JP6887652B2 - Air cylinder controller - Google Patents

Description

The present invention relates to an air cylinder control device for controlling an air cylinder having a piston that reciprocates with the energy of compressed air.

Conventionally, a boxing device for packing articles one by one in a box has been used. For example, Patent Document 1 (Japanese Unexamined Patent Publication No. 2004-155428) discloses a boxing device configured to repeatedly push a bag into a box that opens laterally to pack the bag in a plurality of stages. .. In this boxing device, a plate-shaped member is inserted from the opening of the box to the vicinity of the side wall of the box (the side wall on the back side of the opening), and a bag below the plate-shaped member (already a box) between the box and the plate-shaped member. By compressing the bag packed inside, it is easy to put the bag in the box above the plate-shaped member, and the filling rate of the bag in the box is increased.

In this boxing device, the plate-shaped member is driven into or out of the box by being driven by an actuator such as an air cylinder. When the plate-shaped member is driven by an air cylinder, the piston connected to the plate-shaped member reciprocates by supplying compressed air to the spaces on both sides of the piston inside the air cylinder. At that time, as disclosed in Patent Document 2 (Japanese Unexamined Patent Publication No. 8-93718), in order to suppress the impact when the piston operating at high speed reaches the end point of one stroke, the piston is moved near the stroke end. Control to decelerate may be performed.

In the air cylinder, the operating speed of the piston is adjusted in advance by the speed controller, so that it basically does not change. However, there is a possibility that the piston does not operate or does not operate at the optimum operating speed due to insufficient adjustment of the operating speed of the piston, aging deterioration of the air cylinder itself, and the like. In this case, if the timing at which the deceleration of the piston is started is fixed, the deceleration of the piston cannot be performed at an appropriate timing, and the impact received by the piston when the movement of the piston in a predetermined direction is completed is sufficient. It may not be suppressed.

An object of the present invention is to provide an air cylinder control device capable of sufficiently suppressing an impact received by a piston of an air cylinder.

The air cylinder control device according to the present invention controls an air cylinder having a cylinder tube, a piston, and an air supply unit. The piston divides the internal space of the cylinder tube into a first chamber and a second chamber. The air supply unit selectively supplies compressed air to one of the first chamber and the second chamber of the cylinder tube to move the piston along the longitudinal direction of the cylinder tube. The air cylinder control device includes a detection unit and a control unit. The detection unit detects the movement of the piston. The control unit switches the supply destination of the compressed air by the air supply unit between the first chamber and the second chamber based on the detection result of the detection unit.

The air cylinder control device according to the present invention decelerates the piston by switching the supply destination of the compressed air in the air cylinder based on the operation of the piston. This allows the air cylinder controller to optimize the timing of deceleration of the piston so that the impact when the piston hits the end of the cylinder tube and the movable range of the piston are regulated. The impact when reaching the edge of the movable range is reduced. Therefore, the air cylinder control device according to the present invention can sufficiently suppress the impact received by the piston of the air cylinder, and can be expected to improve the durability of the device.

Further, in the air cylinder control device according to the present invention, it is preferable that the detection unit detects the operation of the piston by measuring the time during which the piston moves in a predetermined direction by a predetermined distance by the air supply unit.

In this case, the air cylinder control device measures the time required for the piston to move between two predetermined points, and controls the timing of deceleration of the piston based on the measured value. Therefore, the air cylinder control device can calculate the timing of switching the supply destination of the compressed air in the air cylinder.

Further, in the air cylinder control device according to the present invention, it is preferable that the control unit adjusts the initial switching time point based on the operating time of the piston measured by the detection unit. The detection unit measures the operating time from the first time point when the piston starts to move in a predetermined direction to the second time point when the piston which starts moving at the first time point stops. The first switching time point is a time point between the first time point and the second time point, and is a time point when the supply destination of the compressed air by the air supply unit is first switched.

In this case, the air cylinder control device adjusts the timing of first switching the supply destination of the compressed air in the air cylinder between the start and the end of the movement of the piston in a predetermined direction. Control the timing of deceleration. Therefore, the air cylinder control device can sufficiently suppress the impact received by the piston of the air cylinder.

Further, in the air cylinder control device according to the present invention, it is preferable that the control unit calculates an average value of a predetermined number of times of piston operation time and adjusts the initial switching time point based on the average value.

In this case, the air cylinder control device uses a value based on a past measured value as the operating time of the piston (the time from the start to the end of the movement of the piston in a predetermined direction). Therefore, the air cylinder control device can always optimize the timing of switching the supply destination of the compressed air in the air cylinder.

Further, in the air cylinder control device according to the present invention, when the average value deviates from a predetermined recommended range, the control unit preferably changes the recommended range based on the average value.

In this case, the air cylinder controller changes the timing of switching the supply destination of the compressed air in the air cylinder so that the average value of the operating time of the piston is not within the recommended recommended range. Not only that, but also the recommended range itself will be changed. As a result, the air cylinder control device can always optimize the deceleration timing of the piston even if the piston cannot operate at the optimum operating speed due to aged deterioration of the air cylinder itself or the like.

Further, it is preferable that the air cylinder control device according to the present invention further includes a sensor for detecting the position of the piston in the longitudinal direction and a timer. The detection unit uses a sensor and a timer to measure the time for the piston to move in a predetermined direction by a predetermined distance.

In this case, the air cylinder controller can appropriately measure the operating time of the piston by using the sensor and the timer.

Further, in the air cylinder control device according to the present invention, it is preferable that the air cylinder has a driving member and a regulating member, and the sensor is attached to the regulating member to detect the distance to the driving member. The drive member is arranged outside the cylinder tube and moves in the longitudinal direction of the cylinder tube in conjunction with the piston. The regulating member regulates the movement of the driving member in the longitudinal direction.

In this case, the air cylinder control device measures the position of the driving member that moves in conjunction with the piston outside the cylinder tube by using a sensor attached to the regulating member for regulating the movement of the piston. The operating time of the piston can be measured accurately.

The air cylinder control device according to the present invention can sufficiently suppress the impact received by the piston of the air cylinder, and can be expected to improve the durability of the device.

