Pneumatic motor servo system and control method

Abstract

The present invention belongs to the technical field of pneumatic motors, and specifically relates to a pneumatic motor servo system and a control method, wherein the pneumatic motor servo system comprises an air source control system, a pneumatic motor body, a first air port, a second air port and an output shaft; a speed sensor is installed on the output shaft, and the air source control system controls the air source flow rate entering the pneumatic motor body; the air source control system comprises an air compressor, an air intake valve, a forward valve and a reverse valve connected in sequence, the forward valve and the reverse valve are connected in parallel at the rear of the air intake valve, a flow ratio regulating valve is also connected at the rear of the air intake valve, and the forward valve and the reverse valve are connected in parallel at the rear of the flow ratio regulating valve; the pneumatic motor servo system of the present invention obtains the output speed of the pneumatic motor by arranging a speed sensor on the output shaft, and adjusts the airflow entering the pneumatic motor by the flow ratio regulating valve, thereby eliminating or reducing the loss of the air source during the transportation process, and ensuring that the pneumatic motor outputs the required speed.

Description

Technical Field

[0001] The invention belongs to the technical field of pneumatic motors, and in particular relates to a pneumatic motor servo system and a control method. Background Art

[0002] Compared with traditional electric motors and hydraulic motors, pneumatic motors are lighter and easier to install and transport. Because their working medium is compressed air, they will not cause fire. When a pneumatic motor is overloaded, it can maintain a balance with the air supply pressure and automatically stop. Compared with hydraulic motors, compressed air leakage will not pollute the environment. Compared with electric motors, there is no motor damage caused by overvoltage, overcurrent, reduced insulation and other problems.

[0003] However, the output speed of the pneumatic motor is directly related to its air source. In the prior art, there is a lot of loss in the process of the air source entering the pneumatic motor from the compressor, which directly affects the output speed of the pneumatic motor, making it difficult for the pneumatic motor to reach or just obtain the required speed. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is: how to provide a pneumatic motor servo system and a control method to achieve real-time feedback control and obtain the required precise output speed of the pneumatic motor.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a pneumatic motor servo system, characterized in that the pneumatic motor servo system comprises: a pneumatic motor and an air source control system for supplying air to the pneumatic motor;

[0008] The pneumatic motor comprises a pneumatic motor body, a first air port, a second air port and an output shaft; a speed sensor is installed on the output shaft, and the speed sensor is used to obtain the output shaft speed signal and transmit the speed signal to the air source control system;

[0009] The air source control system is used to control the air source flow rate entering the pneumatic motor body;

[0010] The air source control system comprises: a gas-liquid separator, an air purifier, an air compressor, and an air intake valve connected in sequence; the air source control system also comprises a forward valve, a reverse valve, a first air intake flow sensor, and a second air intake flow sensor;

[0011] The first intake air flow sensor is arranged at the rear of the forward valve and is connected to the first air port, the second intake air flow sensor is arranged at the rear of the reverse valve and is connected to the second air port, the forward valve and the reverse valve are connected in parallel to the rear of the intake valve; the first air port and the second air port are respectively connected to the first air return pipe and the second air return pipe, and both the first air return pipe and the second air return pipe are connected to the gas-liquid separator;

[0012] A flow rate proportional regulating valve is also connected between the rear portion of the intake valve and the forward valve and the reverse valve. The forward valve and the reverse valve are connected in parallel to the rear portion of the flow rate proportional regulating valve.

[0013] Therefore, the speed signal output by the output shaft of the pneumatic motor is obtained in real time through the speed sensor and fed back to the air source control system. The air source control system controls the air pressure and airflow entering the pneumatic motor in real time to ensure that the pneumatic motor outputs the required speed.

[0014] Wherein, the flow ratio regulating valve is an electric valve, which automatically adjusts the flow delivery opening through a controller to achieve regulation of the actual output flow.

[0015] The rated air pressure and airflow output by the air compressor are greater than the air pressure and flow required by the pneumatic motor, so as to compensate for the loss of gas during movement and ensure that the pneumatic motor outputs the required rated speed.

