear potentiometers. The linear potentiometer is connected to the power supply through the first power line 29 and the second power line 31. The linear potentiometer is connected to the control subsystem through the output line 30. The setting module of the linear potentiometer outputs a 0-10V analog signal, and the PLC 28 (programmable logic controller) of the host computer processes the analog signal into a digital signal, and displays the real-time digital signal, that is, the position data information, through the connected human-machine interface touch screen 27.

[0082] In the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12, all sensors are of absolute position measurement type, which are used in the adjustment system and the measurement system to directly measure the displacement and length and output DC voltage signals. The signals can also be converted into standard 0-5V, 0-10V or 4-20mA DC signals through the built-in or position V / I conversion module, which can meet the requirements of long-distance transmission control.

[0083] Potentiometer principle Figure 7 As shown, 0-100% given input voltage (varies with displacement).

[0084] The product features of potentiometer are as follows:

[0085] Long service life, operation times: more than 100×10 6 Second-rate.

[0086] Running distance: more than 25×10 6 rice.

[0087] Noise-free output and smooth engineering guide rails.

[0088] Excellent linearity, linear error accuracy: some models are better than ±0.04% FS.

[0089] The resolution is less than 0.01mm, resolution: continuous resolution.

[0090] High operating speed, maximum operating speed: 10m / s, maximum operating acceleration 10m / s 2 .

[0091] High repeatability, less than 0.01mm.

[0092] Shock coefficient: IEC 68-2-29:196850g.

[0093] Vibration coefficient: IEC 68-2-6:198220g.

[0094] Maximum allowable voltage: DC60V / 5KΩ~20KΩ, DC36V / 2KΩ~4KΩ or DC24V / 1KΩ.

[0095] There is almost no temperature drift at normal temperature of -60℃~+150℃. When the temperature exceeds the normal temperature range, the temperature drift coefficient is: <1.5ppm / ℃.

[0096] All sensor housings: anodized aluminum alloy, the surface is treated with electrophoresis anti-static and radiation treatment, and high wear-resistant engineering slip rings to ensure smooth operation.

[0097] All adopt high sealing protection level, pull rod type: IP67, slider type: IP57.

[0098] The conductive materials inside the sensor are all high-grade imported raw materials, which ensure the high wear resistance and stability of the sensor, and the sensor can work reliably even under the worst conditions.

[0099] The actual internal structure principle of the linear potentiometer is similar to that of a sliding resistor. The analog voltage value corresponding to the full extension stroke is limited to DC 0-10V. The changing analog voltage value is connected to the Mitsubishi FX5U series FX5-4AD-ADP analog input module through the output line. The FX5-4AD-ADP analog input module is a PLC external analog input module. It is converted into a digital signal of a certain proportion by the PLC28 analog internal processing module. The size of the digital signal proportion is set by the Mitsubishi FX5U PLC analog internal processing module. The changed digital signal is input and processed by scanning the PLC28CPU. The changed digital signal is used as an input condition for judgment in the user program. After one cycle, the result is output and the external device, such as a solenoid valve, is driven at the PLC28 output terminal through the corresponding address. The solenoid valve is then used to make the cylinder work. The main thing is to compare the cylinder position captured at a high frequency in the user program. The position resolution is very high. The system provided by the present invention will not use the feedback position as the basis for the extension and retraction length of the cylinder in actual applications. It is not limited by the extremely short stroke of the cylinder extension and retraction, and will not be affected by the height changes of the clamped material. The extension and retraction stroke position of the cylinder will be recorded in real time.

[0100] Preferably, the cylinder linear positioner positioning system also includes a human-machine interface touch screen 27, which is connected to the control subsystem; the human-machine interface touch screen 27 is used to display the position information detected by the clamping and releasing stroke potentiometer 4 and the lifting stroke potentiometer 12. Among them, the human-machine interface touch screen 27 can also display fault prompts, and the fault prompts are the first problem, the second problem, the limit bolts connecting the clamping die set are damaged, the limit bolts connecting the clamping die set are damaged, the mechanical jamming problem occurs, and it is determined that there is a foreign object between the clamping block under the support and blanking slide and the side support block 10 of the support and blanking slide, or it is determined that there is a foreign object between the clamping block under the support and blanking slide and the guide rail slider 21.

[0101] In order to be more in line with practical applications, the cylinder linear positioner positioning system also includes an output alarm device; the output alarm device is connected to the control subsystem. The output alarm device issues an alarm when a problem occurs in the small slide feeding clamping device.