It is a schematic front view of the boxing apparatus 10 using the air cylinder control apparatus 81 which concerns on one Embodiment of this invention. FIG. 3 is a view of the cardboard box C used in the boxing device 10 as viewed from the closed bottom lid B side. It represents the state immediately before the first article A is put into the cardboard box C. It represents the state immediately after the first article A is put into the cardboard box C. It represents the state immediately before the second article A is put into the cardboard box C. It represents the state immediately after the second article A is put into the cardboard box C. It represents the state immediately before the third article A is put into the cardboard box C. It represents the state immediately after the third article A is put into the cardboard box C. It is a schematic block diagram of a shutter drive part 62. It is a figure for demonstrating the flow of the air when the solenoid valve 77 is an on state. It is a figure for demonstrating the flow of the air when the solenoid valve 77 is an off state. It is a block diagram of an air cylinder control device 81. It is a graph which shows an example of the change of the state of the solenoid valve 77 in one stroke of a piston 73. FIG. 8 is a flowchart of a process in which the control unit 83 optimizes t2 at the time of initial switching. It is a schematic block diagram of the shutter drive part 62 in the modification C.

An embodiment of the present invention will be described with reference to the drawings. The embodiments described below are one of the specific examples of the present invention and do not limit the technical scope of the present invention.

(1) Configuration and Operation of Boxing Device FIG. 1 is a schematic view of a boxing device 10 using an air cylinder control device 81 according to an embodiment of the present invention. The boxing device 10 is, for example, a device installed on a food factory line for packing and packing an article A produced on the food factory line. The boxing device 10 puts a plurality of articles A into the cardboard box C placed at a place where the articles A to be packed are sent one after another through the opening Op of the cardboard box C and packs them in a box. Article A is, for example, a bag in which food such as potato chips is wrapped with a packaging material.

The boxing device 10 mainly includes a box-making unit 1, a box-packing unit 2, and a box-closing unit 3. FIG. 1 is a schematic front view of the boxing device 10.

In the following description, terms such as up, down, left, right, front (front), back (back) are used to describe the direction and position. Unless otherwise noted, these terms mean up, down, left, right, front, back, indicated by arrows in the drawing.

(1-1) Box-making unit The box-making unit 1 opens the cardboard sheet S, which is a folded cardboard box C, closes the bottom lid B of the cardboard box C, and fastens with tape T, and only one side is open. A cardboard box C to be opened is manufactured. FIG. 2 is a view of the cardboard box C as viewed from the side of the closed bottom lid B. The flap C2 on the upper lid side facing the bottom lid B is in a state of being opened to the outside. The open upper lid side of the cardboard box C corresponds to the opening Op of the cardboard box C.

The cardboard box C manufactured by the box-making unit 1 is conveyed to the box-packing unit 2 by a conveyor (not shown). The box-making unit 1 sends the manufactured cardboard boxes C to the box-packing unit 2 one after another.

(1-2) Boxing Unit The boxing unit 2 puts a plurality of articles A into the cardboard box C and packs them in a box. 3A to 3F are diagrams for explaining the operation of the boxing unit 2. In FIGS. 3A to 3F, the boxing unit 2 puts three articles A into the cardboard box C in order from the lower side. FIG. 3A shows a state immediately before the first article A is put into the cardboard box C. FIG. 3B shows a state immediately after the first article A is put into the cardboard box C. FIG. 3C shows a state immediately before the second article A is put into the cardboard box C. FIG. 3D shows a state immediately after the second article A is put into the cardboard box C. FIG. 3E shows a state immediately before the third article A is put into the cardboard box C. FIG. 3F shows a state immediately after the third article A is put into the cardboard box C.

The cardboard box C with the opening Op facing sideways is supplied to the boxing unit 2 by the conveyor of the box making unit 1. Specifically, the boxing unit 2 is supplied with a cardboard box C having a bottom lid B formed on the front side of the boxing device 10 and an opening Op formed on the back side of the boxing device 10.

As shown in FIG. 2, the cardboard box C used in the boxing device 10 extends back and forth from an annular side surface portion C1 having four side surface portions C11 to C14 and four side surface portions C11 to C14, respectively. It has eight flat flaps C2.

At the time of being supplied to the boxing unit 2, the flap C2 on the front side of the boxing device 10 is closed by the box making unit 1 and fastened with the tape T to form the bottom lid B. On the other hand, at the time of being supplied to the boxing unit 2, the flaps C2 (flaps C21 to C24) on the back side of the boxing device 10 are open to the outside. That is, the cardboard box C supplied to the boxing unit 2 has the opening Op facing rearward. The cardboard box C is supplied to the boxing unit 2 with the side surface portion C14 facing downward as shown in FIG.

The boxing unit 2 mainly includes a drop mechanism 20, a support movement mechanism 30, a loading mechanism 50, a shutter mechanism 60, a spill prevention mechanism 70, an article transport mechanism 80, and a box transport mechanism 90.

The drop mechanism 20 drops the cardboard boxes C supplied one after another from the box making unit 1. The drop mechanism 20 causes the cardboard box C to fall with the side surface portion C14 facing downward and the opening Op facing backward.

The support moving mechanism 30 supports the cardboard box C dropped by the dropping mechanism 20 at the place where the article A is packed in the cardboard box C. Further, the support moving mechanism 30 moves the cardboard box C in which the article A is packed in a box from the place where the article A is packed on the conveyor belt of the box transport mechanism 90.

The loading mechanism 50 loads the article A transported by the article transport mechanism 80 into the cardboard box C supported by the support moving mechanism 30 through the opening Op of the cardboard box C. The loading mechanism 50 loads the article A into the cardboard box C by pushing the article A forward using the extrusion plate.

When the article A is put into the cardboard box C, the shutter mechanism 60 uses the shutter 61 to prevent the article A that has already been put into the cardboard box C from hindering the putting of the article A. .. Details of the configuration and operation of the shutter mechanism 60 will be described later.

The spill prevention mechanism 70 prevents the article A already put into the cardboard box C from spilling from the cardboard box C with the opening Op facing sideways.

The article transport mechanism 80 transports the article A before being packed in the cardboard box C. The article transport mechanism 80 conveys the article A by a conveyor belt at a predetermined timing so that the article A is conveyed in front of the extrusion plate of the loading mechanism 50.

The box transport mechanism 90 is a cardboard box C moved by the support movement mechanism 30, and the cardboard box C in a state where the opening Op is facing upward is horizontally transported by a conveyor belt to the box closing unit 3. Supply to.

(1-3) Box-closing unit The box-closing unit 3 is supplied from the box transport mechanism 90 of the boxing unit 2, closes the flaps C2 (flaps C21 to C24) of the cardboard box C having the opening Op facing upward, and is taped. Stop to form the top lid. The cardboard box C whose upper lid is formed by the box closing unit 3 is carried out from the box packing device 10.

(2) Structure of Shutter Mechanism The shutter mechanism 60 mainly includes a shutter 61 and a shutter driving unit 62.