[0016] The first and second return air pipes are provided with a first one-way valve and a second one-way valve, respectively, for controlling and selecting the return air path, and are adapted to work in the forward and reverse working modes of the pneumatic motor.

[0017] Wherein, the pneumatic motor body is provided with a first air cavity and a second air cavity which are respectively connected with the first air port and the second air port;

[0018] Wherein, the first air cavity is also provided with an exhaust hole, and a manual flow regulating valve is installed on the exhaust hole.

[0019] The arrangement of the exhaust port and the manual flow regulating valve can achieve slight adjustment of the speed output by the pneumatic motor by manually slightly adjusting the air pressure and flow in the pneumatic motor body, thereby providing a method for adjusting the speed output by the pneumatic motor;

[0020] In normal operation, or under the automatic control of the entire pneumatic motor servo system, the pneumatic motor outputs the required speed chamber, and the exhaust hole and manual flow control valve are closed;

[0021] If there is still a slight deviation under the automatic control of the entire servo system, it can be adjusted by the manual flow control valve.

[0022] Among them, the air source control system is also connected to a servo controller, and the servo controller includes a control module, a signal acquisition module, a signal output module and a communication module; wherein the communication module is connected to the host computer, the signal acquisition module is respectively connected to the speed sensor, the first intake flow sensor and the second intake flow sensor signals, and the signal output module is respectively connected to the intake valve, the forward valve, the reverse valve and the flow ratio control valve signals.

[0023] Wherein, the air intake valve, forward valve, reverse valve and flow ratio regulating valve are all electric automatic control valves.

[0024] Among them, the flow signals output by the first intake flow sensor and the second intake flow sensor are used to detect and verify whether the pneumatic motor is working normally. If the flow in the first intake flow sensor and the second intake flow sensor is normal, but the pneumatic motor still cannot output the required speed, it is judged that the pneumatic motor itself has a fault and needs to be shut down for maintenance.

[0025] In addition, the present invention also provides a control method for a pneumatic motor servo system, which is used as the control method for the pneumatic motor servo system. The method is specifically as follows:

[0026] The signal acquisition module collects the speed signal of the pneumatic motor output shaft in real time, and transmits the speed signal to the control module of the servo controller. The control module calculates and judges the real-time speed and the set value, and generates a feedback signal to control the flow proportional control valve. The flow proportional control valve controls the amount of air source entering the pneumatic motor to ensure that the pneumatic motor outputs the required speed.

[0027] (III) Beneficial effects

[0028] Compared with the prior art, the present invention provides a pneumatic motor servo system, which obtains the output speed of the pneumatic motor by setting a speed sensor on the output shaft, and adjusts the airflow entering the pneumatic motor through a flow proportional control valve, thereby eliminating or reducing the loss of air source during the transportation process and ensuring that the pneumatic motor outputs the required speed.

[0029] The present invention obtains the real-time output speed of the pneumatic motor through the real-time closed-loop control of the servo controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the pneumatic motor servo system of the technical solution of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0032] In order to solve the above technical problems, the present invention provides a pneumatic motor servo system, such as Figure 1 As shown, the pneumatic motor servo system includes: a pneumatic motor and an air source control system for supplying air to the pneumatic motor;

[0033] The pneumatic motor comprises a pneumatic motor body, a first air port, a second air port and an output shaft; a speed sensor is installed on the output shaft, and the speed sensor is used to obtain the output shaft speed signal and transmit the speed signal to the air source control system;

[0034] The air source control system is used to control the air source flow rate entering the pneumatic motor body;

[0035] The air source control system comprises: a gas-liquid separator, an air purifier, an air compressor, and an air intake valve connected in sequence; the air source control system also comprises a forward valve, a reverse valve, a first air intake flow sensor, and a second air intake flow sensor;

[0036] The first intake air flow sensor is arranged at the rear of the forward valve and is connected to the first air port, the second intake air flow sensor is arranged at the rear of the reverse valve and is connected to the second air port, the forward valve and the reverse valve are connected in parallel to the rear of the intake valve; the first air port and the second air port are respectively connected to the first air return pipe and the second air return pipe, and both the first air return pipe and the second air return pipe are connected to the gas-liquid separator;

[0037] A flow rate proportional regulating valve is also connected between the rear portion of the intake valve and the forward valve and the reverse valve. The forward valve and the reverse valve are connected in parallel to the rear portion of the flow rate proportional regulating valve.

