EP0181415A1 - Positioning device for a rodless actuator - Google Patents

Positioning device for a rodless actuator Download PDF

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Publication number
EP0181415A1
EP0181415A1 EP84113772A EP84113772A EP0181415A1 EP 0181415 A1 EP0181415 A1 EP 0181415A1 EP 84113772 A EP84113772 A EP 84113772A EP 84113772 A EP84113772 A EP 84113772A EP 0181415 A1 EP0181415 A1 EP 0181415A1
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EP
European Patent Office
Prior art keywords
positioning device
cylinder body
markings
measuring
piston
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP84113772A
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German (de)
French (fr)
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EP0181415B1 (en
Inventor
Dieter Mai
Karl Wydra
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Knorr Bremse AG
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Knorr Bremse AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE19833317113 priority Critical patent/DE3317113A1/en
Application filed by Knorr Bremse AG filed Critical Knorr Bremse AG
Priority to DE8484113772T priority patent/DE3469781D1/en
Priority to EP84113772A priority patent/EP0181415B1/en
Publication of EP0181415A1 publication Critical patent/EP0181415A1/en
Application granted granted Critical
Publication of EP0181415B1 publication Critical patent/EP0181415B1/en
Expired legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/084—Characterised by the construction of the motor unit the motor being of the rodless piston type, e.g. with cable, belt or chain
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2807—Position switches, i.e. means for sensing of discrete positions only, e.g. limit switches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2846—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using detection of markings, e.g. markings on the piston rod
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2853—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using potentiometers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2861—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using magnetic means

Definitions

  • the invention relates to a positioning device for rodless cylinders which have a piston which can be axially movably guided in a cylinder body, two pistons which can be pressurized on one or both sides, and a force-transmitting carriage which is coupled to the piston via coupling members and optionally guided longitudinally displaceably on the cylinder body.
  • Rodless cylinders are known in different embodiments.
  • the coupling members connecting the piston to the power delivery slide comprise a band connected to the piston, which is guided to the power delivery slide via deflection rollers arranged on both piston ends and is also fastened to the power delivery slide.
  • the power delivery slide on the cylinder body can be guided in a longitudinally displaceable manner and according to DE-GM 79 31 576, the power delivery slide can be provided with a brake, by means of which it can be locked in any stroke position.
  • the coupling links can also be designed differently, for example the piston according to DE-PS 21 62 572 can be connected to a driver which projects radially outwards through a longitudinal slot of the cylinder guiding the piston and on which the force-transmitting carriage is held.
  • the longitudinal slot of the cylinder is in the area outside of the piston covered pressure-tight by a tape. It is also already known to couple the piston to the force output slide without contact by means of a magnetic field passing through the cylinder wall.
  • the rodless cylinders are particularly advantageous for applications in robot-type devices, for example handling devices, since they allow large stroke lengths to be carried out with a short installation length.
  • cylinders provided for such devices, however, it is necessary not only to be able to repeatedly move to a few individual piston positions, for example determined by stroke switches, but it is often necessary to be able to set any predetermined stroke positions very precisely.
  • pneumatically actuated cylinders have caused difficulties due to the compressibility of the compressed air.
  • Positioning devices are already known for cylinders provided with piston rods, which enable the setting of precise, predeterminable piston stroke positions. For this purpose, it is known to connect the piston rod head to the grinder of a rheostat or potentiometer, if necessary, via an intermediate lever and thus to set piston position-dependent resistances and thus voltages or current flows, which can serve to indicate the respective position of the piston. It is also already known for cylinders with piston rods (magazine "fluid", April 1982, page 39, picture 10/11) to couple the piston with pneumatic switching valves which result in the control of certain piston positions depending on the pressure level of the cylinder.
  • the piston rod head is coupled to a toothed rack on which a pinion runs, which on the one hand is able to emit position signals via a tachometer generator or a potentiometer and which can also be braked by a brake.
  • This positioning device requires an even larger construction volume in the area of the cylinder and also a high construction effort, it also does not guarantee precise positioning of the piston position.
  • This object is achieved according to the invention in that between the cylinder body and at least one of the coupling members or the force-transmitting carriage a measuring element emitting or changing in the case of relative movements between the two measuring signals is arranged.
  • non-contact measuring devices are preferably magnetic, but also optical or other types known (US-PS 2,669,669, 3,564,313, AT-PS 314,671, DE-AS 1 138 240). These devices mostly work with a row of magnetic markings arranged on one or more partial circles, which are scanned by one or more sensors, the sensor signals being fed to suitable evaluation devices, which may include interpolation devices serving to increase the measuring accuracy.
  • suitable evaluation devices which may include interpolation devices serving to increase the measuring accuracy.
  • the interpolation of the measurement signals of a plurality of sensors like in the case of slide calipers or micrometer graduations, enables substantial increases in the accuracy of the measurement values in relation to the marking distances in the marking rows.
  • FIGS. 1 to 3 Different embodiments for positioning devices designed according to the invention are shown, for example, in the drawing in FIGS. 1 to 3.
  • a rodless cylinder is provided with a cylinder body 1, in the piston guide 2 of which a piston 3 is guided so as to be axially displaceable in a sealed manner.
  • the cylinder body 2 is provided with line connections 4, through which the piston 3 can be acted upon from both sides with pressure medium, preferably compressed air.
  • Switching valves can be connected to the line connections, by means of which the pressurization of the piston 3 with pressure medium can be controlled.
  • a piston 5, preferably a thin steel strip, extends from the piston 3 on both sides and slidably extends through the cylinder covers 6 of the cylinder body 1 on both sides by a seal 7, which is only indicated.
  • band 5 On the cylinder covers 6 8 deflection rollers 9 are mounted on bearing blocks, over which the band 5 is guided and deflected by approximately 180 °, such that it extends in a region 10 laterally next to the cylinder body 1 from one to the other deflection roller 9.
  • Band 5 Power delivery carriage 11 is held, which is displaceable parallel to the longitudinal direction of the cylinder body 1 in the direction of arrow 12.
  • the band 5 can be designed as a closed loop, on which the piston 3 and the power delivery slide 11 are held, it can consist of a piece of tape, the ends of which are connected to one another on the piston 3 or the power delivery slide 11, or two band pieces can be provided, which each extend from the piston 3 to the power delivery carriage 11.
  • the power delivery carriage 11 can be guided in a longitudinally displaceable manner, for example it can be guided on the cylinder body 1 in the manner evident from DE-OS 29 45 133, DE-OS 31 24 915 or the unpublished patent application P 33 13 206 and can be braked with respect thereto be.
  • the magnetic tape 14 is provided in the longitudinal direction of the cylinder body 1 with a series of digital, magnetic markings, for example magnetically stamped cross lines.
  • the power delivery carriage 11 carries a sensor 15, the receiving head of which faces the cylinder body 1 and is directly opposite the magnetic tape 14 in such a way that it is able to record the magnetic markings on the magnetic tape 14.
  • the sensor 15 When the force-transmitting carriage 11 is displaced, the sensor 15 thus emits sensor signals corresponding to the markings of the magnetic tape 14 which are displacing relative to it, which signals are removed from the force-transmitting carriage 11 via lines (not shown) and are not shown in one provided processing device are processed in such a way that an analog or digital output signal and / or control signals for the switching valves indicating the respective position of the power delivery carriage 11 and / or control signals for the switching valves are formed in such a way that the power delivery carriage 11 is brought into a predetermined, specific position by corresponding actuation control of the piston 3 and in this, if necessary. is braked.
  • the measuring element formed from magnetic tape 14 and sensor 15 as well as the processing device preferably works in the manner of a pulse counter and storage device, whereby the position of the power delivery sled 11 can be determined by counting the individual markings that have moved past the power delivery sled 11.
  • the left deflection roller 9 can carry magnetic markings on an annular surface 16, which can be scanned by a sensor 17 arranged on the left bearing block 8;
  • This arrangement can correspond in its essential structure to the devices for sensing rotary movements already mentioned at the outset, so that further explanations for this are unnecessary.
  • the evaluation of the sensor signals for position determination or position control of the power delivery slide 11 can be carried out as described above.
  • the sensor 18 scanning the markings can then be arranged according to FIG. 2 at a suitable location, preferably near a deflection roller 9 on the cylinder body 1. It is also possible to provide a sensor 19 which is fastened to a bearing block 8 and which scans the band 5 in the area of its support on the associated deflection roller 9 with regard to the marking signals.
  • Fixed sensors 18 and 19 can be used, which facilitates the removal of the sensor signals.
  • the cylinder according to FIG. 3 which shows a cross section through the cylinder, has a cylinder body 1, which laterally next to the piston guide 2 has an elongate recess 20 parallel to the latter, for receiving guides and / or bores Brake elements 21 of the power delivery slide 11 is provided, the guide and / or brake elements 21 being connected to the power delivery slide 11 by a connecting element 23 projecting outwardly from the recess 20 through an opening slot 22 and the opening slot 22 on both sides of the power delivery slide 11 in FIG.
  • the cylinder body 1 on the bottom side of the recess 20 has a recessed in a longitudinal groove, for example according to the bar 13 and the magnetic tape 14 shown in FIG. 1, measuring tape 24, which extends over the entire guide length for the power delivery slide 11 extends.
  • the guiding and / or braking elements 21 or the connecting elements 23 of the power delivery slide 11 are provided opposite the measuring tape 24 with a sensor 25 which is able to scan the markings on the measuring tape 24.
  • the structure and function of the measuring tape 24 and sensor 25 thus largely correspond to those of the magnetic tape 14 and sensor 15 according to FIG. 1, but they are arranged in a very well-protected position, so that the cylinder also in a heavily polluted environment or atmosphere can be operated without disturbing the positioning device.
  • the strip 13, the annular surface 16, the tape 5 or the measuring tape 24 can also be provided with other types of markings, for example optical or structural, the sensor of course having to be adapted to these types of markings.
  • the sensor of course having to be adapted to these types of markings.
  • a plurality of sensors can be provided offset from one another in the row longitudinal direction for each row of markings, the sensor spacing preferably not corresponding to a multiple of the marking division; in this way, a positioning accuracy which substantially exceeds the marking division can be achieved by interpolation between the individual sensor signals in the manner already mentioned at the beginning.
  • the positioning accuracy can also be increased by providing several rows of markings next to one another, each of which is scanned by one or more sensors in the manner described above, the sensor signals again being interpolated.
  • the annular surface 16 does not have to be arranged directly on a deflection roller 9, it can also be located on a separate measuring wheel to be connected to the deflection roller 9 in a rotationally fixed manner.
  • the markings mechanically, for example as tooth-like protrusions, which are scanned optically or magnetically by the sensors.
  • This arrangement is particularly useful in the case of an annular arrangement of the markings, for example on the ring surface 16 or a measuring wheel connected to the deflection roller 9.
  • the bar 13 or the measuring tape 14 can also be designed as an electrical resistance, in a modification of the exemplary embodiments described above, which is scanned in the manner of a rheostat by a grinder connected to the power delivery slide 11; in this case too, the measuring device delivers position-dependent resistance values.
  • the last-mentioned embodiments are particularly suitable for measuring elements which emit measuring signals which change analogously with the position.
  • robotic, handling or assembly devices can be constructed in a simple, space-saving and cost-saving manner that cover the entire area or space and / or enable any gripping or tool movements.
  • the measuring organ designs according to FIG. 1 with sensor 15 or FIG. 3 can be used for any type of rodless cylinder, while the other exemplary embodiments in their application to so-called band cylinders, in which the coupling members are a band 5 have are limited.
  • Correspondingly trained measuring elements with sensors 17 or 19 corresponding sensors can also be used in rodless cylinders, in which the force is output by a shaft that can be driven by a belt or by a threaded rod from the piston.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