(2-1) Shutter The shutter 61 is a member inserted from the opening Op into the cardboard box C in a state where the opening Op faces sideways (rear side). The shutter 61 is a plate-shaped member having a main surface parallel to the horizontal plane. The shutter 61 is driven in the front-rear direction by the shutter driving unit 62. The shutter 61 is arranged below the conveyor belt 81 of the article transport mechanism 80.

As shown in FIGS. 3A to 3D, the shutter 61 stands by behind the opening Op of the cardboard box C until the article A is charged twice into the cardboard box C by the loading mechanism 50. Then, as shown in FIG. 3E, the shutter 61 is moved forward by the shutter drive unit 62 before the third article A is charged into the cardboard box C by the insertion mechanism 50, and the cardboard box C is moved forward. It is inserted from the opening Op to the vicinity of the bottom lid B of the cardboard box C. The shutter 61 opens in the cardboard box C supported by the support moving mechanism 30 at the place where the article A is inserted so as to cover the upper part of the article A already inserted in the cardboard box C. Is inserted from. After that, the support moving mechanism 30 moves the cardboard box C slightly upward with the shutter 61 inserted in the cardboard box C. Therefore, the article A is sandwiched between the bottom surface (side surface portion C14) of the cardboard box C with the opening Op turned sideways and the shutter 61. As a result, as shown in FIG. 3E, the gap between the articles A in the cardboard box C and the gap between the side surface portions C11, C13, C14 of the cardboard box C and the article A are reduced.

Further, as shown in FIG. 3F, the charging mechanism 50 keeps the shutter 61 inserted into the cardboard box C through the opening Op when the third article A is loaded into the cardboard box C. , Put the article A into the cardboard box C. Therefore, when the third article A is loaded into the cardboard box C, the charging mechanism 50 loads the article A on the horizontal plane of the shutter 61. After loading the third article A, the shutter 61 is moved rearward by the shutter drive unit 62 and pulled out from the cardboard box C. As a result, the third article A is put into the cardboard box C. In this way, by inserting the article A onto the shutter 61 inserted in the cardboard box C and then pulling out the shutter 61 from the cardboard box C, the two articles already inserted in the cardboard box C. A suppresses the inhibition of the input of the third article A. Therefore, the shutter mechanism 60 can smoothly put a plurality of articles A into the cardboard box C by using the shutter 61.

(2-2) Shutter drive unit The shutter drive unit 62 inserts the shutter 61 into the cardboard box C from the opening Op, or pulls out the shutter 61 from the cardboard box C in the front-rear direction. It is a device for driving. An air cylinder is used as a drive source for the shutter drive unit 62.

FIG. 4 is a schematic configuration diagram of the shutter drive unit 62. The shutter drive unit 62 mainly includes an air cylinder 71 and an air cylinder control device 81.

(2-2-1) Air Cylinder The air cylinder 71 is a magnet type rodless cylinder. The air cylinder 71 mainly includes a cylinder tube 72, a piston 73, a slider 74, an air supply unit 75, and an air control circuit 76.

The cylinder tube 72 is the main body of the air cylinder 71, and is a tubular member extending in the front-rear direction. A pair of cylinder plates 72a and 72b are attached to both ends of the cylinder tube 72. The cylinder plate 72a is attached to the rear end of the cylinder tube 72, and the cylinder plate 72b is attached to the front end of the cylinder tube 72.

The piston 73 is arranged in the internal space of the cylinder tube 72. The piston 73 is arranged so as to be movable in the front-rear direction while sliding on the inner wall surface of the cylinder tube 72. The piston 73 divides the internal space of the cylinder tube 72 into a first chamber R1 and a second chamber R2. As shown in FIG. 4, the first chamber R1 is a space on the bottom dead center side (rear side) of the piston 73. The second chamber R2 is a space on the top dead center side (front side) of the piston 73. The piston 73 is a member formed of a magnet or a member to which a magnet is attached.

The slider 74 is a member supported so as to be movable along the longitudinal direction (front-back direction) of the cylinder tube 72 while sliding with the outer surface of the cylinder tube 72. The movable range of the slider 74 is regulated by a pair of cylinder plates 72a, 72b. A magnet is attached to the slider 74. A force that tends to attract the magnet of the piston 73 acts on the magnet of the slider 74. Therefore, when the piston 73 moves in the front-rear direction inside the cylinder tube 72, the slider 74 outside the cylinder tube 72 also moves in the front-rear direction in conjunction with the movement of the piston 73. A shutter 61 is attached to the slider 74.

The air supply unit 75 is an air compressor capable of discharging compressed air. The compressed air discharged from the air supply unit 75 allows the piston 73 to move along the longitudinal direction (front-back direction) of the cylinder tube 72, as will be described later. That is, the air supply unit 75 functions as a drive source for moving the shutter 61 connected to the slider 74 attracted to the piston 73 in the front-rear direction.

The air control circuit 76 is a mechanism for selectively supplying the compressed air discharged from the air supply unit 75 to one of the first chamber R1 and the second chamber R2 in the cylinder tube 72. The air control circuit 76 has a solenoid valve 77. The air control circuit 76 can guide the compressed air discharged from the air supply unit 75 to either the first chamber R1 or the second chamber R2 under the control of the solenoid valve 77. The solenoid valve 77 is a single solenoid valve. The solenoid valve 77 can switch between an on state and an off state.

FIG. 5A is a diagram for explaining the air flow when the solenoid valve 77 is in the ON state. FIG. 5B is a diagram for explaining the air flow when the solenoid valve 77 is in the off state. In FIGS. 5A and 5B, the air flow is indicated by arrows. The solenoid valve 77 mainly has a valve housing 77a, a solenoid 77b, and an internal valve 77c. The valve housing 77a has an air supply port 77a1, a first exhaust port 77a2, a second exhaust port 77a3, a first output port 77a4, and a second output port 77a5. The solenoid 77b is installed outside the valve housing 77a and is connected to a power source (not shown). The internal valve 77c is installed inside the valve housing 77a. When the solenoid valve 77 is in the ON state, a current is flowing through the solenoid 77b. When the solenoid valve 77 is in the off state, no current is flowing through the solenoid 77b. By switching between the ON state and the OFF state of the solenoid valve 77, the position of the internal valve 77c can be switched as shown in FIGS. 5A and 5B.

The air control circuit 76 has an air supply path P0, a first flow path P1, and a second flow path P2. The air supply path P0 connects the compressed air discharge port of the air supply unit 75 and the air supply port 77a1 of the solenoid valve 77. The first flow path P1 connects the first output port 77a4 of the solenoid valve 77 and the first chamber R1 in the cylinder tube 72. The second flow path P2 connects the second output port 77a5 of the solenoid valve 77 and the second chamber R2 in the cylinder tube 72.