[0102] There are three groups of small slide feeding clamping devices on the automatic unloading machine equipment. The clamping method is the method of lifting up and pressing down. Two cylinders with a diameter of 80mm are used for lifting up, and one cylinder with a diameter of 80mm is used for pressing down. The three groups of small slide feeding clamping devices have the same structure. When the material to be cut in the middle clamp is clamped, the cylinder will extend and there will be lifting and pressing up actions. When the clamping is in place, the lifting and pressing up will have a stop position. Because the size of each material is different, the stop position is also different. The clamping signal is determined by a linear potentiometer. Six linear potentiometers are installed between the cylinder fixed plate and the cylinder telescopic connecting plate. Among them, the cylinder fixed plate includes the clamping plate cylinder fixed plate 1 on the slide and the clamping plate cylinder fixed plate 6 under the slide. The cylinder telescopic connecting plate includes the clamping plate 9 on the support slide and the displacement potentiometer connecting block 13 of the clamping plate under the slide. This feedback method does not require manual adjustment. The potentiometer's instant output analog signal can be used to determine whether the lifting and pressing cylinders are in place and whether the material position is correct. The linear potentiometer has a very high repeatability and can fully meet actual use. The potentiometer's analog electrical signal is transmitted to the PLC analog input module of the host computer through the wiring harness, and is converted into a digital signal through the analog-to-digital conversion inside the PLC analog internal processing module and the digital information is transmitted to the built-in CPU input side of the PLC28. The internal program is then used to compare and judge the output. The position information detected by the linear potentiometer is used as the final position information for the feed clamping mechanism, and the cylinder is no longer ventilated based on the position information fed back by the linear potentiometer.

[0103] The present invention discloses a cylinder linear potentiometer positioning system, including an analog signal acquisition device, i.e., a PLC analog input module, a signal processing operation device, i.e., a PLC analog internal processing module, a position value display device, i.e., a human-machine interface touch screen, and an output alarm device, which are arranged in a feed clamping mechanism. The system of the present invention is mainly aimed at the various defects of the electric cylinder (electric actuator) currently used in the market, and the electric cylinder is replaced with a cylinder. The advantage of the system is that the investment cost is relatively low in practical application, and a feed clamping mechanism with high positioning accuracy is not required. The advantage of the system is also that it can accurately judge whether the feed clamping mechanism is in place within a relatively small stroke range, and it can also adapt to the situation where the positioning position of the feed clamping mechanism is often adjusted.

[0104] Embodiment 2

[0105] like Figure 8 As shown, to achieve the above purpose, the present invention also provides the following solution:

[0106] A cylinder linear positioner positioning control method, the cylinder linear positioner positioning control method is applied to the cylinder linear positioner positioning system provided in the first embodiment, the cylinder linear positioner positioning control method includes:

[0107] Step 101: When the material is held normally, obtain the position information of the material clamping upper module pressing the material down.

[0108] Step 102: Determine whether the position information of the upper clamping module at the lower pressing position is equal to the preset position information of the upper clamping module at the lower pressing position, and obtain a first judgment result; if the first judgment result indicates that the position information of the upper clamping module at the lower pressing position is equal to the preset position information of the upper clamping module at the lower pressing position, execute step 103; if the first judgment result indicates that the position information of the upper clamping module at the lower pressing position is not equal to the preset position information of the upper clamping module at the lower pressing position, execute step 104.

[0109] Step 103: Determine that the position information of the upper clamping module for pressing the material down is correct.

[0110] Step 104: Determine whether the position information of the upper clamping module lower pressing material into place is greater than the preset position information of the upper clamping module lower pressing material into place, and obtain a second judgment result; if the second judgment result indicates that the position information of the upper clamping module lower pressing material into place is greater than the preset position information of the upper clamping module lower pressing material into place, execute step 105; if the second judgment result indicates that the position information of the upper clamping module lower pressing material into place is less than the preset position information of the upper clamping module lower pressing material into place, execute step 106.

[0111] Step 105: Determine that a first problem occurs, the first problem being that there is no material, the material has been processed, the outer dimensions of the material are unqualified, or the feeding direction of the material is incorrect.

[0112] Step 106: Determine that a second problem has occurred, the second problem being that there is foreign matter between the clamping die set and the material, the outer dimensions of the material are unqualified, or the feeding placement direction of the material is incorrect.

[0113] Step 107: When the material is released normally, the upper limit position information of the clamping upper module is obtained.

[0114] Step 108: Determine whether the upper limit position information of the upper clamping module is equal to the preset upper limit position information of the upper clamping module, and obtain a third judgment result; if the third judgment result indicates that the upper limit position information of the upper clamping module is equal to the preset upper limit position information of the upper clamping module, execute step 109; if the third judgment result indicates that the upper limit position information of the upper clamping module is not equal to the preset upper limit position information of the upper clamping module, execute step 110.