1. Positioning device for cylinders without piston rods, which have a piston (3) guided in a cylinder body (1) in an axially movable manner and which can be acted on by a pressure medium on one or both sides, and an output slide (11) coupled to the piston (3) by means of coupling elements (5, 9) and if necessary guided along the cylinder body (1), characterized in that between the cylinder body (1) and the outlet slide (11) there is arranged a measuring instrument which emits measuring signals upon relative movement between the two, which measuring instrument has a measuring strip (13, 14 ; 24) fixed to the cylinder body (1), extending over the entire stroke path of the output slide, and carrying analog or digital longitudinal markings, which strip can be scanned by a sensor (15 ; 25) fixed to the output slide (11) and directly opposite the measuring strip (13, 14 ; 24) the sensor emitting sensor signals corresponding to the longitudinal markings moving relatively to it (Fig. 1, 3).

Description

Die Erfindung betrifft eine Positioniereinrichtung für kolbenstangenlose Zylinder, die einen in einem Zylinderkörper axial beweglich geführte2 ein- oder beidseitig druckmittelbeaufschlagbaren Kolben und einen über Koppelglieder mit dem Kolben gekoppelten, gegebenenfalls am Zylinderkörper längsverschieblich geführten Kraftabgabeschlitten aufweisen.The invention relates to a positioning device for rodless cylinders which have a piston which can be axially movably guided in a cylinder body, two pistons which can be pressurized on one or both sides, and a force-transmitting carriage which is coupled to the piston via coupling members and optionally guided longitudinally displaceably on the cylinder body.