[0038] Therefore, the speed signal output by the output shaft of the pneumatic motor is obtained in real time through the speed sensor, and is fed back to the air source control system through a closed loop. The air source control system controls the air pressure and airflow entering the pneumatic motor in real time to ensure that the pneumatic motor outputs the required speed, thereby solving the problem in the prior art that the pneumatic motor and the air source system experience gas flow and gas pressure loss during operation, causing the actual speed of the pneumatic motor output to be less than the required rated speed.

[0039] Wherein, the flow ratio regulating valve is an electric valve, which automatically adjusts the flow delivery opening through a controller to achieve regulation of the actual output flow.

[0040] The rated air pressure and airflow output by the air compressor are greater than the air pressure and flow required by the pneumatic motor, so as to compensate for the loss of gas during movement and ensure that the pneumatic motor outputs the required rated speed.

[0041] The first and second return air pipes are provided with a first one-way valve and a second one-way valve, respectively, for controlling and selecting the return air path, and are adapted to work in the forward and reverse working modes of the pneumatic motor.

[0042] Wherein, the pneumatic motor body is provided with a first air cavity and a second air cavity which are respectively connected with the first air port and the second air port;

[0043] Wherein, the first air cavity is also provided with an exhaust hole, and a manual flow regulating valve is installed on the exhaust hole.

[0044] The arrangement of the exhaust port and the manual flow regulating valve can achieve slight adjustment of the speed output by the pneumatic motor by manually slightly adjusting the air pressure and flow in the pneumatic motor body, thereby providing a method for adjusting the speed output by the pneumatic motor;

[0045] In normal operation, or under the automatic control of the entire pneumatic motor servo system, the pneumatic motor outputs the required speed chamber, and the exhaust hole and manual flow control valve are closed;

[0046] If there is still a slight deviation under the automatic control of the entire servo system, it can be adjusted by the manual flow control valve.

[0047] Among them, the air source control system is also connected to a servo controller, and the servo controller includes a control module, a signal acquisition module, a signal output module and a communication module; wherein the communication module is connected to the host computer, the signal acquisition module is respectively connected to the speed sensor, the first intake flow sensor and the second intake flow sensor signals, and the signal output module is respectively connected to the intake valve, the forward valve, the reverse valve and the flow ratio control valve signals.

[0048] Wherein, the air intake valve, forward valve, reverse valve and flow ratio regulating valve are all electric automatic control valves.

[0049] Among them, the flow signals output by the first intake flow sensor and the second intake flow sensor are used to detect and verify whether the pneumatic motor is working normally. If the flow in the first intake flow sensor and the second intake flow sensor is normal, but the pneumatic motor still cannot output the required speed, it is judged that the pneumatic motor itself has a fault and needs to be shut down for maintenance.

[0050] In addition, the present invention also provides a control method for a pneumatic motor servo system, which is used as the control method for the pneumatic motor servo system. The method is specifically as follows:

[0051] The signal acquisition module collects the speed signal of the pneumatic motor output shaft in real time, and transmits the speed signal to the control module of the servo controller. The control module generates a feedback signal to control the flow proportional control valve by calculating and judging the real-time speed and the set value. The flow proportional control valve controls the amount of air source entering the pneumatic motor to ensure that the pneumatic motor outputs the required speed. In the control method, the real-time output speed of the pneumatic motor is obtained through the real-time closed-loop control of the servo controller.

