Cylinder head empty tray return pneumatic slide and regulation method

Abstract

The present application belongs to the technical field of engine cylinder cover design, and discloses a cylinder cover empty tray return pneumatic slide and a regulation and control method. The cylinder cover empty tray return pneumatic slide comprises: an inlet slide for receiving an empty tray and transporting the empty tray by air source power; a transition structure for receiving the empty tray transported by the inlet slide, controlling the up-down free movement of the empty tray by air source, and transporting the supported empty tray to an outlet slide; and the outlet slide outputs the empty tray by air source power after receiving the empty tray transported by the transition structure, for next cycle use. The present application is applied to automatic return of the engine cylinder cover empty tray, and a single operation cycle saves 9 seconds of empty tray return time, reduces the operation time of an operator, and reduces the operation strength of frequent manual tray taking.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engine cylinder head design, and particularly relates to a cylinder head empty tray returning pneumatic slide and a control method. BACKGROUND

[0002] The existing technology ZR cylinder head OP410-OP480 workpiece needs to use a tray to carry. After the tray is carried with the workpiece from OP410 to OP480, the empty tray needs to be returned to OP410 for recycling. The existing technology embodiment is shown in the figure. Figure 1 The empty tray returning slide, Figure 2 The manual taking is shown.

[0003] Through the above analysis, the problems and defects of the existing technology are that the operator needs to manually take 4 times, about 3 seconds each time, and the total time of a single operation cycle is 12 seconds, which cannot effectively reduce the operator's operation time and cannot effectively reduce the operation strength of taking the tray. SUMMARY

[0004] In order to overcome the problems in the related art, the present application provides a cylinder head empty tray returning pneumatic slide and a control method, specifically a ZR cylinder head OP410-OP480 empty tray returning pneumatic slide.

[0005] The technical solution is as follows: the cylinder head empty tray returning pneumatic slide includes an inlet slide for receiving an empty tray and transporting by air source power and an outlet slide for outputting the empty tray by air source power, different pneumatic travel switches, double air supply reversing valves and transition structures are installed at the transition position of the inlet slide and the outlet slide, and the pneumatic control of the empty tray returning action is performed, specifically including:

[0006] The empty tray is used to receive the inlet slide transportation, pass through the air source control transition structure to move up and down freely, and transport the supported empty tray to the outlet slide;

[0007] The outlet slide receives the empty tray transported by the transition structure and then performs the next recycling;

[0008] The inlet slide is connected with the double air supply reversing valve through the inlet switch electromagnetic valve, and the double air supply reversing valve is also connected with the outlet pneumatic travel switch electromagnetic valve.

[0009] Further, the transition structure includes an up-down action cylinder, and the up-down action cylinder is installed with a transition slide;

[0010] When the transition slide receives the empty tray transported by the inlet slide, the direction is consistent with the inlet slide transportation direction;

[0011] The transition ramp rises to the front end of the outlet ramp, and is consistent with the conveying direction of the outlet ramp.

[0012] Further, an inlet pneumatic travel switch is installed on the inlet switch electromagnetic valve.

[0013] The inlet switch electromagnetic valve is connected to the inlet switching end of the double-gas-supply switching valve through a gas source pipeline.

[0014] Further, the double-gas-supply switching valve is also provided with a transition port switching end and an outlet switching end; the transition port switching end is connected to the transition structure through a gas source pipeline.

[0015] The outlet switching end is connected to the outlet switch electromagnetic valve through a gas source pipeline; the outlet switch electromagnetic valve is connected to the outlet ramp; and an outlet pneumatic travel switch is installed on the outlet switch electromagnetic valve.

[0016] Further, the double-gas-supply switching valve is connected to a pneumatic three-way joint through a gas pipeline; and the pneumatic three-way joint is connected to a gas source switch.

[0017] Further, the transition port switching end is connected to the lower end of the up-and-down action cylinder through a gas source pipeline and a first speed regulating valve; and the upper end of the up-and-down action cylinder is connected to the gas source discharge end of the double-gas-supply switching valve through a second speed regulating valve and a gas source pipeline.