Kolbenstangenlose Zylinder sind in unterschiedlichen Ausführungsformen bekannt. Bei einer Bauform beispielsweise nach dem DE-GM 1 897 277 umfassen die den Kolben mit dem Kraftabgabeschlitten verbindenden Koppelglieder ein mit dem Kolben verbundenes Band, welches über an beiden Kolbenenden angeordnete Umlenkrollen zum Kraftabgabeschlitten geführt ist und an diesem ebenfalls befestigt ist. Nach der DE-OS 29 38 332 kann der Kraftabgabeschlitten am Zylinderkörper längsverschieblich geführt sein und nach dem DE-GM 79 31 576 kann der Kraftabgabeschlitten mit einer Bremse versehen sein, mittels welcher er in jeder beliebigen Hubstellung feststellbar ist. Die Koppelglieder können jedoch auch andersartig ausgebildet sein, beispielsweise kann der Kolben gemäß der DE-PS 21 62 572 mit einem durch einen Längsschlitz des den Kolben führenden Zylinders radi'al nach außen ragenden Mitnehmer verbunden sein, an welchem der Kraftabgabeschlitten gehalten ist. Der Längsschlitz des Zylinders wird hierbei im Bereich außerhalb des Kolbens durch ein Band druckdicht abgedeckt. Es ist auch bereits bekannt, den Kolben berührungsfrei durch ein die Zylinderwandung durchsetzendes Magnetfeld mit dem Kraftabgabeschlitten zu koppeln.Rodless cylinders are known in different embodiments. In one design, for example according to DE-GM 1 897 277, the coupling members connecting the piston to the power delivery slide comprise a band connected to the piston, which is guided to the power delivery slide via deflection rollers arranged on both piston ends and is also fastened to the power delivery slide. According to DE-OS 29 38 332, the power delivery slide on the cylinder body can be guided in a longitudinally displaceable manner and according to DE-GM 79 31 576, the power delivery slide can be provided with a brake, by means of which it can be locked in any stroke position. However, the coupling links can also be designed differently, for example the piston according to DE-PS 21 62 572 can be connected to a driver which projects radially outwards through a longitudinal slot of the cylinder guiding the piston and on which the force-transmitting carriage is held. The longitudinal slot of the cylinder is in the area outside of the piston covered pressure-tight by a tape. It is also already known to couple the piston to the force output slide without contact by means of a magnetic field passing through the cylinder wall.

Die kolbenstangenlosen Zylinder sind besonders vorteilhaft für Anwendungen in roboterartigen Geräten, beispielsweise Handlings-Geräten geeignet, da sie bei geringer Einbaulänge große Hubwege auszuführen gestatten. Bei für derartige Geräte vorgesehenen Zylindern ist es jedoch erforderlich, nicht nur wenige einzelne, beispielsweise durch Hubschalter bestimmte Kolbenstellungen wiederholbar anfahren zu können, sondern es ist oftmals nötig, beliebige, vorherbestimmbare Hubstellungen sehr genau einstellen zu können. Hier bereiteten bisher pneumatisch beaufschlagbare Zylinder infolge der Kompressibilität der Druckluft Schwierigkeiten.The rodless cylinders are particularly advantageous for applications in robot-type devices, for example handling devices, since they allow large stroke lengths to be carried out with a short installation length. In the case of cylinders provided for such devices, however, it is necessary not only to be able to repeatedly move to a few individual piston positions, for example determined by stroke switches, but it is often necessary to be able to set any predetermined stroke positions very precisely. Up to now, pneumatically actuated cylinders have caused difficulties due to the compressibility of the compressed air.

Für mit Kolbenstangen versehene Zylinder sind bereits Positioniereinrichtungen bekannt, welche das Einstellen genauer, vorherbestimmbarer Kolbenhubstellungen ermöglichen. Hierzu ist es bekannt, den Kolbenstangenkopf gegebenenfalls über Zwischenhebel mit dem Schleifer eines Rheostaten bzw. Potientiometers zu verbinden und so kolbenstellungsabhängige Widerstände und damit Spannungen bzw. Stromflüsse eiηzustellen, welche dazu dienen können, die jeweiligen Position des Kolbens anzuzeigen. Es ist für kolbenstangenaufweisende Zylinder auch bereits bekannt (Zeitschrift "fluid", April 1982, Seite 39, Bild 10/11), den Kolben federnd' mit pneumatischen Schaltventilen zu koppeln, welche die Einsteuerung bestimmter Kolbenpositionen in Abhängigkeit von der Druckbeaufschlagungshöhe des Zylinders ergeben. Diese Einrichtungen benötigen jedoch im Einbaubereich des Zylinders ein beachtliches Bauvolumen, so daß die Relation zwischen Zylindergröße und möglichem Kolbenhub noch ungünstiger wird, außerdem sind diese Einrichtungen nur für einseitig beaufschlagbare Zylinder verwendbar und daher in ihren Anwendungsmöglichkeiten sehr beschränkt. Bei anderen Positioniereinrichtung ist der Kolbenstangenkopf mit einer Zahnstange gekoppelt, auf welcher ein Ritzel läuft, welches zum einen über einen Tachogenerator bzw. ein Potientiometer Stellungssignale abzugeben vermag und welches des weiteren über eine Bremse abbremsbar ist. Diese Positioniereinrichtung beansprucht ein noch größeres Bauvolumen im Bereich des Zylinders und außerdem einen hohen Bauaufwand, sie gewährleistet zudem keine genaue Positionierung der Kolbenstellung.Positioning devices are already known for cylinders provided with piston rods, which enable the setting of precise, predeterminable piston stroke positions. For this purpose, it is known to connect the piston rod head to the grinder of a rheostat or potentiometer, if necessary, via an intermediate lever and thus to set piston position-dependent resistances and thus voltages or current flows, which can serve to indicate the respective position of the piston. It is also already known for cylinders with piston rods (magazine "fluid", April 1982, page 39, picture 10/11) to couple the piston with pneumatic switching valves which result in the control of certain piston positions depending on the pressure level of the cylinder. However, these devices require a considerable amount of space in the installation area of the cylinder, so that the relationship between cylinder size and possible piston stroke becomes even more unfavorable can only be used for cylinders that can be loaded on one side and therefore very limited in their possible applications. In another positioning device, the piston rod head is coupled to a toothed rack on which a pinion runs, which on the one hand is able to emit position signals via a tachometer generator or a potentiometer and which can also be braked by a brake. This positioning device requires an even larger construction volume in the area of the cylinder and also a high construction effort, it also does not guarantee precise positioning of the piston position.

Es ist Aufgabe der Erfindung, eine Positioniereinrichtung für kolbenstangenlose Zylinder zu schaffen, welche zumindest im Bereich des Zylinders keinen großen Einbauraum benötigt, welche in ihrem Aufbau einfach und billig ist und welche je nach Ausführung eine den jeweiligen Erfordernissen angepaßte, gegebenenfalls sehr genaue Positionierung der Kolbenstellung ermöglicht.It is an object of the invention to provide a positioning device for rodless cylinders which, at least in the area of the cylinder, does not require a large installation space, which is simple and cheap in its construction and which, depending on the design, has a position of the piston position that is adapted to the respective requirements and possibly very accurate enables.