As shown in FIG. 5A, when the solenoid valve 77 is in the ON state, the air supply port 77a1 and the first output port 77a4 communicate with each other inside the valve housing 77a, and the second exhaust port 77a3 and the second exhaust port 77a3 and the second. It communicates with the output port 77a5. Therefore, when the solenoid valve 77 is in the ON state, the compressed air discharged from the air supply unit 75 passes through the air supply path P0 and then passes through the air supply port 77a1 and the first output port 77a4 in order in the solenoid valve 77. Then, it flows into the first flow path P1. After that, the compressed air passes through the first flow path P1 and is supplied to the first chamber R1 in the cylinder tube 72. As a result, the pressure in the first chamber R1 rises and becomes higher than the pressure in the second chamber R2, so that the piston 73 moves to the second chamber R2 side (top dead center side) due to the pressure difference. At this time, the air in the second chamber R2 flows into the second flow path P2, passes through the second flow path P2, and then passes through the second output port 77a5 and the second exhaust port 77a3 in order in the solenoid valve 77. Is discharged.

As shown in FIG. 5B, when the solenoid valve 77 is in the off state, the air supply port 77a1 and the second output port 77a5 communicate with each other inside the valve housing 77a, and the first exhaust port 77a2 and the first exhaust port 77a2 and the first. It communicates with the output port 77a4. Therefore, when the solenoid valve 77 is in the off state, the compressed air discharged from the air supply unit 75 passes through the air supply path P0 and then passes through the air supply port 77a1 and the second output port 77a5 in order in the solenoid valve 77. Then, it flows into the second flow path P2. After that, the compressed air passes through the second flow path P2 and is supplied to the second chamber R2 in the cylinder tube 72. As a result, the pressure in the second chamber R2 rises and becomes higher than the pressure in the first chamber R1, so that the piston 73 moves to the first chamber R1 side (bottom dead center side) due to the pressure difference. At this time, the air in the first chamber R1 flows into the first flow path P1, passes through the first flow path P1, and then passes through the first output port 77a4 and the first exhaust port 77a2 in order in the solenoid valve 77. Is discharged.

(2-2-2) Air Cylinder Control Device The air cylinder control device 81 is a device for controlling the operation of the air cylinder 71. Specifically, the air cylinder control device 81 is a system for controlling the solenoid valve 77 to adjust the position and speed of the piston 73.

FIG. 6 is a block diagram of the air cylinder control device 81. The air cylinder control device 81 mainly includes a control unit 81a, a first sensor 84a, a second sensor 84b, and a timer 85. The air cylinder control device 81 is connected to the solenoid valve 77 of the air control circuit 76 of the air cylinder 71.

The control unit 81a is a computer having a CPU, ROM, RAM, HDD, and the like. The control unit 81a calls and executes various programs stored in the ROM, HDD, and the like to control the solenoid valve 77, the first sensor 84a, the second sensor 84b, and the timer 85. The control unit 81a mainly has a detection unit 82 and a control unit 83. The detection unit 82 and the control unit 83 are programs stored and executed in the control unit 81a.

The detection unit 82 detects the operation of the piston 73. Specifically, the detection unit 82 measures the required time when the piston 73 moves in a predetermined direction by a predetermined distance. For example, the detection unit 82 measures the time from the time when the piston 73 starts to move in a predetermined direction to the time when the piston 73 which starts to move stops. Hereinafter, the time required for the piston 73 to move from the bottom dead center to the top dead center is referred to as an operating time of the piston 73. The operating time of the piston 73 is the time required for one stroke of the piston 73.

The detection unit 82 uses the first sensor 84a, the second sensor 84b, and the timer 85 to detect the movement of the slider 74 and measure the operating time of the piston 73. As shown in FIG. 4, the first sensor 84a and the second sensor 84b are mounted in the vicinity of the pair of cylinder plates 72a, 72b. The first sensor 84a is attached to the cylinder plate 72a on the side of the bottom dead center of the piston 73. The second sensor 84b is attached to the cylinder plate 72b on the side of the top dead center of the piston 73. The first sensor 84a and the second sensor 84b are non-contact sensors such as a photo interrupter or a proximity sensor. For example, a photo interrupter is used as the first sensor 84a, and a proximity sensor is used as the second sensor 84b. The first sensor 84a and the second sensor 84b are attached to positions facing the slider 74 in order to detect the movement of the slider 74. The detection unit 82 can detect that the distance between the first sensor 84a or the second sensor 84b and the slider 74 has changed, and that the distance has become equal to or less than a predetermined value. As a result, the detection unit 82 can detect that the piston 73 is located at the bottom dead center by the first sensor 84a, and the piston 73 is located at the top dead center by the second sensor 84b. It can be detected. Further, the detection unit 82 detects that the piston 73 has started moving from the bottom dead center toward the top dead center and that the piston 73 that has started moving from the bottom dead center has approached the top dead center. Can be done. Therefore, the detection unit 82 uses the timer 85 to reach the top dead center at the time when the piston 73 starts moving from the bottom dead center to the top dead center and the piston 73 which starts moving from the bottom dead center. The operation time of the piston 73 can be measured by recording the time.

(3) Operation of Control Unit of Air Cylinder Control Device Next, the control unit 83 of the air cylinder control device 81 will be described. The control unit 83 controls the solenoid valve 77 of the air cylinder 71 based on the data acquired from the detection unit 82, and supplies the compressed air by the air supply unit 75 between the first chamber R1 and the second chamber R2. Switch with. Specifically, the control unit 83 adjusts the timing for switching between the on state and the off state of the solenoid valve 77 based on the operating time of the piston 73 measured by the detection unit 82.

In the following, when the piston 73 is located at the bottom dead center on the rear side, the shutter 61 is not inserted in the cardboard box C, and the piston 73 is located at the top dead center on the front side. When it is, it is assumed that the shutter 61 is inserted in the cardboard box C. Further, as described above, when the solenoid valve 77 is in the ON state, the compressed air discharged from the air supply unit 75 is supplied to the first chamber R1 in the cylinder tube 72, so that the piston 73 is on the front side. Move towards dead center (see Figure 5A). Similarly, when the solenoid valve 77 is in the off state, the compressed air discharged from the air supply unit 75 is supplied to the second chamber R2 in the cylinder tube 72, so that the piston 73 reaches the bottom dead center on the rear side. Move towards (see Figure 5B).