[0115] Step 109: Determine that the upper limit position information of the clamping upper module is correct.

[0116] Step 110: Determine whether the upper limit position information of the upper clamping module is greater than the preset upper limit position information of the upper clamping module, and obtain a fourth judgment result; if the fourth judgment result indicates that the upper limit position information of the upper clamping module is greater than the preset upper limit position information of the upper clamping module, then step 111; if the fourth judgment result indicates that the upper limit position information of the upper clamping module is less than the preset upper limit position information of the upper clamping module, then execute step 112.

[0117] Step 111: Determine if the limit bolts connecting the clamp module are damaged.

[0118] Step 112: Determine whether the limit bolts connecting the clamp module are damaged or a mechanical jam occurs.

[0119] In addition, the cylinder linear positioner positioning control method also includes:

[0120] Step 113: Obtain the upper limit position information of the clamping lower module.

[0121] Step 114: When the material is normally held, determine whether the upper limit position information of the lower clamping module is greater than the preset upper limit position information of the lower clamping module, and obtain a fifth judgment result; if the fifth judgment result indicates that the upper limit position information of the lower clamping module is greater than the preset upper limit position information of the lower clamping module, then execute step 115.

[0122] Step 115: Confirm that there is foreign matter between the clamping block under the blanking slide and the support block on the side of the blanking slide.

[0123] Step 116: When the material is released normally, determine whether the upper limit position information of the lower clamping module is greater than the preset upper limit position information of the lower clamping module, and obtain the sixth judgment result; if the sixth judgment result indicates that the upper limit position information of the lower clamping module is greater than the preset upper limit position information of the lower clamping module, execute step 117.

[0124] Step 117: Determine if there is foreign matter between the clamping block and the guide rail slider under the blanking slide.

[0125] In addition, the positioning control method of the cylinder linear positioner also includes storing the upper limit position information of the preset clamping upper module; storing the upper limit position information of the preset clamping upper module specifically includes:

[0126] Step 118: Send a clamping cylinder movement instruction and determine the clamping cylinder movement time.

[0127] Step 119: Determine whether the movement time of the clamping cylinder is greater than the first preset time, and obtain a seventh determination result; if the seventh determination result indicates that the movement time of the clamping cylinder is less than or equal to the first preset time, execute step 120.

[0128] Step 120: Obtain and store the upper limit position information of the clamping upper module.

[0129] In addition, the positioning control method of the cylinder linear positioner also includes storing the preset clamping upper module lower pressing material position information; storing the preset clamping upper module lower pressing material position information specifically includes:

[0130] Step 121: Send a clamping cylinder movement instruction and determine the clamping cylinder movement time.

[0131] Step 122: Determine whether the movement time of the clamping cylinder is greater than the second preset time, and obtain an eighth determination result; if the eighth determination result indicates that the movement time of the clamping cylinder is less than or equal to the second preset time, execute step 123.

[0132] Step 123: Obtain and store the position information of the material clamping upper module pressing the material into place.

[0133] As an optional implementation, the positioning control method of the cylinder linear positioner further includes storing preset upper limit position information of the lower clamping module; storing preset upper limit position information of the lower clamping module specifically includes:

[0134] Step 124: Send a movement instruction for the lower pressing block lifting cylinder and determine the movement time of the lower pressing block lifting cylinder.

[0135] Step 125: Determine whether the movement time of the lower pressure block lifting cylinder is greater than the third preset time, and obtain a ninth judgment result; if the ninth judgment result indicates that the movement time of the lower pressure block lifting cylinder is less than or equal to the third preset time, execute step 126.

[0136] Step 126: Obtain and store the upper limit position information of the clamping lower module.

[0137] As an optional implementation, the positioning control method of the cylinder linear positioner further includes storing preset lower limit position information of the clamping lower module; storing preset lower limit position information of the clamping lower module specifically includes:

[0138] Step 127: Send a movement instruction for the lower pressing block lifting cylinder and determine the movement time of the lower pressing block lifting cylinder.

[0139] Step 128: Determine whether the movement time of the lower pressure block lifting cylinder is greater than the fourth preset time, and obtain the tenth judgment result; if the tenth judgment result indicates that the movement time of the lower pressure block lifting cylinder is less than or equal to the fourth preset time, execute step 129.

[0140] Step 129: Obtain and store the lower limit position information of the clamping lower module.