Diese Aufgabe wird nach der Erfindung dadurch gelöst, daß zwischen dem Zylinderkörper und wenigstens einem der Koppelglieder bzw. dem Kraftabgabeschlitten ein bei Relativbewegungen zwischen beiden Meßsignale abgebendes bzw. änderndes..Meßorgan eingeordnet ist.This object is achieved according to the invention in that between the cylinder body and at least one of the coupling members or the force-transmitting carriage a measuring element emitting or changing in the case of relative movements between the two measuring signals is arranged.

Nach der weiteren Erfindung vorteilhafte Ausgestaltungsmöglichkeiten der Positioniereinrichtung sind den Merkmalen der Unteransprüche entnehmbar.According to the further invention, advantageous design options for the positioning device can be found in the features of the subclaims.

Zum Abtasten der Drehbewegungen, insbesondere der Rotationsgeschwindigkeit, der Rotationsrichtung und/oder des Rotationswinkels von Drehkörpern sind bereits eine Vielzahl von berührungsfrei arbeitenden Meßeinrichtungen bevorzugt magnetischer, aber auch optischer oder sonstiger Art bekannt (US-PS 2 669 669, 3 564 313, AT-PS 314 671, DE-AS 1 138 240). Diese Vorrichtungen arbeiten zumeist mit einer auf einem oder mehreren Teilkreisen angeordneten Reihe von Magnetmarkierungen, welche durch einen oder mehrere Sensoren abgetastet werden, wobei die Sensorsignale geeigneten Auswerte Einrichtungen zugeführt werden, welche gegebenenfalls der Steigerung der Meßgenauigkeit dienende Interpolationseinrichtungen umfassen. Durch die Interpolation der Meßsignale mehrerer Sensoren sind ähnlich wie bei Schublehren-oder Mikrometer-Skaleneinteilungen wesentliche Steigerungen der Meßwertgenauigkeit in Relation zu den Markierungsabständen in den Markierungs-Reihen möglich.For scanning the rotary movements, in particular the speed of rotation, the direction of rotation and / or the angle of rotation of rotating bodies, a large number of non-contact measuring devices are preferably magnetic, but also optical or other types known (US-PS 2,669,669, 3,564,313, AT-PS 314,671, DE-AS 1 138 240). These devices mostly work with a row of magnetic markings arranged on one or more partial circles, which are scanned by one or more sensors, the sensor signals being fed to suitable evaluation devices, which may include interpolation devices serving to increase the measuring accuracy. The interpolation of the measurement signals of a plurality of sensors, like in the case of slide calipers or micrometer graduations, enables substantial increases in the accuracy of the measurement values in relation to the marking distances in the marking rows.

In der Zeichnung Fig. 1 bis Fig. 3 sind unterschiedliche Ausführungsformen für nach der Erfindung ausgebildete Positioniereinrichtungen beispielsweise dargestellt.Different embodiments for positioning devices designed according to the invention are shown, for example, in the drawing in FIGS. 1 to 3.

Gemäß Fig. 1 und 2 ist ein kolbenstangenloser Zylinder mit einem Zylinderkörper 1 versehen, in dessen Kolbenführung 2 ein Kolben 3 abgedichtet axial verschieblich geführt ist. Nahe seiner beiden Enden ist der Zylinderkörper 2 mit Leitungsanschlüssen 4 versehen, durch welche der Kolben 3 von beiden Seiten her mit Druckmittel, bevorzugt Druckluft beaufschlagbar ist. An die Leitungsanschlüsse sind nicht dargestellte Schaltventile anschließbar, über welche die Druckmittelbeaufschlagung des Kolbens 3 steuerbar ist. Vom Kolben 3 geht beidseitig ein bevorzugt als dünnes Stahlband ausgebildetes Band 5 aus, welches die beidseitigen Zylinderdeckel 6 des Zylinderkörpers 1 durch eine nur angedeutete Dichtung 7 abgedichtet verschieblich durchragt. An den Zylinderdeckeln 6 sind über Lagerböcke 8 Umlenkrollen 9 gelagert, über welche das Band 5 geführt und um etwa 180° umgelenkt wird, derart, daß es sich in einem Bereich 10 seitlich neben dem Zylinderkörper 1 von der einen zur anderen Umlenkrolle 9 erstreckt. Im Bereich 10 ist am Band 5 ein Kraftabgabeschlitten 11 gehaltert, welcher parallel zur Längsrichtung des Zylinderkörpers 1 in Pfeilrichtung 12 verschieblich ist. Das Band 5 kann als geschlossene Schleife ausgebildet sein, an welcher der Kolben 3 und der Kraftabgabeschlitten 11 gehaltert sind, es kann aus einem Bandstück bestehen, dessen Enden am Kolben 3 oder dem Kraftabgabeschlitten 11 miteinander verbunden sind, oder es können zwei Bandstücke vorgesehen sein, welche sich jeweils vom Kolben 3 zum Kraftabgabeschlitten 11 erstrecken. Der Kraftabgabeschlitten 11 kann in beliebiger Weise längsverschieblich geführt sein, beispielsweise kann er in der aus der DE-OS 29 45 133, DE-OS 31 24 915 oder der nicht vorveröffentlichten Patentanmeldung P 33 13 206 ersichtlichen Weise am Zylinderkörper 1 geführt und gegenüber diesem abbremsbar sein.1 and 2, a rodless cylinder is provided with a cylinder body 1, in the piston guide 2 of which a piston 3 is guided so as to be axially displaceable in a sealed manner. Near its two ends, the cylinder body 2 is provided with line connections 4, through which the piston 3 can be acted upon from both sides with pressure medium, preferably compressed air. Switching valves, not shown, can be connected to the line connections, by means of which the pressurization of the piston 3 with pressure medium can be controlled. A piston 5, preferably a thin steel strip, extends from the piston 3 on both sides and slidably extends through the cylinder covers 6 of the cylinder body 1 on both sides by a seal 7, which is only indicated. On the cylinder covers 6 8 deflection rollers 9 are mounted on bearing blocks, over which the band 5 is guided and deflected by approximately 180 °, such that it extends in a region 10 laterally next to the cylinder body 1 from one to the other deflection roller 9. In area 10 is on band 5 Power delivery carriage 11 is held, which is displaceable parallel to the longitudinal direction of the cylinder body 1 in the direction of arrow 12. The band 5 can be designed as a closed loop, on which the piston 3 and the power delivery slide 11 are held, it can consist of a piece of tape, the ends of which are connected to one another on the piston 3 or the power delivery slide 11, or two band pieces can be provided, which each extend from the piston 3 to the power delivery carriage 11. The power delivery carriage 11 can be guided in a longitudinally displaceable manner, for example it can be guided on the cylinder body 1 in the manner evident from DE-OS 29 45 133, DE-OS 31 24 915 or the unpublished patent application P 33 13 206 and can be braked with respect thereto be.