That is, when the solenoid valve 77 is in the off state and the piston 73 is located at the bottom dead center, the control unit 83 switches the solenoid valve 77 from the off state to the on state and moves the piston 73 from the bottom dead center to the top dead center. The shutter 61 can be inserted into the cardboard box C by moving the shutter 61 to. Further, when the solenoid valve 77 is in the ON state and the piston 73 is located at the top dead center, the control unit 83 switches the solenoid valve 77 from the ON state to the OFF state and moves the piston 73 from the top dead center to the bottom dead center. The shutter 61 can be pulled out from the cardboard box C by moving the shutter 61 to.

FIG. 7 is a graph showing an example of a change in the state of the solenoid valve 77 in one stroke of the piston 73, which is a step of moving the piston 73 from the bottom dead center to the top dead center. In FIG. 7, the horizontal axis represents time and the vertical axis represents the state of the solenoid valve 77. In FIG. 7, the time zone from the start to the end of one stroke of the piston 73 is the period from the time t1 to the time t4. In FIG. 7, it is assumed that the initial setting value of the operation time (time t1 to t4), which is the time required for one stroke of the piston 73, is 220 ms. The initial setting value of the operating time of the piston 73 may be determined by the movable distance of the piston 73, the length of the cylinder tube 72, and the like. In FIG. 7, the control unit 83 switches between the on state and the off state of the solenoid valve 77 at times t1, t2, and t3.

In the time zone before the start time t1 of one stroke of the piston 73, the solenoid valve 77 is in the off state, and the piston 73 is located at the bottom dead center. Therefore, in the time zone before the time t1, the shutter 61 is not inserted in the cardboard box C and is located outside the cardboard box C.

First, the control unit 83 switches the solenoid valve 77 from the off state to the on state at the start time t1 of one stroke of the piston 73. As a result, at time t1, the piston 73 starts moving from the bottom dead center to the top dead center, so that the shutter 61 starts to be inserted into the cardboard box C. The detection unit 82 can detect the time t1.

Next, the control unit 83 switches the solenoid valve 77 from the on state to the off state at time t2. As a result, at time t2, a force from the top dead center side toward the bottom dead center side (a force toward the rear) begins to act on the piston 73. This force acts to brake the piston 73 moving from the bottom dead center side to the top dead center side at time t2. Therefore, after the lapse of time t2, the piston 73 is decelerated.

Next, the control unit 83 switches the solenoid valve 77 from the off state to the on state again at time t3. The length of the period of time t2 to t3 is fixed to a predetermined value. Therefore, the control unit 83 controls to switch the solenoid valve 77 to the on state at the time t3 when a predetermined time elapses from the time when the solenoid valve 77 is switched to the off state at the time t2. In FIG. 7, the length of the period at times t2 to t3 is assumed to be 60 ms. At times t2 to t3, the piston 73 moves from the bottom dead center to the top dead center while decelerating. At time t3, the piston 73 is located near top dead center. When the solenoid valve 77 is switched to the ON state at time t3, the force from the bottom dead center to the top dead center begins to act again on the piston 73. As a result, the piston 73 reaches top dead center at time t4. At time t4, the shutter 61 is completely inserted into the cardboard box C. The time t4 is the time when the detection unit 82 detects that the piston 73 has reached the top dead center for the first time after the lapse of the time t1. The length of the period from time t3 to t4 is, for example, 10 ms.

Here, regarding the operation of the piston 73 shown in FIG. 7, consider a case where the solenoid valve 77 is not switched to the off state at time t2 and the solenoid valve 77 is always in the on state after time t1. In this case, the piston 73 moves from the bottom dead center to the top dead center without decelerating in one stroke at times t1 to t4. As a result, when the piston 73 reaches the top dead center at time t4, the piston 73 moving at high speed may collide with the inner end face of the cylinder tube 72, which may cause damage to the air cylinder 71.

On the other hand, in the air cylinder control device 81 of the present embodiment, the control unit 83 temporarily turns off the solenoid valve 77 and decelerates the piston 73 during a period t2 to t3 in the middle of one stroke of the piston 73. As a result, the speed of the piston 73 at the time t4 when the piston 73 reaches the top dead center is reduced, so that when the piston 73 reaches the end point of one stroke, the impact due to the collision with the inner end surface of the cylinder tube 72 is generated. It is suppressed. Hereinafter, this impact is referred to as a stroke end impact. In order to suppress the stroke end impact as much as possible, it is preferable that the position of the piston 73 is closer to the top dead center and the speed of the piston 73 is lower at the time t3 when the solenoid valve 77 is switched to the ON state again.

In the air cylinder control device 81, the control unit 83 can suppress the stroke end impact by adjusting the time t2. The time t2 is a time point between the start time t1 and the end time t4 of one stroke of the piston 73, and is a time point at which the supply destination of the compressed air by the air supply unit 75 is first switched after the time t1 has elapsed. .. Hereinafter, the time t2 will be referred to as the first switching time point t2, if necessary.

In FIG. 7, consider a case where the first switching time point t2 is fixed at a predetermined time. In this case, when the air cylinder 71 is used for the first time, it is assumed that the first switching time point t2 is set in advance at a time at which the stroke end impact can be sufficiently suppressed. However, if the speed of the piston 73 gradually increases due to the long-term use of the air cylinder 71, the piston 73 may not be sufficiently decelerated during the period t2 to t3, or the piston 73 may be moved to the cylinder tube 72 before the time t3. There is a risk of collision with the internal end face. Further, when the speed of the piston 73 gradually slows down due to the long-term use of the air cylinder 71, the piston 73 is excessively decelerated in the period of time t2 to t3, and as a result, the period of time t3 to t4 becomes long, and the time The speed of the piston 73 at t4 may increase. Therefore, if the speed of the piston 73 changes due to aged deterioration of the air cylinder 71 or the like, the stroke end impact may increase.

However, in the air cylinder control device 81 of the present embodiment, as described below, the control unit 83 is at the time of initial switching t2 so that the stroke end impact is sufficiently suppressed even if the speed of the piston 73 changes. Can be adjusted automatically.

The control unit 83 adjusts and optimizes t2 at the time of initial switching based on the operation of the piston 73 detected by the detection unit 82. Specifically, the control unit 83 calculates a moving average value of the measured value of the operating time of the piston 73, and adjusts the first switching time point t2 based on the calculated moving average value. The moving average value is a value obtained by extracting the latest n data from the measured value data of the operating time of the piston 73, adding all of them, and dividing by n. Here, n is a natural number. Next, the operation of the control unit 83 when n is 3 will be described. FIG. 8 is a flowchart of a process in which the control unit 83 optimizes the first switching time point t2. FIG. 8 shows steps S1 to S5.