[0141] Embodiment 3

[0142] Using the system provided in Example 1, through the cooperation of the mechanical mechanism of the small slide feeding clamping device, the analog position information of the up and down movement of the clamping block 9 on the support and blanking slide and the clamping plate 17 under the support and blanking slide connected to the cylinder is input into the PLC analog input module, and the signal is processed and converted into a digital signal, which is provided to the user program in the PLC for use as a condition, wherein the clamping block 9 on the support and blanking slide is connected and fixed with the cylinder telescopic rod, the clamping block 9 on the support and blanking slide is connected and fixed with the linear potentiometer telescopic rod, the cylinder is fixed through the clamping plate cylinder fixing plate 1 on the slide, that is, the linear potentiometer is indirectly fixed through the clamping plate cylinder fixing plate 1 on the slide, then the cylinder extension will drive the linear potentiometer to extend and extend to generate a changing analog signal. Therefore, the position information of the clamping block 9 on the support and blanking slide and the clamping plate 17 under the support and blanking slide is the position information detected by the two linear potentiometers. After the upper clamping module 22 and the lower clamping module 23 are connected to the clamping block 9 on the material support slide and the lower clamping plate 17 on the material support slide respectively, the debugging work before operation begins.

[0143] For example, taking sawing of material A as an example, the preparatory work before sawing is to read the position information of the clamping and releasing stroke potentiometer 4 when the special clamping die of material A, namely the clamping upper module 22, is in the working state.

[0144] When the clamping module set dedicated to material A, i.e., the upper clamping module 22 and the lower clamping module 23, is not installed, the clamping block 9 on the material support slide rises to the uppermost end as the clamping cylinder 2 retracts. This is the upper limit position, which is defined as the relative zero position, and the extending direction of the downward cylinder rod is the positive direction. Fig. 9 shown.

[0145] After the clamping module set dedicated to material A, i.e., the upper clamping module 22 and the lower clamping module 23, are installed, the following operations are performed:

[0146] The reading process of the upper limit position 1 (hereinafter referred to as "position 1") on the preset clamping upper module 22 is as follows:

[0147] The clamping upper module 22 will move up and down with the clamping block 9 on the material support slide. When it reaches the highest point, that is, when the cylinder rod of the clamping cylinder 2 is retracted to the shortest, a sufficient cylinder movement time is set (assuming 5 seconds. In actual work, the time taken for a normal cylinder with no mechanical jamming to move 100mm will be much less than 5 seconds. The purpose is to allow the cylinder to have sufficient time to reach the top dead center). The control subsystem reads the upper limit position 1 of the clamping upper module 22 and stores it for backup.

[0148] The reading process of the preset clamping upper module 22 pressing the material down to position 2 (hereinafter referred to as "position 2") is as follows:

[0149] Then place material A between the upper clamping module 22 and the lower clamping module 23, and ventilate the clamping cylinder 2 so that the cylinder rod of the clamping cylinder 2 extends to drive the clamping block 9 on the material support slide and the upper clamping module 22 to move downward along the guide column 8 at the same time to clamp material A. At this time, set a cylinder movement time. When the time is up, the control subsystem reads the material pressing position 2 of the upper clamping module 22 and stores it for standby use.

[0150] Because the upper clamping module 22 and the lower clamping module 23 are connected and limited by the clamping die connection limit bolts 26, and because each material has a dedicated clamping die set, namely the upper clamping module 22 and the lower clamping module 23, and the height of each material is different, the position 1 when the clamping die set, namely the upper clamping module 22 and the lower clamping module 23, is not installed is defined as the relative zero position.

[0151] Another preparation before sawing is to read the position information of the lifting stroke potentiometer 12 when another special clamping die for material A, namely the clamping lower module 23, is in the working state, specifically:

[0152] The reading process of the upper limit position 3 (hereinafter referred to as "position 3") of the preset clamping lower module 23 is as follows:

[0153] The clamping lower module 23 will move up and down following the clamping block 17 under the material support slide. When it reaches the highest point, that is, when the cylinder rod of the lower pressure block lifting cylinder 3 is shortened to the shortest, a cylinder movement time is set. When the time is up, the control subsystem reads the upper limit position 3 of the clamping lower module 23 and stores it for future use.

[0154] The reading process of the preset lower limit position 4 (hereinafter referred to as "position 4") of the lower clamping module 23 is as follows:

[0155] The clamping lower module will move up and down following the clamping block 17 under the material support slide. When it reaches the lowest point, that is, when the cylinder rod of the lower pressure block lifting cylinder 3 is extended to the longest, a cylinder movement time is set. When the time is up, the control subsystem reads the lower limit position 4 of the clamping lower module 23 and stores it for future use.

[0156] Because the function and mechanical structure of the moving clamping lower module 23 and the clamping block 17 under the support slide determine that the stroke of its up and down movement is a fixed value, the lower limit position 3 of the clamping lower module 23 is defined as the relative zero position, the downward movement direction is the positive direction, and the downward cylinder rod extension position reading value is positive. The mechanical limit of the up and down stroke size is 3mm.