[0018] Another object of the present application is to provide a control method for a cylinder head empty tray return pneumatic ramp, which is applied to the cylinder head empty tray return pneumatic ramp and comprises the following steps.

[0019] The two control loops established in the same ramp use different data to control the ramp in different working states, produce travel difference, and suppress the position control error of the ramp through data averaging to determine the position of stable transportation of the ramp;

[0020] The control in different working states specifically comprises the following steps.

[0021] (4) No deviation state:

[0022] Both loop 1 and loop 2 use real-time input air pressure data to perform positioning control based on the pneumatic travel switch data at the current time;

[0023] (5) Enter the deviation state:

[0024] Loop 1 uses real-time input air pressure data to perform positioning control based on an actual update period, and the running error is:

[0025] X(t)=[δV E ,δV N ,δL,Φ x ,Φ y ,Φ z ] E ,δV N ,δL,Φ x ,Φ y ,Φ z ]

[0026] Loop 2 uses real-time exhaust gas pressure data and an update cycle based on the real-time exhaust gas pressure extension for positioning control. The operating error is:

[0027] X′(t)=[δV E ′,δV N ′,δL′,Φ x ′,Φ y ′,Φ z ′]

[0028] The different update cycles of loop 1 and loop 2 will cause the travel distances of X(t) and X′(t) to gradually change;

[0029] (6) Deviation status:

[0030] At a certain moment, the travel lead of loop 2 relative to loop 1 reaches the maximum travel distance, that is, after the error of the two loops reverses, the deviation stage begins. Loop 1 and loop 2 are controlled using real raw data, and the average of the control outputs of loop 1 and loop 2 is used as the final control result.

[0031] Furthermore, the real-time exhaust pressure expansion update cycle includes:

[0032] The real-time exhaust pressure expansion update cycle indicates that the positioning is updated using the slideway data of the real-time exhaust pressure.

[0033] The real-time exhaust pressure data refers to the data obtained by extending the update cycle of the actual slide rail raw data by several times.

[0034] Furthermore, the control of the multiple loops using different data under different states also includes:

[0035] No deviation state: The position, velocity, and position update process of the slide are described as follows:

[0036] Location update:

[0037]

[0038] In the formula, For the unbiased state position update function, n, b, and k represent the solenoid valve inlet pressure, valve core stroke, and inlet time corresponding to different slides, respectively; I represents the inlet pressure loss, and Ω represents the valve core angular velocity.

[0039] Speed ​​updates:

[0040]

[0041] In the formula, The control rate of the electromagnetic valve inlet valve core stroke and the inlet time corresponding to different slides, The linear relationship between the inlet pressure and the inlet time of a certain motion state, g n The relationship value between the valve core mass and the inlet pressure;

[0042] Enter the deviation state position update:

[0043]

[0044]

[0045]

[0046] In the formula,

[0047]

[0048]

[0049]

[0050]

[0051] In the formula, T s The strapdown positioning update cycle; L k The entering deviation state position update value; Lambda k The entering deviation state position update deviation value; The speed update value of a certain state under the unbiased state; R M The radius of a certain valve core; H k-1 The farthest distance of the valve core to the electromagnetic valve;

[0052] The loop 1 and loop 2 running position update output is:

[0053]

[0054] In the formula, The loop 1 running position update output value, The loop 2 running position update output value, t q At a certain time, q represents a certain motion state; t0 Initial time, t n The time when the required inlet pressure is reached, The loop 1 running position update output value at a certain time, The angular velocity of the valve core in the current inlet pressure and valve core stroke of loop 1.