First, the control unit 83 moves the piston 73 from the bottom dead center to the top dead center in order to insert the shutter 61 into the cardboard box C. That is, the control unit 83 ends one stroke of the piston 73 (step S1).

Next, the control unit 83 acquires the operating time of the piston 73 measured by the detection unit 82 each time one stroke of the piston 73 is completed (step S2). As a result, the control unit 83 can record the history of the measured value of the operating time of the piston 73.

Next, each time the control unit 83 acquires the measured value of the operating time of the piston 73, the control unit 83 calculates the moving average value of the measured value of the operating time of the piston 73 (step S3). For example, the control unit 83 calculates the average value of the measured values of the operation times for the most recent three times as the moving average value. The number of actually measured operating time data (value n in the previous paragraph) used to calculate the moving average value is arbitrary. Further, when the number of data of the measured value of the operating time of the piston 73 is smaller than the number of data required for calculating the moving average value (value of n in the previous paragraph), the control unit 83 sets t2 at the time of initial switching. Do not optimize.

Next, the control unit 83 calculates the moving average value of the operating time of the piston 73, and then performs a process of adjusting the first switching time point t2 based on the moving average value, if necessary. The control unit 83 stores the recommended operating time, which is the recommended range of the operating time of the piston 73. A predetermined range is preset as the recommended operating time. For example, when the initial setting value of the operating time of the piston 73 is 220 ms, 190 ms to 250 ms is set as the recommended operating time. The control unit 83 determines whether or not the calculated moving average value of the operating time of the piston 73 is within the range of the recommended operating time (step S4). As a result, when the calculated moving average value is within the range of the recommended operating time, the control unit 83 does not adjust t2 at the time of initial switching.

On the other hand, when the calculated moving average value is not within the recommended operating time range, the control unit 83 adjusts the first switching time point t2 so that the next calculated moving average value is within the recommended operating time range. (Step S5). For example, as a result of long-term use of the air cylinder 71, the speed of the piston 73 gradually slows down and the operating time of the piston 73 becomes longer, the calculated moving average value becomes larger than the upper limit of the recommended operating time. If so, the control unit 83 delays t2 at the time of initial switching. By delaying the time point t2 of the first switching, the time for accelerating the piston 73 at the times t1 to t2 in FIG. 7 becomes longer, so that the operating time of the piston 73 becomes shorter. On the other hand, as a result of the long-term use of the air cylinder 71, the speed of the piston 73 gradually increases and the operating time of the piston 73 becomes shorter, the calculated moving average value becomes smaller than the lower limit of the recommended operating time. If so, the control unit 83 accelerates t2 at the time of initial switching. By advancing the initial switching time point t2, the time for accelerating the piston 73 at the times t1 to t2 in FIG. 7 becomes shorter, so that the operating time of the piston 73 becomes longer. Therefore, when the calculated moving average value is not within the range of the recommended operating time, the control unit 83 adjusts the first switching time point t2, and the next calculated moving average value is the recommended operating time. Can be kept within the range of.

(4) Features (4-1)
The boxing device 10 includes a shutter mechanism 60 for smoothly inserting a plurality of articles A into the cardboard box C. The shutter mechanism 60 has a shutter drive unit 62 for inserting the shutter 61 into the cardboard box C or pulling out the shutter 61 from the cardboard box C. The shutter drive unit 62 moves the shutter 61 in the front-rear direction using the air cylinder 71 as a drive source. The operation of the air cylinder 71 is controlled by the air cylinder control device 81 according to the present embodiment.

The air cylinder control device 81 moves the piston 73 of the air cylinder 71 from the bottom dead center to the top dead center in order to insert the shutter 61 into the cardboard box C, while the compressed air in the air cylinder 71 The supply destination of the piston 73 is temporarily switched to decelerate the piston 73 for a predetermined period. Specifically, in the air cylinder control device 81, the detection unit 82 measures the operating time, which is the time required for one stroke of the piston 73, and the control unit 83 measures the operating time of the piston 73 based on the measured value. , The first switching time point t2 shown in FIG. 7, which is the time when the deceleration of the piston 73 is started, is adjusted. In FIG. 7, the length of the period from the time t2 to the time t3 is preset to a predetermined value. Therefore, the control unit 83 can control the length of the period for decelerating the piston 73 by adjusting the t2 at the time of initial switching.

The speed of the piston 73 of the air cylinder 71 is preliminarily adjusted to an optimum value by a speed controller or the like. However, due to insufficient adjustment of the speed of the piston 73, aging deterioration of the air cylinder 71, etc., the piston 73 may not operate at the optimum speed, or the piston 73 may not operate at the optimum speed. In this case, if the first switching time t2 at which the piston 73 starts decelerating in one stroke of the piston 73 is not properly set, the piston 73 will reach the top dead center at the time (time t4 in FIG. 7). The speed may not be sufficiently reduced and the stroke end impact may not be sufficiently suppressed.

The air cylinder control device 81 according to the present embodiment automatically adjusts and optimizes the initial switching time point t2 at which the piston 73 starts decelerating in one stroke of the piston 73 based on the measured value of the operating time of the piston 73. By doing so, the stroke end impact can be suppressed. Therefore, the air cylinder control device 81 can sufficiently suppress the impact received by the piston 73 of the air cylinder 71. Therefore, the durability of the air cylinder control device 81 can be expected to be improved.

(4-2)
In the air cylinder control device 81 according to the present embodiment, the detection unit 82 measures the time required for one stroke of the piston 73, and the control unit 83 causes the piston 73 to decelerate based on the data measured by the detection unit 82. The initial switching time point t2 to be started is automatically adjusted and optimized.

The detection unit 82 measures the time required for one stroke of the piston 73 by using the first sensor 84a and the second sensor 84b for detecting the position of the piston 73 in the longitudinal direction of the air cylinder 71 and the timer 85. .. The first sensor 84a and the second sensor 84b can measure the distance to the slider 74 that moves in conjunction with the piston 73. As a result, the detection unit 82 can accurately measure the operating time of the piston 73 by using the first sensor 84a, the second sensor 84b, and the timer 85. Therefore, the control unit 83 can automatically adjust the first switching time point t2 at which the piston 73 starts deceleration based on the value measured by the detection unit 82, so that the stroke end impact can be suppressed. Therefore, the air cylinder control device 81 can sufficiently suppress the impact received by the piston 73 of the air cylinder 71.