[0157] When material A is processed normally, the PLC system collects (once for each sawing cycle) the position information fed back in real time by the clamping and releasing stroke potentiometer 4, namely, the upper limit position 1 of the upper clamping module 22 (hereinafter referred to as position A) and the lower pressing position 2 of the upper clamping module 22 (hereinafter referred to as position B), and the position information fed back by the lifting potentiometer 12, namely, the upper limit position 3 of the lower clamping module 23 (hereinafter referred to as position C) and the lower limit position 4 of the lower clamping module 23 (hereinafter referred to as position D), and uses the position information for judgment and comparison in the user program.

[0158] When the material is clamped normally, the upper clamping module 22 moves downward, and the lower clamping module 23 moves upward. At this time, the real-time position value collected and processed by the PLC system will be read and compared with the position value after the spare preset position +- the specified tolerance range stored during the preparation work to determine the problems encountered during the work. The spare preset position stored during the preparation work is a range value after adding or subtracting the specified tolerance. Therefore, when comparing the real-time position value with the spare preset position stored during the preparation work, when judging whether it is greater than, the current preset position is the original preset position plus the specified tolerance, when judging whether it is less than, the current preset position is the original preset position minus the specified tolerance, and when judging whether it is equal to, the maximum value of the current preset position is the original preset position plus the specified tolerance, and the minimum value of the current preset position is the original preset position minus the specified tolerance. The specific comparison results and the problems explained are as follows:

[0159] When position B>position 2, it indicates that the first problem occurs, wherein the first problem is that there is no material, the material has been processed, the outer dimensions of the material may not be qualified, or the feeding direction of the material may be incorrect.

[0160] When position B < position 2, it indicates that the second problem occurs, wherein the second problem is that there are foreign objects such as aluminum chips between the clamping die set and the material, the outer dimensions of the material may not be up to standard, or the feeding direction of the material may be incorrect.

[0161] When position C>position 3, it means that there are foreign objects (aluminum chips, etc.) between the clamping block 17 under the blanking slide and the side support block 10 of the blanking slide.

[0162] When the material is released normally, the upper clamping module 22 moves upward and the lower clamping module 23 moves downward. At this time, the real-time position value collected and processed by the PLC system will be read and compared with the position value of the preset position +- the specified tolerance range stored during the preparation work to identify problems in the work:

[0163] When position A>position 1, it indicates that the clamp connection limit bolt 26 is damaged.

[0164] When position A < position 1, it means that the limit bolts of the clamp connection are damaged 26 or mechanical jam occurs.

[0165] When position C>position 3, it means that there is foreign matter (aluminum chips, etc.) between the clamping block 17 and the guide rail slider 20 under the blanking slide.

[0166] The following is a comparison between pneumatic cylinders and electric cylinders:

[0167] Cylinder advantages:

[0168] (1) Lower requirements for users. The principle and structure of the cylinder are simple, easy to install and maintain, and the requirements for users are not high. Electric cylinders are different. Engineers must have certain electrical knowledge, otherwise it is very likely to be damaged due to misoperation.

[0169] (2) Large output force. The output force of a pneumatic cylinder is proportional to the square of the cylinder diameter; while the output force of an electric cylinder is related to three factors: the cylinder diameter, the power of the motor, and the pitch of the screw. The larger the cylinder diameter and power, and the smaller the pitch, the greater the output force. A pneumatic cylinder with a cylinder diameter of 50mm can theoretically have an output force of 2000N. For electric cylinders of the same cylinder diameter, although the products of different companies vary, they basically do not exceed 1000N. Obviously, pneumatic cylinders have more advantages in terms of output force.

[0170] (3) Strong adaptability. Pneumatic cylinders can work normally in high and low temperature environments and are dustproof and waterproof, and can adapt to various harsh environments. However, electric cylinders have high requirements for the environment and poor adaptability due to the large number of electrical components.

[0171] The advantages of electric cylinders are mainly reflected in the following three aspects:

[0172] (1) The system is very simple. Since the motor is usually integrated with the cylinder body, together with the controller and cable, the entire system of the electric cylinder is composed of these three parts, which is simple and compact.

[0173] (2) There are many stop positions and high control accuracy. Generally, electric cylinders are divided into low-end and high-end. The stop positions of low-end products are 3, 5, 16, and 64 levels, which vary from company to company; high-end products can reach hundreds or even thousands of positions. In terms of accuracy, electric cylinders also have absolute advantages, with positioning accuracy of up to Therefore, it is often used in precision industries such as electronics and semiconductors.