Gemäß Fig. 1 ist auf dem Zylinderkörper 1 eine vorzugsweise aus Kunststoff gefertigte Leiste 13 befestigt, welche sich unterhalb des Bewegungsbereiches des Kraftabgabeschlittens 11 erstreckt und welche auf ihrer dem Zylinderkörper 1 abgewandten Seite ein in der Seitenansicht nur als Linie erkennbares Magnetband 14 trägt, wobei das Magnetband in Art der üblichen Magnettonbänder ausgebildet sein kann. Das Magnetband 14 ist in Längsrichtung des Zylinderkörpers 1 mit einer Reihe digitaler, magnetischer Markierungen, beispielsweise magnetisch aufgeprägter Querstriche versehen. Der Kraftabgabeschlitten 11 trägt einen Sensor 15, dessen Aufnahmekopf dem Zylinderkörper 1 zugewandt ist und den Magnetband 14 unmittelbar gegenübersteht, derart, daß er die Magnetmarkierungen des Magnetbandes 14 aufzunehmen vermag. Beim Verschieben des Kraftabgabeschlittens 11 gibt der Sensor 15 somit entsprechend den sich zu ihm relativ verschiebenden Markierungen des Magnetbandes 14 Sensorsignale ab, welche über nicht dargestellte Leitungen vom Kraftabgabeschlitten 11 abgenommen und in einer nicht dargestellten Verarbeitungsvorrichtung verarbeitet werden, derart, daß ein die jeweilige Position des Kraftabgabeschlittens 11 anzeigendes, analoges oder digitales Ausgangssignal und/oder Steuersignale für die Schaltventile gebildet werden, derart, daß durch entsprechende Beaufschlagungssteuerung des Kolbens 3 der Kraftabgabeschlitten 11 in eine vorgegebene, bestimmte Position eingesteuert und in dieser gegebenenfalls festge. bremst wird. Das aus Magnetband 14 und Sensor 15 sowie der nicht dargestellten Verarbeitungsvorrichtung gebildete Meßorgan arbeitet dabei vorzugsweise in Art einer Impulszähl- und Speichereinrichtung, wodurch durch Abzählen der jeweils am Kraftabgabeschlitten 11 vorbeibewegten Einzelmarkierungen die Position des Kraftabgabeschlittens 11 bestimmbar ist.According to FIG. 1, a bar 13, preferably made of plastic, is attached to the cylinder body 1, which extends below the range of motion of the force-transmitting carriage 11 and which, on its side facing away from the cylinder body 1, carries a magnetic tape 14 that is only visible as a line in the side view, the Magnetic tape can be designed in the manner of the usual magnetic tapes. The magnetic tape 14 is provided in the longitudinal direction of the cylinder body 1 with a series of digital, magnetic markings, for example magnetically stamped cross lines. The power delivery carriage 11 carries a sensor 15, the receiving head of which faces the cylinder body 1 and is directly opposite the magnetic tape 14 in such a way that it is able to record the magnetic markings on the magnetic tape 14. When the force-transmitting carriage 11 is displaced, the sensor 15 thus emits sensor signals corresponding to the markings of the magnetic tape 14 which are displacing relative to it, which signals are removed from the force-transmitting carriage 11 via lines (not shown) and are not shown in one provided processing device are processed in such a way that an analog or digital output signal and / or control signals for the switching valves indicating the respective position of the power delivery carriage 11 and / or control signals for the switching valves are formed in such a way that the power delivery carriage 11 is brought into a predetermined, specific position by corresponding actuation control of the piston 3 and in this, if necessary. is braked. The measuring element formed from magnetic tape 14 and sensor 15 as well as the processing device (not shown) preferably works in the manner of a pulse counter and storage device, whereby the position of the power delivery sled 11 can be determined by counting the individual markings that have moved past the power delivery sled 11.

In Abänderung zur vorstehend beschriebenen Ausführung kann nach Fig. 1 beispielsweise die linke Umlenkrolle 9 auf einer Ringfläche 16 Magnetmarkierungen tragen, welche von einem am linken Lagerbock 8 angeordneten Sensor 17 abtastbar sind; diese Anordnung kann in ihrem wesentlichen Aufbau den eingangs bereits erwähnten Vorrichtungen zum Abtasten von Drehbewegungen entsprechen, so daß sich weitere Erläuterungen hierzu erübrigen. Die Auswertung der Sensorsignale zur Positionsbestimmung bzw. Positionssteuerung des Kraftabgabeschlittens 11 kann hierbei wie vorstehend beschrieben erfolgen.1, the left deflection roller 9 can carry magnetic markings on an annular surface 16, which can be scanned by a sensor 17 arranged on the left bearing block 8; This arrangement can correspond in its essential structure to the devices for sensing rotary movements already mentioned at the outset, so that further explanations for this are unnecessary. The evaluation of the sensor signals for position determination or position control of the power delivery slide 11 can be carried out as described above.

Es ist auch möglich, die Magnet-Markierungen in einer oder mehreren Markierungsreihen dem aus Stahl bestehenden oder mit einem Magnetband versehenen Band 5 aufzuprägen. Der die Markierungen abtastende Sensor 18 kann dann gemäß Fig.2 an geeigneter Stelle, bevorzugt nahe einer Umlenkrolle 9 am Zylinderkörper 1 angeordnet sein. Es ist auch möglich, einen Sensor 19 vorzusehen, welcher an einem Lagerbock 8 befestigt ist und das Band 5 im Bereich seiner Auflage auf der zugehörigen Umlenkrolle 9 hinsichtlich der Markierungssignale abtastet. Hierbei sind ebenso wie mit dem Sensor 17 feststehende Sensoren 18 bzw. 19 verwendbar, wodurch die Abführung der Sensorsignale erleichtert wird.It is also possible to emboss the magnetic markings in one or more rows of markings on the band 5 made of steel or provided with a magnetic tape. The sensor 18 scanning the markings can then be arranged according to FIG. 2 at a suitable location, preferably near a deflection roller 9 on the cylinder body 1. It is also possible to provide a sensor 19 which is fastened to a bearing block 8 and which scans the band 5 in the area of its support on the associated deflection roller 9 with regard to the marking signals. Here, as with the sensor 17 Fixed sensors 18 and 19 can be used, which facilitates the removal of the sensor signals.