(4-3)
In the air cylinder control device 81 according to the present embodiment, the control unit 83 calculates an average value of a predetermined number of times of operation time of the piston 73, and based on the calculated average value, the piston 73 decelerates in one stroke of the piston 73. The first switching time point t2 is automatically adjusted. As the average value of the predetermined number of operation times of the piston 73, the moving average value which is the average of the measured values of the operation times of the most recent three times is used.

The control unit 83 calculates a moving average value based on the measured value of the operating time of the piston 73, and when the calculated moving average value is not within the predetermined recommended operating time range, the piston 73 takes one stroke of the piston 73. Adjusts t2 at the first switching time when deceleration starts. As a result, the control unit 83 is based on the measured value of the past operating time of the piston 73 after measuring the operating time of the piston 73 and before the piston 73 moves from the bottom dead center to the top dead center. The stroke end impact can be suppressed by automatically adjusting t2 at the time of initial switching. Therefore, the air cylinder control device 81 can sufficiently suppress the impact received by the piston 73 of the air cylinder 71.

(5) Modified Examples Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention.

(5-1) Modification A
In the air cylinder control device 81 of the embodiment, the control unit 83 calculates the moving average value of the operating time of the piston 73, and then adjusts the initial switching time point t2 based on the calculated moving average value. As shown in FIG. 8, the control unit 83 does not adjust the first switching time point t2 when the calculated moving average value is within the range of the recommended operating time. However, the control unit 83 may adjust the initial switching time point t2 even when the calculated moving average value is within the range of the recommended operating time.

For example, when the calculated moving average value is within the recommended operating time range, the control unit 83 sets the initial switching time point t2 so that the next calculated moving average value approaches the center of the recommended operating time range. You may adjust. The center of the recommended operating time range is the average of the upper and lower limits of the recommended operating time. For example, when the recommended operating time is 190 ms to 250 ms, the center of the recommended operating time range is 220 ms. In this case, when the moving average value calculated by the detection unit 82 is, for example, 230 ms, the control unit 83 adjusts the first switching time point t2 so that the next calculated moving average value approaches 220 ms.

In this modification, the control unit 83 can suppress the stroke end impact by constantly optimizing the t2 at the time of initial switching regardless of the moving average value of the operating time of the piston 73.

(5-2) Modification B
In the air cylinder control device 81 of the embodiment, the control unit 83 calculates the moving average value of the operating time of the piston 73, and then adjusts the initial switching time point t2 based on the calculated moving average value. As shown in FIG. 8, when the calculated moving average value is not within the recommended operating time range, the control unit 83 makes the piston so that the next calculated moving average value is within the recommended operating time range. The first switching time point t2 at which 73 starts deceleration is adjusted.

However, if the calculated moving average value is not within the range of the recommended operating time, the control unit 83 may not only adjust the initial switching time point t2 but also change the recommended operating time. For example, if the calculated moving average value is not within the range of the recommended operating time, the control unit 83 may change the recommended operating time based on the calculated moving average value. Specifically, the control unit 83 may change the recommended operating time so that the center of the range of the recommended operating time approaches the calculated moving average value. For example, when the recommended operating time is 190 ms to 250 ms, the center of the recommended operating time range is 220 ms. In this case, when the moving average value calculated by the detection unit 82 is, for example, 230 ms, the control unit 83 may change the recommended operation time so that the center of the range of the recommended operation time approaches 230 ms. In this case, the control unit 83 may change the recommended operating time to, for example, 192 ms to 252 ms.

When the control unit 83 changes the recommended operation time in order to ensure the stability of the operation of the piston 73, it is preferable that the frequency and degree of the change are small. That is, if the calculated moving average value is not within the range of the recommended operating time, the control unit 83 does not necessarily need to change the range of the recommended operating time. Further, even when the control unit 83 changes the recommended operating time, it is preferable that the change amount is small as compared with the difference between the calculated moving average value and the center of the recommended operating time range. Further, the control unit 83 may change the recommended operating time based on other criteria, or may change the upper limit value and the lower limit value of the range of the recommended operating time.

In this modification, even if the operating time of the piston 73 gradually increases due to aged deterioration of the air cylinder 71 or the like, the recommended operating time itself approaches the actual operating time of the piston 73. Therefore, the control unit 83 can adjust the recommended operating time according to the actual state of the piston 73. Therefore, the stroke end is adjusted by adjusting the initial switching time point t2 based on the appropriately adjusted recommended operating time. The impact can be suppressed. Further, in this modification, the control unit 83 adjusts the recommended operating time so that the recommended operating time approaches the actual operating time of the piston 73, so that the initial switching time t2 is adjusted when the initial switching time t2 is adjusted. The amount of change can be suppressed.

(5-3) Modification C
The air cylinder control device 81 of the embodiment moves the piston 73 of the air cylinder 71 from the bottom dead center to the top dead center in order to insert the shutter 61 into the cardboard box C, while the air cylinder 71 The supply destination of the compressed air in the above is temporarily switched to decelerate the piston 73 for a predetermined time. As a result, the air cylinder control device 81 can reduce the stroke end impact when the piston 73 reaches top dead center.

However, the air cylinder control device 81 of the embodiment moves the piston 73 of the air cylinder 71 from the top dead center to the bottom dead center in order to pull out the shutter 61 from the cardboard box C, while the air cylinder The supply destination of the compressed air in 71 may be temporarily switched to decelerate the piston 73 for a predetermined time. As a result, the air cylinder control device 81 can reduce the stroke end impact when the piston 73 reaches the bottom dead center.

(5-4) Modification D
In the air cylinder control device 81 of the embodiment, the movable range of the slider 74 of the air cylinder 71 is regulated by a pair of cylinder plates 72a and 72b. However, the movable range of the slider 74 of the air cylinder 71 may be regulated by a member other than the pair of cylinder plates 72a and 72b.

FIG. 9 is a schematic configuration diagram of the shutter drive unit 62 in this modified example. The shutter drive unit 62 mainly includes an air cylinder 71 and an air cylinder control device 81. The movable range of the slider 74 of the air cylinder 71 is regulated by the cylinder plate 72b on the top dead center side and the damper 63.