[0055] Further, the plurality of loops control different data in different states also include a deviation state:

[0056] The unbiased phase starts from time 0 to t n The time ends; n1 is the real-time intake pressure of circuit 1; n2 is the real-time intake pressure of circuit 2; b1 is the valve core stroke of circuit 1; b2 is the valve core stroke of circuit 2; when in the entering deviation state, the stroke valve core is in quasi-static state, and the total length of the deviation state is 1 / 4 of the Schuler period

[0057] Position update:

[0058]

[0059] Wherein, the circuit 2 position update calculates the angular rate From the angular velocity information Multiplied by the corresponding proportional coefficient, that is:

[0060]

[0061] In the formula, Indicates the strapdown positioning update period of the deviation state.

[0062] In combination with all the technical solutions described above, the application has the advantages and positive effects that the application is applied to automatic return of the engine cylinder cover empty tray, a single operation cycle saves 9 seconds of empty tray return time, reduces the operation time of the operator, and reduces the operation strength of frequent manual tray taking. BRIEF DESCRIPTION OF DRAWINGS

[0063] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure;

[0064] Figure 1 Is a schematic diagram of the prior art empty tray return slide provided by the embodiment of the application;

[0065] Figure 2 Is a schematic diagram of manual taking provided by the embodiment of the application;

[0066] Figure 3 Is a schematic diagram of the cylinder cover empty tray return pneumatic slide provided by the embodiment of the application;

[0067] Figure 4 Is a schematic diagram of the double-gas supply directional valve connection provided by the embodiment of the application;

[0068] In the figure: 1, entrance slide; 2, transition structure; 2-1, up-down action cylinder; 2-2, transition slide; 3, exit slide; 4, entrance switch electromagnetic valve; 5, double-gas supply reversing valve; 6, entrance reversing end; 7, transition port reversing end; 8, exit reversing end; 9, exit switch electromagnetic valve; 10, pneumatic three-way joint; 11, first speed regulating valve; 12, second speed regulating valve; 13, gas source discharge end; 14, entrance pneumatic travel switch; 15, exit pneumatic travel switch; 16, gas source switch. DETAILED DESCRIPTION

[0069] In order to make the above-mentioned objectives, features and advantages of the present application more apparent and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0070] As shown in Embodiment 1, Figure 3 The cylinder cover empty tray returning pneumatic slide provided by the embodiment of the present application comprises:

[0071] An entrance slide 1 for receiving empty trays and transporting the empty trays by gas source power;

[0072] A transition structure 2 for receiving the empty trays transported by the entrance slide 1, controlling the up-down free movement of the empty trays by gas source, and transporting the supported empty trays to an exit slide 3;

[0073] After the exit slide 3 receives the empty trays transported by the transition structure 2, the empty trays are output by gas source power for next cycle use.

[0074] In the embodiment of the present application, the transition structure 2 comprises an up-down action cylinder 2-1, and a transition slide 2-2 is installed on the up-down action cylinder 2-1;

[0075] When the transition slide 2-2 receives the empty trays transported by the entrance slide 1, the transition slide 2-2 is consistent with the transport direction of the entrance slide 1, so as to ensure the stable transport of the empty trays;

[0076] When the transition slide 2-2 rises to the front end of the exit slide 3, the transition slide 2-2 is consistent with the transport direction of the exit slide 3, so as to ensure the stable output of the empty trays.

[0077] As shown in Embodiment 1, Figure 4 The entrance slide 1 is connected with a control-transport empty tray entrance switch electromagnetic valve 4, and the entrance switch electromagnetic valve 4 is installed with an entrance pneumatic travel switch 14;

[0078] The entrance switch electromagnetic valve 4 is connected with the entrance reversing end 6 of the double-gas supply reversing valve 5 through a gas source pipeline.