Falls entsprechend der bereits erwähnten Patentanmeldung P 33 13 206 der Zylinder gemäß der einen Querschnitt durch den Zylinder darstellenden Figur 3 einen Zylinderkörper 1 aufweist, der seitlich neben der Kolbenführung 2 mit einer zu dieser parallelen, langgestreckten Ausnehmung 20 zur Aufnahme von Führungs- und/öder Bremselementen 21 des Kraftabgabeschlittens 11 versehen ist, wobei die Führungs- und/ oder Bremselemente 21 durch einen einen Öffnungsschlitz 22 von der Ausnehmung 20 nach außen durchragende Verbindungselemente 23 mit dem Kraftabgabeschlitten 11 verbunden sind und der öffnungsschlitz 22 beiderseits des Kraftabgabeschlittens 11 in aus Fig. 3 nicht ersichtlicher Weise abdeckbar ist, ist es zweckmäßig, das aus einem zylinderkörperfesten Meßband und einem kraftabgabeschlittenfesten Sensor gebildete Meßorgan im Bereich der Ausnehmung 20 anzuordnen. Aus Fig. 3 ist erkennbar, daß der Zylinderkörper 1 an der Bodenseite der Ausnehmung 20 ein in eine Längsnut eingelassenes, beispielsweise entsprechend der Leiste 13 und dem Magnetband 14 gemäß Fig. 1 ausgebildetes Meßband 24 aufweist, welches sich über die gesamte Führungslänge für den Kraftabgabeschlitten 11 erstreckt. Die Führungs- und/oder Bremselemente 21 bzw. die Verbindungselemente 23 des Kraftabgabeschlittens 11 sind gegenüberliegend zum Meßband 24 mit einem Sensor 25 versehen, welcher die Markierungen des Meßbandes 24 abzutasten vermag. Der Aufbau und die Funktion von Meßband 24 und Sensor 25 entsprechen also weitgehend denjenigen des Magnetbandes 14 und Sensors 15 nach Fig. 1, sie sind jedoch in einer sehr gut geschützten Lage angeordnet, so daß der Zylinder auch.in stark verschmutzter Umgebung bzw. Atmosphäre ohne Störung der Positioniereinrichtung betreibbar ist.If, according to the already mentioned patent application P 33 13 206, the cylinder according to FIG. 3, which shows a cross section through the cylinder, has a cylinder body 1, which laterally next to the piston guide 2 has an elongate recess 20 parallel to the latter, for receiving guides and / or bores Brake elements 21 of the power delivery slide 11 is provided, the guide and / or brake elements 21 being connected to the power delivery slide 11 by a connecting element 23 projecting outwardly from the recess 20 through an opening slot 22 and the opening slot 22 on both sides of the power delivery slide 11 in FIG. 3 is not clearly visible, it is expedient to arrange the measuring element formed from a measuring body fixed to the cylinder body and a sensor fixed to the force-transmitting carriage in the region of the recess 20. From Fig. 3 it can be seen that the cylinder body 1 on the bottom side of the recess 20 has a recessed in a longitudinal groove, for example according to the bar 13 and the magnetic tape 14 shown in FIG. 1, measuring tape 24, which extends over the entire guide length for the power delivery slide 11 extends. The guiding and / or braking elements 21 or the connecting elements 23 of the power delivery slide 11 are provided opposite the measuring tape 24 with a sensor 25 which is able to scan the markings on the measuring tape 24. The structure and function of the measuring tape 24 and sensor 25 thus largely correspond to those of the magnetic tape 14 and sensor 15 according to FIG. 1, but they are arranged in a very well-protected position, so that the cylinder also in a heavily polluted environment or atmosphere can be operated without disturbing the positioning device.

Anstelle der vorstehend mehrfach erwähnten, magnetischen Markierungen kann die Leiste 13, die Ringfläche 16, das Band 5 bzw. das Meßband 24 auch mit andersartigen Markierungen, beispielsweise optischer oder struktureller Art versehen sein, wobei der Sensor selbstverständlich diesen Markierungsarten angepaßt sein muß. Beispielsweise ist es möglich, in Reihen angeordnete Lochmarkierungen oder Markierungsstriche vorzusehen, welche durch einen optisch wirkenden Sensor beispielsweise in Art einer Lichtschranke oder einer reflektiertes Licht aufnehmenden Fotodiode abtastbar sind. Weiterhin können je Markierungsreihe mehrere zueinander in Reihenlängsrichtung versetzt angeordnete Sensoren vorgesehen sein, wobei bevorzugt der Sensorabstand keinem vielfachen der Markierungsteilung entspricht; hierdurch kann durch Interpolation zwischen den einzelnen Sensorsignalen in der eingangs bereits erwähnten Weise eine die Markierungsteilung wesentlich übersteigende Positioniergenauigkeit erreicht werden. Die Positioniergenauigkeit kann auch dadurch gesteigert werden, daß mehrere Markierungsreihen nebeneinander vorgesehen sind, welche jeweils von einem oder mehreren Sensoren in der vorstehend beschriebenen Weise abgetastet werden, wobei die Sensorsignale wiederum zu interpolieren sind. Die Ringfläche 16 muß nicht unmittelbar an einer Umlenkrolle 9 angeordnet sein, sie kann sich auch an einem gesonderten, mit der Umlenkrolle 9 drehfest zu verbindenden Meßrad befinden.Instead of the magnetic markings mentioned several times above, the strip 13, the annular surface 16, the tape 5 or the measuring tape 24 can also be provided with other types of markings, for example optical or structural, the sensor of course having to be adapted to these types of markings. For example, it is possible to provide hole markings or marking lines arranged in rows, which can be scanned by an optically acting sensor, for example in the manner of a light barrier or a photodiode that receives reflected light. Furthermore, a plurality of sensors can be provided offset from one another in the row longitudinal direction for each row of markings, the sensor spacing preferably not corresponding to a multiple of the marking division; in this way, a positioning accuracy which substantially exceeds the marking division can be achieved by interpolation between the individual sensor signals in the manner already mentioned at the beginning. The positioning accuracy can also be increased by providing several rows of markings next to one another, each of which is scanned by one or more sensors in the manner described above, the sensor signals again being interpolated. The annular surface 16 does not have to be arranged directly on a deflection roller 9, it can also be located on a separate measuring wheel to be connected to the deflection roller 9 in a rotationally fixed manner.