[0174] (3) Strong flexibility. The flexibility of the electric cylinder is much stronger than that of the pneumatic cylinder. Since the controller can be directly connected to the PLC, the speed, positioning and forward and reverse rotation of the motor can be precisely controlled. To a certain extent, the electric cylinder can move freely as needed. Due to the compressibility of the gas and the inertia generated during movement, even if the reversing valve and the magnetic switch are coordinated with each other, the accurate positioning of the electric cylinder and the strong flexibility cannot be achieved.

[0175] In terms of technical performance, electric and pneumatic actuators have their own strengths. First of all, the advantages of electric actuators mainly include:

[0176] (1) Compact structure and small size. Compared with pneumatic actuators, electric actuators have a relatively simple structure. A basic electronic system includes an actuator, a three-position DPDT switch, a fuse and some wires, which is easy to assemble.

[0177] (2) The driving source of electric actuators is very flexible, and generally the vehicle-mounted power supply can meet the needs, while pneumatic actuators require an air source and a compression drive device.

[0178] (3) Electric actuators have no risk of "leakage" and are highly reliable, while the compressibility of air makes pneumatic actuators slightly less stable.

[0179] (4) There is no need to install and maintain various pneumatic pipelines.

[0180] (5) It can maintain the load without power, while pneumatic actuators require a continuous supply of pressure.

[0181] (6) Electric actuators are quieter because they do not require additional pressure devices. Pneumatic actuators usually require a muffler when under heavy loads.

[0182] (7) Electric actuators are superior in terms of control accuracy.

[0183] (8) Pneumatic devices usually need to convert electrical signals into gas signals and then convert them into electrical signals. The transmission speed is slow and it is not suitable for complex circuits with too many component levels.

[0184] The advantages of cylinders lie in the following four aspects:

[0185] (1) Large load, suitable for applications with high torque output.

[0186] (2) Move quickly and react quickly.

[0187] (3) It has good adaptability to the working environment, especially in harsh working environments such as flammable, explosive, dusty, strongly magnetic, radiation and vibration, which is superior to hydraulic, electronic and electrical control.

[0188] (4) The motor is not easily damaged when the stroke is blocked or the valve stem is stuck.

[0189] Fold purchase and application cost comparison:

[0190] Generally speaking, electric servo drives are more expensive than pneumatic servo drives, but it also depends on the specific requirements and occasions. Some low-power DC motors that form electric slides (electric servo systems) are actually cheaper than pneumatic servo systems.

[0191] For example: when the load is 1.5kg, the working stroke is 80mm, the speed is between 2 and 170mm / s, and the accuracy is Acceleration 2.5m / s 2 When the working conditions are the same, the price of the electric servo system composed of a small electric slide, controller, motor cable, control cable, programming cable and power cable used by FESTO is 25% cheaper than that of the pneumatic servo system. The same is true for the electric cylinder with piston rod. It should be noted that if an AC motor is used, the price of the electric servo system is about 40% higher than that of the pneumatic servo system.

[0192] From the perspective of purchase and application costs, air cylinders still have obvious advantages. For pneumatic systems, the control system and actuators are very simple. Each air cylinder only needs to be equipped with a solenoid valve to complete the switching of the air circuit and perform motion control. The probability of failure of the air cylinder is also relatively small, maintenance is simple and convenient, and the cost is low.

[0193] For electric actuators, although it is relatively simple to obtain electric energy and the energy cost is low, the purchase and application costs are high. Not only does it require the configuration of a motor, but it also requires a set of mechanical transmission mechanisms and corresponding drive components. At the same time, the use of electric actuators requires many protection measures. Wrong circuit connections, voltage fluctuations, and load overloads can damage the electric drive. Therefore, it is necessary to install protection systems on the circuit and machinery, which adds a lot of additional expenses. In addition, since the electric actuator drive unit has many parameter settings and a high degree of integration, once it fails, the entire component must be replaced. And when the driving force required by the system increases, it is also necessary to replace the components as a set. Therefore, a comprehensive comparison shows that the cylinder has a greater advantage in purchase and maintenance costs.

[0194] Folding energy efficiency comparison:

[0195] The research results show that in horizontal reciprocating motion with a short reciprocating motion cycle (less than 1min), the operating energy consumption of the electric actuator is usually lower than that of the cylinder, that is, it is more energy-efficient. When the reciprocating motion cycle is longer (greater than 1min), the cylinder becomes more energy-efficient. This is firstly because the controller of the electric actuator usually consumes about 10W of electricity when the terminal stops, while the cylinder only consumes power and gas leakage of the solenoid valve, which is generally less than 1W, that is, the longer the terminal stop time, the more beneficial it is to the cylinder; secondly, the rated efficiency of the motor under continuous rotation conditions can reach more than 90%, but the average efficiency under the trapezoidal acceleration and deceleration rotation conditions in linear reciprocating motion (screw conversion) is less than 50%. In vertical reciprocating motion, the holding action of clamping the workpiece requires continuous supply of current to the electric actuator to overcome gravity, while the cylinder only needs to close the solenoid valve, which consumes very little energy. Therefore, the energy consumption advantage of the electric actuator over the cylinder in vertical reciprocating motion is not very large.