[0079] The double-gas supply reversing valve 5 is also provided with a transition port reversing end 7 and an outlet reversing end 8; the transition port reversing end 7 is connected with the transition structure 2 through a gas source pipeline;

[0080] The outlet reversing end 8 is connected with an outlet switch electromagnetic valve 9 through a gas source pipeline; the outlet switch electromagnetic valve 9 is connected with the outlet slide 3; the outlet switch electromagnetic valve 9 is provided with an outlet pneumatic travel switch 15;

[0081] The double-gas supply reversing valve 5 is connected with a pneumatic three-way joint 10 through a gas pipeline; the pneumatic three-way joint 10 is connected with a gas source switch 16;

[0082] In the embodiment of the application, the transition port reversing end 7 is connected with the lower end of the up-and-down action cylinder 2-1 through a gas source pipeline and a first speed regulating valve 11; the upper end of the up-and-down action cylinder 2-1 is connected with the gas source discharge end 13 of the double-gas supply reversing valve 5 through a second speed regulating valve 12 and a gas source pipeline;

[0083] In the embodiment of the application, the inlet reversing end 6 is used as the gas source input port of the inlet switch electromagnetic valve 4;

[0084] The inlet pneumatic travel switch 14 and the outlet pneumatic travel switch 15 are connected with the pneumatic three-way joint 10 through signal lines.

[0085] The two-section slide transition position is realized by installing a pneumatic travel switch, a reversing valve and a cylinder mode, so that the tray returning action is pneumatic, manual operation is only needed once, the time consumption is 3 seconds, the manual operation time is reduced to 9 seconds, and the operation strength is reduced.

[0086] In embodiment 2, a cylinder cover empty tray returning pneumatic slide is provided, and a control method thereof is provided, which comprises the following steps:

[0087] Two control loops established in the same slide adopt different data to control in different working states of the slide, produce travel difference, and suppress the slide position control error through data averaging to determine the position of stable transportation of the slide;

[0088] The control in different working states specifically comprises the following steps:

[0089] Non-bias state:

[0090] Loop 1 and loop 2 both use real-time input air pressure data to perform positioning control based on the pneumatic travel switch data at the current time;

[0091] Enter bias state:

[0092] Loop 1 uses real-time input air pressure data to perform positioning control based on an actual update period, and the running error is:

[0093] X(t) = [δV E , δV N , δL, Φ x , Φ y , Φ z ]

[0094] Loop 2 uses real-time exhaust gas pressure data based on real-time exhaust gas pressure extended update cycle for positioning control, and the operation error is:

[0095] X'(t) = [δV E ', δV N ', δL', Φ x ', Φ y ', Φ z ']

[0096] The different update cycles of loop 1 and loop 2 cause the stroke of X(t) and X'(t) to gradually change;

[0097] Deviation state:

[0098] At a certain moment, the stroke of loop 2 relative to loop 1 reaches the maximum stroke distance, that is, the error of the two loops is reversed, that is, it enters the deviation stage, and loop 1 and loop 2 control using real original data, and the average value of the control output of loop 1 and loop 2 is used as the final control result.

[0099] In the embodiment of the application, the real-time exhaust gas pressure extended update cycle comprises:

[0100] The real-time exhaust gas pressure extended update cycle indicates that the position is updated using the real-time exhaust gas pressure of the slide data;

[0101] The real-time exhaust gas pressure data refers to data obtained by extending the update cycle of the real slide original data by a plurality of times of real-time exhaust gas pressure.

[0102] In the embodiment of the application, the different data used by the plurality of loops in different states for control further comprises:

[0103] No deviation state: the position, speed and position update process of the slide are expressed as:

[0104] Position update:

[0105]

[0106] In the formula, is the no deviation state position update function, n, b and k respectively represent the electromagnetic valve inlet pressure, valve stroke and inlet time corresponding to different slides; I represents the inlet pressure loss, and Ω is the valve core angular velocity;

[0107] Speed update:

[0108]

[0109] wherein, represents the control rate of the electromagnetic valve spool stroke and the intake time corresponding to different slides, represents the linear relationship between the intake pressure and the intake time of a certain motion state, g n represents the relationship value between the spool mass and the intake pressure;

[0110] Optimized position update:

[0111]

[0112]

[0113]

[0114] wherein,

[0115]

[0116]

[0117]

[0118]

[0119] wherein, T s is the strapdown positioning update period; L k represents the entering deviation state position update value; λ k represents the entering deviation state position update deviation value; represents a certain state speed update value in the unbiased state; R M the radius of a certain spool; h k-1 represents the farthest distance of the spool to the electromagnetic valve;

[0120] The loop 1 and loop 2 running position update outputs are:

[0121]

[0122] wherein, represents the loop 1 running position update output value, represents the loop 2 running position update output value, t q represents a certain time, q represents a certain motion state; t0 initial time, t n represents the time when the required intake pressure is reached, represents the loop 1 certain time running position update output value, The loop 1 represents the current intake pressure, the valve core stroke, the valve core angular velocity.