Weiterhin ist möglich, die Markierungen auch mechanisch, beispielsweise als zahnartig vorstehende Vorsprünge auszubilden, welche optisch oder magnetisch von den Sensoren abgetastet werden. Diese Anordnung ist besonders zweckmäßig bei einer ringförmigen Anordnung der Markierungen beispielsweise auf der Ringfläche 16 oder einem mit der Umlenkrolle 9 verbundenen Meßrad. Es ist auch möglich, eine der Umlenkrollen 9 mit der Einstellwelle eines Potientiometers zu verbinden, so daß letzteres der Kolbenposition entsprechende Widerstandsänderungen als Meßwerte abgibt. Auch die Leiste 13 bzw. das Meßband 14 können in Abänderung zu den vorstehend beschriebenen Ausführungsbeispielen als elektrischer Widerstand ausgebildet sein, welcher durch einen mit dem Kraftabgabeschlitten 11 verbundenen Schleifer in Art eines Rheostaten abgetastet wird; auch in diesem Fall liefert das Meßorgan positionsabhängige Widerstandswerte. Die letzterwähnten Ausführungsformen sind insbesondere für sich mit der Position analog ändernde Meßsignale abgebende Meßorgane geeignet.It is also possible to design the markings mechanically, for example as tooth-like protrusions, which are scanned optically or magnetically by the sensors. This arrangement is particularly useful in the case of an annular arrangement of the markings, for example on the ring surface 16 or a measuring wheel connected to the deflection roller 9. It is also possible to connect one of the deflection rollers 9 to the setting shaft of a potentiometer, so that the latter the piston position gives corresponding changes in resistance as measured values. The bar 13 or the measuring tape 14 can also be designed as an electrical resistance, in a modification of the exemplary embodiments described above, which is scanned in the manner of a rheostat by a grinder connected to the power delivery slide 11; in this case too, the measuring device delivers position-dependent resistance values. The last-mentioned embodiments are particularly suitable for measuring elements which emit measuring signals which change analogously with the position.

Beim Einsatz der vorstehend beschriebenen Zylinder in Roboter-oder Handlings-Geräten ist es zweckmäßig, den Kraftabgabeschlitten mit Halterungsvorrichtungen für weitere, entsprechende Zylinder vorzugsweise mit eigenen Positioniereinrichtungen, oder auch allgemein ausgedrückt für Module für weitere Bewegungen wie Querverschiebungen, Drehungen oder Greifbewegungen auszurüsten. Auf diese Weise können in einfacher, platz- und kostensparender Weise flächen- oder raumabdeckende und/oder beliebige Greif- oder Werkzeugbewegungen ermöglichende Roboter-, Handlings- oder Montagegeräte aufgebaut werden.When using the cylinders described above in robot or handling devices, it is expedient to equip the power delivery slide with holding devices for further, corresponding cylinders, preferably with their own positioning devices, or in general terms for modules for further movements such as transverse displacements, rotations or gripping movements. In this way, robotic, handling or assembly devices can be constructed in a simple, space-saving and cost-saving manner that cover the entire area or space and / or enable any gripping or tool movements.

Es ist noch zu erwähnen, daß die Meßorgan-Ausführungen nach Fig. 1 mit Sensor 15 bzw. Fig. 3 für jede Bauart eines kolbenstangenlosen Zylinders verwendbar ist, während die übrigen Ausführungsbeispiele in ihrer Anwendung auf sog. Bandzylinder, bei welchen die Koppelglieder ein Band 5 aufweisen, beschränkt sind. Auch bei kolbenstangenlosen Zylindern, bei welchen die Kraftabgabe durch eine von einem Band oder über eine Gewindestange vom Kolben antreibbare Welle erfolgt, können entsprechend ausgebildete Meßorgane mit den Sensoren 17 oder 19 entsprechenden Sensoren verwendet werden.It should also be mentioned that the measuring organ designs according to FIG. 1 with sensor 15 or FIG. 3 can be used for any type of rodless cylinder, while the other exemplary embodiments in their application to so-called band cylinders, in which the coupling members are a band 5 have are limited. Correspondingly trained measuring elements with sensors 17 or 19 corresponding sensors can also be used in rodless cylinders, in which the force is output by a shaft that can be driven by a belt or by a threaded rod from the piston.

BezugszeichenlisteReference symbol list

  • 1 Zylinderkörper1 cylinder body
  • 2 Kolbenführung2 piston guide
  • 3 Kolben3 pistons
  • 4 Leitungsanschluß4 line connection
  • 5 Band5 volume
  • 6 Zylinderdeckel6 cylinder covers
  • 7 Abdichtung7 sealing
  • 8 Lagerbock8 bearing block
  • 9 Umlenkrolle9 pulley
  • 10 Bereich10 area
  • 11 Kraftabgabeschlitten11 power delivery sledges
  • 12 Pfeilrichtung12 arrow direction
  • 13 Leiste13 bar
  • 14 Magnetband14 magnetic tape
  • 15 Sensor15 sensor
  • 16 Ringfläche16 ring surface
  • 17 Sensor17 sensor
  • 18 Sensor18 sensor
  • 19 Sensor19 sensor
  • 20 Ausnehmung20 recess
  • 21 Führungs-und Bremselemente21 guiding and braking elements
  • 22 Öffnungsschlitz22 opening slot
  • 23 Verbindungselemente23 fasteners
  • 24 Meßband24 measuring tape
  • 25 Sensor25 sensor

Claims (16)