[0052] Example 1

[0053] like Figure 1 As shown, this embodiment provides a pneumatic motor servo system, including a pneumatic motor and an air source control system for supplying air to the pneumatic motor;

[0054] The pneumatic motor comprises a pneumatic motor body, a first air port, a second air port and an output shaft; a speed sensor is installed on the output shaft, and the speed sensor obtains the output shaft speed signal and transmits the speed signal to the air source control system;

[0055] The air source control system is used to control the air source flow rate entering the pneumatic motor body;

[0056] The air source control system comprises: a gas-liquid separator, an air purifier, an air compressor, and an air intake valve connected in sequence; the air source control system also comprises a forward valve, a reverse valve, a first air intake flow sensor, and a second air intake flow sensor;

[0057] The first intake air flow sensor is arranged at the rear of the forward valve and is connected to the first air port, the second intake air flow sensor is arranged at the rear of the reverse valve and is connected to the second air port, the forward valve and the reverse valve are connected in parallel to the rear of the intake valve, the first air port and the second air port are respectively connected to the first air return pipe and the second air return pipe, and both the first air return pipe and the second air return pipe are connected to the gas-liquid separator;

[0058] A flow rate proportional regulating valve is also connected between the rear portion of the intake valve and the forward valve and the reverse valve. The forward valve and the reverse valve are connected in parallel to the rear portion of the flow rate proportional regulating valve.

[0059] Based on the above technical solution, the speed signal output by the output shaft of the pneumatic motor is obtained in real time through a speed sensor, and is fed back to the air source control system through a closed loop. The air source control system controls the air pressure and airflow entering the pneumatic motor in real time to ensure that the pneumatic motor outputs the required speed, thereby solving the problem in the prior art that the pneumatic motor and the air source system experience gas flow and gas pressure loss during operation, causing the actual speed of the pneumatic motor output to be less than the required rated speed.

[0060] The flow rate proportional control valve in the pneumatic motor servo system is an electric valve, which automatically adjusts the flow delivery opening through the controller to achieve the adjustment of the actual output flow rate;

[0061] The rated air pressure and airflow output by the air compressor in the pneumatic motor servo system are greater than the airflow pressure and flow required by the pneumatic motor to compensate for the loss of gas during movement and ensure that the pneumatic motor outputs the required rated speed.

[0062] In the pneumatic motor servo system, the first return air pipe and the second return air pipe are respectively provided with a first check valve and a second check valve for controlling and selecting the return air path, respectively adapted to work in the pneumatic motor forward and reverse working modes.

[0063] In the pneumatic motor servo system, a first air cavity and a second air cavity are provided in the pneumatic motor body, which are connected to the first air port and the second air port respectively. The first air cavity is also provided with an exhaust hole, and a manual flow regulating valve is installed on the exhaust hole. The design of the exhaust hole and the manual flow regulating valve can achieve a slight adjustment of the speed output by the pneumatic motor by manually slightly adjusting the air pressure and flow in the pneumatic motor body, thereby providing a method for adjusting the output speed of the pneumatic motor. In normal operation, or under the automatic control of the entire pneumatic motor servo system, the pneumatic motor outputs the required speed chamber, and the exhaust hole and the manual flow regulating valve are closed. If there is still a slight deviation under the automatic control of the entire servo system, it can be adjusted by the manual flow regulating valve.

[0064] In the pneumatic motor servo system, the air source control system is also connected to a servo controller, and the servo controller includes a control module, a signal acquisition module, a signal output module and a communication module; wherein the communication module is connected to the host computer, the signal acquisition module is respectively connected to the speed sensor, the first intake flow sensor and the second intake flow sensor signals, and the signal output module is respectively connected to the intake valve, the forward valve, the reverse valve and the flow ratio regulating valve signals;

[0065] Among them, the air intake valve, forward valve, reverse valve and flow ratio regulating valve are all electric automatic control valves, which are automatically controlled by signals to improve control accuracy and ensure precise control.

[0066] Among them, the flow signals output by the first intake flow sensor and the second intake flow sensor are used to detect and verify whether the pneumatic motor is working normally. If the flow in the first intake flow sensor and the second intake flow sensor is normal, but the pneumatic motor still cannot output the required speed, it is judged that the pneumatic motor itself has a fault and needs to be shut down for maintenance.

[0067] In addition, the present invention also provides a control method for a pneumatic motor servo system, which is used as the control method for the pneumatic motor servo system. The method is specifically as follows:

[0068] The signal acquisition module collects the speed signal of the pneumatic motor output shaft in real time, and transmits the speed signal to the control module of the servo controller. The control module generates a feedback signal to control the flow proportional control valve by calculating and judging the real-time speed and the set value. The flow proportional control valve controls the amount of air source entering the pneumatic motor to ensure that the pneumatic motor outputs the required speed. In the control method, the real-time output speed of the pneumatic motor is obtained through the real-time closed-loop control of the servo controller.