The damper 63 is a member installed on the bottom dead center side (rear side) of the piston 73 and for limiting the movement of the shutter 61 connected to the slider 74 that moves in the front-rear direction in conjunction with the piston 73. When the piston 73 moves from the top dead center to the bottom dead center, the shutter 61 collides with the damper 63 before the slider 74 hits the cylinder plate 72a on the bottom dead center side. That is, the damper 63 has a function of restricting the movement of the piston 73 before the piston 73, which has started moving from the top dead center, reaches the bottom dead center. By adjusting the position of the damper 63 in the front-rear direction, the movable range of the shutter 61 is limited, so that the movable range of the slider 74 is also limited. In order to reduce the impact when the shutter 61 collides with the damper 63, it is preferable that the portion of the damper 63 in contact with the shutter 61 is formed of an elastic member such as rubber.

In the air cylinder control device 81 of the embodiment, the first sensor 84a is attached to the cylinder plate 72a on the bottom dead center side (rear side) of the piston 73. However, in this modification, as shown in FIG. 9, the first sensor 84a is attached to the damper 63. In this case, the first sensor 84a is a photo interrupter or proximity sensor attached at a position facing the rear end surface of the shutter 61. The detection unit 82 can detect that the distance between the first sensor 84a and the shutter 61 has changed, and that the distance has become equal to or less than a predetermined value. As a result, in the detection unit 82, the piston 73 starts moving from the top dead center to the bottom dead center, and the shutter 61 that moves in conjunction with the piston 73 that starts moving from the top dead center is the damper 63. It is possible to detect that the piston has approached. The detection unit 82 uses the timer 85 to move the shutter 61 in conjunction with the time when the piston 73 starts moving from the top dead center to the bottom dead center and the piston 73 which starts moving from the top dead center. The operating time of the piston 73 can be measured by measuring the time when the piston collides with the damper 63. As a result, the air cylinder control device 81 of this modification can reduce the stroke end impact when the piston 73 is moved from the top dead center to the bottom dead center as described in the modification C.

In this modified example as well, the stroke end impact can be reduced by automatically adjusting and optimizing the timing at which the piston 73 starts decelerating in one stroke of the piston 73, as in the embodiment. Here, the stroke end impact includes an impact when the shutter 61 collides with the damper 63. Therefore, the air cylinder control device 81 of this modified example can sufficiently suppress the impact received by the piston 73 of the air cylinder 71.

(5-5) Modification E
In the air cylinder control device 81 of the embodiment, the control unit 83 is an impact when the piston 73 hits the end of the cylinder tube 72 by adjusting the initial switching time point t2, which is the timing when the piston 73 starts deceleration. The stroke end impact can be reduced.

However, the control unit 83 may reduce the stroke end impact by adjusting the time t3 shown in FIG. 7. Further, the control unit 83 may reduce the stroke end impact by adjusting both the time t2 and the time t3 shown in FIG. 7.

In FIG. 7, the time t3 is the time when the solenoid valve 77 is switched from the off state to the on state again. In this modification, the control unit 83 adjusts the length of the period during which the piston 73 is decelerated (the period t2 to t3 in FIG. 7) by adjusting the time t3 or both the time t2 and the time t3. be able to. As a result, the control unit 83 can suppress the stroke end impact by suppressing the speed of the piston 73 at the time t4 when the piston 73 reaches the top dead center. Therefore, the air cylinder control device 81 of this modified example can sufficiently suppress the impact received by the piston 73 of the air cylinder 71.

(5-6) Modification F
In the air cylinder control device 81 of the embodiment, the air cylinder 71 is a magnet type rodless cylinder. However, the air cylinder 71 may be another type of air cylinder. For example, the air cylinder 71 may be an air cylinder having a piston rod. The piston rod is a rod-shaped member that is connected to the piston 73 and penetrates one end of the cylinder tube 72. When the piston 73 moves in the longitudinal direction of the cylinder tube 72, the piston rod also moves in conjunction with it. Therefore, the operation of the piston 73 is transmitted to the outside of the cylinder tube 72 via the piston rod.

(5-7) Modification G
The air cylinder control device 81 of the embodiment is used to control the air cylinder 71 that drives the shutter mechanism 60 of the boxing device 10. However, the air cylinder control device 81 may be used for other purposes as long as it is for the purpose of controlling the air cylinder 71. The air cylinder control device 81 can automatically control the operation of the piston 73 of the air cylinder 71 to reduce the impact when the piston 73 hits the end of the cylinder tube 72. Therefore, the air cylinder control device 81 is particularly useful in a mechanism that requires the piston 73 of the air cylinder 71 to be moved at high speed.

71 Air Cylinder 72 Cylinder Tube 72a Cylinder Plate (Regulatory Member)
72b Cylinder plate (regulatory member)
73 Piston 74 Slider (driving member)
75 Air supply unit 76 Air control circuit 77 Solenoid valve 81 Air cylinder control device 82 Detection unit 83 Control unit 84a First sensor (sensor)
84b 2nd sensor (sensor)
85 Timer R1 1st room R2 2nd room t2 At the time of initial switching

Japanese Unexamined Patent Publication No. 2004-155428 Japanese Unexamined Patent Publication No. 8-93718

Claims (2)

Cylinder tube and
A piston that divides the internal space of the cylinder tube into a first chamber and a second chamber,
An air supply unit that moves the piston along the longitudinal direction of the cylinder tube by selectively supplying compressed air to one of the first chamber and the second chamber.
An air cylinder control device that controls an air cylinder having a
A detector that detects the movement of the piston and
A control unit that switches the supply destination of compressed air by the air supply unit between the first chamber and the second chamber based on the detection result of the detection unit.
Equipped with a,
The detection unit measures the operating time from the first time point when the piston starts to move in a predetermined direction to the second time point when the piston starts to move at the first time point and stops.
The control unit calculates an average value of the predetermined number of times of the operation time, and if the average value deviates from the recommended range for the operation time, the recommended range is changed based on the average value.
Air cylinder controller. Cylinder tube and
A piston that divides the internal space of the cylinder tube into a first chamber and a second chamber,
An air supply unit that moves the piston along the longitudinal direction of the cylinder tube by selectively supplying compressed air to one of the first chamber and the second chamber.
An air cylinder control device that controls an air cylinder having a
A detector that detects the movement of the piston and
A control unit that switches the supply destination of compressed air by the air supply unit between the first chamber and the second chamber based on the detection result of the detection unit.
A sensor for detecting the position of the piston in the longitudinal direction, and
With a timer
With
The detection unit uses the sensor and the timer to measure the time for the piston to move in a predetermined direction by a predetermined distance.
The air cylinder
A drive member that is arranged outside the cylinder tube and moves in the longitudinal direction in conjunction with the piston.
A regulating member that regulates the movement of the driving member in the longitudinal direction,
Have more
The sensor is attached to the regulating member and detects the distance to the driving member.
Air cylinder controller.

Images