[0196] As can be seen from the above, the motor itself is very efficient, but considering its efficiency drop and the power consumption of the controller in reciprocating linear motion, electric actuators may not necessarily be more energy-efficient than cylinders. The specific comparison depends on the actual working conditions, namely the installation direction, reciprocating motion cycle and load rate, etc.

[0197] Comparison of folding applications:

[0198] Pneumatic and electric systems are not mutually exclusive. On the contrary, it is just a matter of different requirements. The advantages of pneumatic actuators are obvious. When faced with harsh environmental conditions such as dust, grease, water or detergents, pneumatic actuators are more adaptable to harsh environments and are very rugged and durable. Pneumatic actuators are easy to install, can provide typical gripping functions, are inexpensive and easy to operate.

[0199] Electric drives with servo motors have advantages when forces increase rapidly and precise positioning is required. Electric drives are the best choice for applications that require precise, synchronous operation, adjustable and specified positioning programming. Electric drive systems consisting of servo or stepper motors with closed-loop positioning controllers can complement the deficiencies of pneumatic systems.

[0200] From the perspective of technology and cost of use, cylinders have obvious advantages, but in actual use, which technology should be used for drive control should be considered comprehensively from multiple factors. Various systems in modern control are becoming more and more complex and sophisticated, and not just one drive control technology can meet the various control functions of the system. Cylinders can simply achieve fast linear cycle motion, have a simple structure, and are easy to maintain. They can also be used in various harsh working environments, such as those with explosion-proof requirements, dusty or humid working conditions.

[0201] Electric actuators are mainly used in applications that require precision control. The flexibility requirements in automation equipment are constantly increasing. The same equipment is often required to adapt to the processing needs of workpieces of different sizes. The actuator needs to perform multi-point positioning control, and the operating speed and torque of the actuator must be accurately controlled or synchronously tracked. These are impossible to achieve using traditional pneumatic control, but electric actuators can easily achieve such control. It can be seen that cylinders are more suitable for simple motion control, while electric actuators are mostly used in precision motion control.

[0202] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0203] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A positioning control method for a cylinder linear positioner, characterized in that: The positioning control method of the cylinder linear positioner is applied to the positioning system of the cylinder linear positioner; the positioning system of the cylinder linear positioner includes: a small slide feeding clamping device, a clamping and releasing stroke potentiometer, a lifting stroke potentiometer and a control subsystem; the clamping and releasing stroke potentiometer is arranged on the clamping plate displacement potentiometer fixing bracket on the slide of the small slide feeding clamping device; the clamping and releasing stroke potentiometer is used to detect the upper limit position information of the clamping upper module and the lower pressing position information of the clamping upper module; the lifting stroke potentiometer is arranged on the lifting stroke potentiometer fixing plate of the small slide feeding clamping device; the lifting stroke potentiometer fixing plate is arranged on the side support block of the support blanking slide; the lifting stroke potentiometer is used to detect the upper limit position information of the clamping lower module; the control subsystem is connected to the clamping and releasing stroke potentiometer and the lifting stroke potentiometer respectively; the control subsystem is used to control the clamping cylinder and the lower pressing block lifting cylinder according to the position information detected by the clamping and releasing stroke potentiometer and the lifting stroke potentiometer; The cylinder linear positioner positioning control method comprises: When the material is clamped normally, the position information of the clamping upper module pressing the material into place is obtained; Determine whether the material clamping upper module lower pressing material position information is equal to the preset material clamping upper module lower pressing material position information to obtain a first determination result; If the first judgment result indicates that the material clamping upper module lower pressing material position information is equal to the preset material clamping upper module lower pressing material position information, it is determined that the material clamping upper module lower pressing material position information is correct; If the first judgment result indicates that the material clamping upper module lower pressing material position information is not equal to the preset material clamping upper module lower pressing material position information, then determine whether the material clamping upper module lower pressing material position information is greater than the preset material clamping upper module lower pressing material position information to obtain a second judgment result; If the second judgment result indicates that the material clamping upper module lower pressing material position information is greater than the preset material clamping upper module lower pressing material position information, it is determined that the first problem occurs; the first problem is that there is no material, the material has been processed, the outer size of the material is unqualified, or the feeding direction of the material is incorrect; If the second judgment result indicates that the material clamping upper module lower pressing material position information is less than the preset material clamping upper module lower pressing material position information, it is determined that the second problem occurs; the second problem is that there is foreign matter between the clamping module and the material, the outer dimensions of the material are unqualified, or the feeding direction of the material is incorrect; When the material is released normally, the limit position information on the clamping module is obtained; Determine whether the upper limit position information of the clamping upper module is equal to the preset upper limit position information of the clamping upper module, and obtain a third determination result; If the third judgment result indicates that the upper limit position information of the clamping upper module is equal to the preset upper limit position information of the clamping upper module, it is determined that the upper limit position information of the clamping upper module is correct; If the third judgment result indicates that the upper limit position information of the clamping upper module is not equal to the preset upper limit position information of the clamping upper module, then it is judged whether the upper limit position information of the clamping upper module is greater than the preset upper limit position information of the clamping upper module to obtain a fourth judgment result; If the fourth judgment result indicates that the upper limit position information of the clamping upper module is greater than the preset upper limit position information of the clamping upper module, it is determined that the clamping module connection limit bolt is damaged; If the fourth judgment result indicates that the upper limit position information of the clamping upper module is less than the preset upper limit position information of the clamping upper module, it is determined that the limit bolts connecting the clamping module are damaged or a mechanical jam occurs.

2. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The cylinder linear positioner positioning control method further comprises: Get the upper limit position information of the clamping lower module; When the material is clamped normally, it is determined whether the upper limit position information of the clamping lower module is greater than the preset upper limit position information of the clamping lower module, and a fifth determination result is obtained; If the fifth judgment result indicates that the upper limit position information of the lower clamping module is greater than the preset upper limit position information of the lower clamping module, it is determined that there is a foreign object between the lower clamping block of the supporting and blanking slide and the side support block of the supporting and blanking slide.

3. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The positioning control method of the cylinder linear positioner further includes storing preset upper limit position information of the clamping upper module; the storing preset upper limit position information of the clamping upper module specifically includes: Send the clamping cylinder movement command and determine the clamping cylinder movement time; Determine whether the movement time of the clamping cylinder is greater than the first preset time, and obtain a seventh determination result; If the seventh judgment result indicates that the movement time of the clamping cylinder is less than or equal to the first preset time, the upper limit position information of the clamping upper module is obtained and stored.

4. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The positioning control method of the cylinder linear positioner further includes storing preset information about the position of the upper clamping module pressing the material in place; the storing of preset information about the position of the upper clamping module pressing the material in place specifically includes: Send the clamping cylinder movement command and determine the clamping cylinder movement time; Determine whether the movement time of the clamping cylinder is greater than a second preset time, and obtain an eighth determination result; If the eighth judgment result indicates that the movement time of the clamping cylinder is less than or equal to the second preset time, the position information of the clamping upper module pressing the material down into place is obtained and stored.

5. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The positioning control method of the cylinder linear positioner further includes storing preset upper limit position information of the lower clamping module; the storing preset upper limit position information of the lower clamping module specifically includes: Send a movement instruction for the lower pressure block lifting cylinder and determine the movement time of the lower pressure block lifting cylinder; Determine whether the movement time of the lower pressing block lifting cylinder is greater than the third preset time, and obtain a ninth determination result; If the ninth judgment result indicates that the movement time of the lifting cylinder of the lower pressure block is less than or equal to the third preset time, the upper limit position information of the lower clamping module is obtained and stored.

6. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The positioning control method of the cylinder linear positioner further includes storing preset lower limit position information of the clamping lower module; the storing preset lower limit position information of the clamping lower module specifically includes: Send a movement instruction for the lower pressure block lifting cylinder and determine the movement time of the lower pressure block lifting cylinder; Determine whether the movement time of the lower pressing block lifting cylinder is greater than a fourth preset time, and obtain a tenth determination result; If the tenth judgment result indicates that the movement time of the lower pressure block lifting cylinder is less than or equal to the fourth preset time, the lower limit position information of the clamping lower module is obtained and stored.

7. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The clamping and releasing stroke potentiometer and the lifting stroke potentiometer are both linear potentiometers.

8. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The cylinder linear positioner positioning system also includes a human-machine interface touch screen, which is connected to the control subsystem; the human-machine interface touch screen is used to display the position information detected by the clamping and releasing stroke potentiometer and the lifting stroke potentiometer.

9. The positioning control method of a cylinder linear positioner according to claim 1, characterized in that: The cylinder linear positioner positioning system also includes an output alarm device; the output alarm device is connected to the control subsystem.

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