[0069] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pneumatic motor servo system, characterized in that: The pneumatic motor servo system comprises: a pneumatic motor and an air source control system for supplying air to the pneumatic motor; The pneumatic motor comprises a pneumatic motor body, a first air port, a second air port and an output shaft; a speed sensor is installed on the output shaft, and the speed sensor is used to obtain the output shaft speed signal and transmit the speed signal to the air source control system; The air source control system is used to control the air source flow rate entering the pneumatic motor body; The air source control system comprises: a gas-liquid separator, an air purifier, an air compressor, and an air intake valve connected in sequence; the air source control system also comprises a forward valve, a reverse valve, a first air intake flow sensor, and a second air intake flow sensor; The first air intake flow sensor is arranged at the rear of the forward valve and is connected to the first air port, the second air intake flow sensor is arranged at the rear of the reverse valve and is connected to the second air port, the forward valve and the reverse valve are connected in parallel to the rear of the air intake valve; the first air port and the second air port are respectively connected to the first air return pipe and the second air return pipe, and the first air return pipe and the second air return pipe are both connected to the gas-liquid separator; the first air return pipe and the second air return pipe are respectively provided with a first check valve and a second check valve for controlling and selecting the air return path, which are respectively adapted to work in the forward and reverse working modes of the pneumatic motor; A flow rate proportional regulating valve is also connected between the rear portion of the intake valve and the forward valve and the reverse valve. The forward valve and the reverse valve are connected in parallel to the rear portion of the flow rate proportional regulating valve. Therefore, the speed signal output by the output shaft of the pneumatic motor is obtained in real time through the speed sensor and fed back to the air source control system. The air source control system controls the air pressure and airflow entering the pneumatic motor in real time to ensure that the pneumatic motor outputs the required speed; The rated air pressure and air flow output by the air compressor are greater than the air pressure and flow rate required by the pneumatic motor, so as to compensate for the loss of gas during movement and ensure that the pneumatic motor outputs the required rated speed; The pneumatic motor body is provided with a first air cavity and a second air cavity which are respectively connected with the first air port and the second air port, wherein the first air cavity is also provided with an exhaust hole, and a manual flow regulating valve is installed on the exhaust hole, and the speed output by the pneumatic motor can be slightly adjusted by manually adjusting the air pressure and flow in the pneumatic motor body; In normal operation, or under the automatic control of the entire pneumatic motor servo system, the pneumatic motor outputs the required speed chamber, the exhaust hole and the manual flow control valve are closed. Under the automatic control of the entire servo system, there is still a slight deviation, which is adjusted through the manual flow control valve.

2. The pneumatic motor servo system according to claim 1, characterized in that: The flow ratio regulating valve is an electric valve, which automatically adjusts the flow delivery opening through a controller to achieve regulation of the actual output flow.

3. The pneumatic motor servo system according to claim 1, characterized in that: The air source control system is also connected to a servo controller, which includes a control module, a signal acquisition module, a signal output module and a communication module; wherein the communication module is connected to the host computer, the signal acquisition module is respectively connected to the speed sensor, the first intake flow sensor and the second intake flow sensor signals, and the signal output module is respectively connected to the intake valve, the forward valve, the reverse valve and the flow ratio control valve signals.

4. The pneumatic motor servo system according to claim 1, characterized in that: The air inlet valve, the forward valve, the reverse valve and the flow ratio regulating valve are all electric automatic control valves.

5. The pneumatic motor servo system according to claim 1, characterized in that: The flow signals output by the first intake flow sensor and the second intake flow sensor are used to detect and verify whether the pneumatic motor is operating normally. If the flow in the first intake flow sensor and the second intake flow sensor is normal, but the pneumatic motor still cannot output the required speed, it is judged that the pneumatic motor itself has a fault and needs to be shut down for maintenance.

Images