[0123] In the embodiment of the present application, the multiple loops are controlled by different data in different states, and the bias state is further included:

[0124] The bias-free stage starts from 0 time to t n ; n1 is the real-time intake pressure of loop 1; n2 is the real-time intake pressure of loop 2; b1 is the valve core stroke of loop 1; b2 is the valve core stroke of loop 2; when in the entering bias state, the stroke valve core is in quasi-static state, and the total duration of the bias state is 1 / 4 of the Schuler period.

[0125] Position update:

[0126] Loop 1 position update:

[0127] Loop 2 position update:

[0128]

[0129] Wherein, the loop 2 position update calculates the angular rate The angular velocity information is multiplied by the corresponding proportional coefficient to obtain, that is:

[0130]

[0131] In the formula, The strapdown positioning update period in the bias state is represented.

[0132] The control method of the cylinder cover empty tray returning pneumatic slide of the present application can realize accurate control of the operation of different slides.

[0133] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make any modification, equivalent replacement and improvement within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A pneumatic slide for returning empty cylinder head trays, characterized in that, It includes an inlet chute (1) for receiving empty pallets and transporting them using pneumatic power, and an outlet chute (3) for outputting empty pallets using pneumatic power. Different pneumatic limit switches, dual-supply reversing valves (5), and transition structures (2) are installed at the transition positions between the inlet chute (1) and the outlet chute (3) to perform pneumatic control of the empty pallet return action, specifically including: An empty pallet is used to transport the empty pallet to the inlet chute (1), and a transition structure (2) that controls the free movement of the pallet up and down by an air source, and transports the empty pallet to the outlet chute (3). After receiving the empty pallet conveyed by the transition structure (2), the exit chute (3) is used for the next cycle; The inlet slide (1) is connected to the dual air supply reversing valve (5) via the inlet switch solenoid valve (4), and the dual air supply reversing valve (5) is also connected to the outlet switch solenoid valve (9). The control method for the return pneumatic slide of the cylinder head empty tray includes: Two control loops established in the same slide are controlled using different data under different working conditions of the slide, resulting in a stroke difference. The slide position control error is suppressed by averaging the data, and the position of the slide for stable transportation is determined. The specific methods for controlling the slide under different operating conditions include: (1) No deviation state: Both loop 1 and loop 2 use real-time input air pressure data to perform positioning control based on the pneumatic limit switch data at the current moment; (2) Entering a deviation state: Loop 1 uses real-time input air pressure data for positioning control based on the actual update cycle, and the operating error is: X(t)=[δV E ,δV N ,δL,Φ x ,F y ,F z ] Loop 2 uses real-time exhaust gas pressure data and an update cycle based on the real-time exhaust gas pressure extension for positioning control. The operating error is: X′(t)=[δV E ′,δV N ′,δL′,Φ x ′,Φ y ′,Φ z ′] The different update cycles of loop 1 and loop 2 will cause the travel distances of X(t) and X′(t) to gradually change; (3) Deviation status: At a certain moment, the travel lead of loop 2 relative to loop 1 reaches the maximum travel distance, that is, after the error of the two loops reverses, the deviation stage begins. Loop 1 and loop 2 are controlled using real raw data, and the average of the control outputs of loop 1 and loop 2 is used as the final control result.

2. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, The transition structure (2) includes an up-and-down actuating cylinder (2-1), and a transition slide (2-2) is installed on the up-and-down actuating cylinder (2-1); When the transition chute (2-2) receives the empty pallet conveyed by the inlet chute (1), it is in the same conveying direction as the inlet chute (1); When the transition slide (2-2) rises to the front end of the outlet slide (3), it is in the same direction as the conveying direction of the outlet slide (3).

3. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, An inlet pneumatic limit switch (14) is installed on the inlet switch solenoid valve (4); The inlet switch solenoid valve (4) is connected to the inlet reversing end (6) of the dual air supply reversing valve (5) through the air source pipeline.

4. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, The dual-gas-supply reversing valve (5) is also provided with a transition port reversing end (7) and an outlet reversing end (8); the transition port reversing end (7) is connected to the transition structure (2) through a gas source pipeline; The outlet reversing end (8) is connected to the outlet switch solenoid valve (9) through the air source pipeline; the outlet switch solenoid valve (9) is connected to the outlet slide (3); an outlet pneumatic limit switch (15) is installed on the outlet switch solenoid valve (9).

5. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, The dual-air-supply reversing valve (5) is connected to a pneumatic triplet (10) via an air pipeline; the pneumatic triplet (10) is connected to a switch with an air source (16).

6. The cylinder head empty tray return pneumatic slide according to claim 4, characterized in that, The transition port reversing end (7) is connected to the lower end of the upper and lower action cylinder (2-1) through the air source pipeline and the first speed control valve (11); the upper end of the upper and lower action cylinder (2-1) is connected to the air source discharge end (13) of the dual air supply reversing valve (5) through the second speed control valve (12) and the air source pipeline.

7. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, The real-time exhaust pressure expansion update cycle includes: The real-time exhaust pressure expansion update cycle indicates that the positioning is updated using the slideway data of the real-time exhaust pressure. The real-time exhaust pressure data refers to the data obtained by extending the update cycle of the actual slide rail raw data by several times.

8. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, The method of controlling multiple loops with different data under different states also includes: No deviation state: The position, velocity, and position update process of the slide are described as follows: Location update: In the formula, For the unbiased state position update function, n, b, and k represent the solenoid valve inlet pressure, valve core stroke, and inlet time corresponding to different slides, respectively; I represents the inlet pressure loss, and Ω represents the valve core angular velocity. Speed ​​updates: In the formula, This indicates the rate at which the solenoid valve spool stroke and intake time are adjusted for different slide rails. This represents the linear relationship between intake pressure and intake time in a certain motion state, g n This indicates the relationship between valve core mass and intake pressure. Optimize location updates: In the formula, In the formula, T s For the timing update cycle of Strapdown Link; L k Indicates the updated value at the position of entering the deviation state; λ k This indicates the location where the deviation state is entered, and the deviation value is updated. R represents the velocity update value for a given state under unbiased conditions. M The radius of a certain valve core; h k-1 This indicates the farthest distance the valve core can reach the solenoid valve; The output of the running position update for loop 1 and loop 2 is as follows: In the formula, This indicates that the output value is updated based on the operating position of loop 1. This indicates the output value updated at the operating position of loop 2, t. q Let q represent a certain moment, and t0 represent a certain motion state; t0 is the initial moment, and t... n This indicates the moment when the required intake pressure is reached. This indicates the output value of the loop 1 at a certain moment, representing the updated running position. This indicates the valve core angular velocity of circuit 1 under the current intake pressure and valve core stroke.

9. The cylinder head empty tray return pneumatic slide according to claim 1, characterized in that, The control of multiple loops using different data under different states also includes deviation states: The unbiased phase starts from time 0 and ends at time t. n The time interval ends; n1 is the real-time intake pressure of loop 1; n2 is the real-time intake pressure of loop 2; b1 is the valve spool stroke of loop 1; b2 is the valve spool stroke of loop 2; when in the deviation state, the stroke valve spool is in a quasi-static state, and the total duration of the deviation state is a fraction of the Schuler period. Location update: Among them, the position update of loop 2 calculates the angular rate. From angular velocity information Multiply by the corresponding scaling factor to obtain: In the formula, This indicates a deviation in the strapdown positioning update cycle.

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