1. Positioniereinrichtung für kolbenstangenlose Zylinder, die einen in einem Zylinderkörper axial beweglich geführten, ein- oder beidseitig druckmittelbeaufschlagbaren Kolben und einen über Koppelglieder mit dem Kolben gegekoppelten, gegebenenfalls am Zylinderkörper längsverschieblich geführten Kraftabgabeschlitten aufweisen, dadurch gekennzeichnet, daß zwischen dem Zylinderkörper (1) und wenigstens einem der Koppelglieder (5, 9) bzw. dem Kraftabgabeschlitten (11) ein bei Relativbewegungen zwischen beiden Meßsignale abgebendes bzw. änderndes Meßorgan (14, 15, 17, 18, 19, 24, 25) eingeordnet ist.1.Positioning device for rodless cylinders which have a piston axially movably guided in one or both sides of the piston and can be pressurized with pressurized medium and a coupling element coupled to the piston via coupling members, optionally longitudinally displaceably guided to the cylinder body, characterized in that between the cylinder body (1) and A measuring element (14, 15, 17, 18, 19, 24, 25) which emits or changes in the case of relative movements between the two measuring signals is arranged in at least one of the coupling links (5, 9) or the power delivery slide (11). 2. Positioniereinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß das Meßorgan ein am Zylinderkörper (1) angeordnetes, sich über die ganze Hubstrecke des Kraftabgabeschlittens erstreckendes, analoge oder digitale Längsmarkierungen tragendes Meßband (13, 14, 24) aufweist, das von einem am Kraftabgabeschlitten (11) angeordneten Sensor (15; 25) abtastbar'ist.2. Positioning device according to claim 1, characterized in that the measuring element on the cylinder body (1) arranged, extending over the entire stroke of the power delivery sled, analog or digital longitudinal markings carrying measuring tape (13, 14, 24) having one of the power delivery sled (11) arranged sensor (15; 25) can be scanned. 3. Positioniereinrichtung nach Anspruch 2, dadurch gekennzeichnet, daß das Meßband (24) sich nahe von Führungs-oder Bremsflächen (21) für den Kraftabgabeschlitten (11) am Zylinderkörper (1) befindet (Fig. 3).3. Positioning device according to claim 2, characterized in that the measuring tape (24) is close to guide or braking surfaces (21) for the power delivery carriage (11) on the cylinder body (1) (Fig. 3). 4. Positioniereinrichtung nach Anspruch 3, dadurch gekennzeichnet, daß das Meßband (24) sich in einer parallel zur Kolbenführung (2) erstreckenden, die Führungs- bzw. Bremsflächen (21) aufnehmenden, nach außen durch ein vom Kraftabgabeschlitten (11) abhebbares Abdeckband abdeckbaren Führungsausnehmung (20) des ein- oder mehrteilig ausgebildeten Zylinderkörpers (1) befindet (Fig. 3).4. Positioning device according to claim 3, characterized in that the measuring tape (24) extending in a parallel to the piston guide (2), the guide or braking surfaces (21) receiving, can be covered to the outside by a cover tape that can be lifted off from the power delivery slide (11) Guide recess (20) of the one-piece or multi-part cylinder body (1) is located (Fig. 3). 5. Positioniereinrichtung nach Anspruch 2, 3 oder 4, dadurch gekennzeichnet, daß das Meßband (24) sich auf einer Kunststoffleiste befindet, die in eine Längsnut des Zylinderkörpers (1) eingelassen ist (Fig. 3).5. Positioning device according to claim 2, 3 or 4, characterized in that the measuring tape (24) is located on a plastic strip which is embedded in a longitudinal groove of the cylinder body (1) (Fig. 3). 6. Positioniereinrichtung nach Anspruch 1, wobei die Koppelglieder ein den Kolben mit dem Kraftabgabeschlitten verbindendes, über Umlenkrollen laufendes Band umfassen, dadurch gekennzeichnet, daß das Meßorgan (16, 17; 19) zwischen dem Band (5) bzw. den Umlenkrollen (9) und dem Zylinderkörper (1) angeordnet ist.6. Positioning device according to claim 1, wherein the coupling members comprise a belt connecting the piston to the power delivery slide and running over deflection rollers, characterized in that the measuring element (16, 17; 19) between the belt (5) or the deflection rollers (9) and the cylinder body (1) is arranged. 7. Positioniereinrichtung nach Anspruch 6, dadurch gekennzeichnet, daß das Band (5) mit digitalen oder analogen Längsmarkierungen versehen ist, welche von einem am Zylinderkörper (1) angeordneten Sensor (18, 19) abtastbar sind (Fig. 2).7. Positioning device according to claim 6, characterized in that the band (5) is provided with digital or analog longitudinal markings which can be scanned by a sensor (18, 19) arranged on the cylinder body (1) (Fig. 2). 8. Positioniereinrichtung nach Anspruch 6, dadurch gekennzeichnet, daß wenigstens eine der Umlenkrollen (9) mit ge- gebenenfalls auf einem mit ihr drehfest verbundenen Meßrad befindlichen, umlaufend angeordneten, digitalen oder analogen Markierungen (16) versehen ist, welche von einem am Zylinderkörper (1) angeordneten Sensor (17) abtastbar sind.8. Positioning device according to claim 6, characterized in that at least one of the deflection rollers (9) with ge - located optionally on a non-rotatably connected thereto measuring wheel, arranged circumferentially digital or analog markings (16) is provided which from one to the cylinder body ( 1) arranged sensor (17) can be scanned. 9. Positioniereinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß ein optisch, magnetisch oder mittels Widerstandsänderungen wirkendes Meßorgan vorgesehen ist.9. Positioning device according to claim 1, characterized in that an optical, magnetic or by means of a counter position-changing measuring element is provided. 10. Positioniereinrichtung nach Anspruch 7 und 9, dadurch gekennzeichnet, daß dem Band (5) Magnetmarkierungen aufgeprägt sind.10. Positioning device according to claim 7 and 9, characterized in that the tape (5) magnetic markings are embossed. 11. Positioniereinrichtung nach Anspruch 7 und 9, dadurch gekennzeichnet, daß das Band (5) mit einer Lochmarkierung versehen ist.11. Positioning device according to claim 7 and 9, characterized in that the band (5) is provided with a hole marking. 12. Positioniereinrichtung nach Anspruch 8 und 9, dadurch gekennzeichnet, daß die Umlenkrolle (9) bzw. das Meßrad mechanische, zahnartig vorspringende oder magnetische Markierungen (16) trägt.12. Positioning device according to claim 8 and 9, characterized in that the deflecting roller (9) or the measuring wheel carries mechanical, tooth-like protruding or magnetic markings (16). 13. Positioniereinrichtung nach Anspruch 2 und 9, dadurch gekennzeichnet, daß das Meßband optische Markierungen trägt.13. Positioning device according to claim 2 and 9, characterized in that the measuring tape bears optical markings. 14. Positioniereinrichtung nach Anspruch 2 und 9, dadurch gekennzeichnet, daß das Meßband in Art eines Magnettonbandes (14) ausgebildet ist und magnetische Markierungen trägt.14. Positioning device according to claim 2 and 9, characterized in that the measuring tape is designed in the manner of a magnetic tape (14) and bears magnetic markings. 15. Positioniereinrichtung nach einem oder mehreren der vorstehenden Ansprüche 2 bis 14, dadurch gekennzeichnet, daß bei digitalen Markierungen mehrere, wenigstens zum Teil in Längs- bzw. Umfangsrichtung zueinander versetzte Reihen von Markierungen, für jede Reihe ein Sensor und eine Interpolationseinrichtung für die Sensorsignale vorgesehen sind.15. Positioning device according to one or more of the preceding claims 2 to 14, characterized in that in the case of digital markings, a plurality of, at least partially offset in the longitudinal or circumferential direction, rows of markings, a sensor and an interpolation device for the sensor signals are provided for each row are. 16. Positioniereinrichtung nach einem oder mehreren der vorstehenden Ansprüche, dadurch gekennzeichnet, daß bei digitalen Markierungen der bzw. den Reihen von Markierungen mehrere zueinander versetzt angeordnete Sensoren zugeordnet sind und daß eine Interpolationseinrichtung für die Sensorsignale vorgesehen ist.16. Positioning device according to one or more of the preceding claims, characterized in that in the case of digital markings of the row or series of markings, a plurality of sensors which are arranged offset from one another are assigned and that an interpolation device is provided for the sensor signals.
EP84113772A 1983-05-10 1984-11-14 Positioning device for a rodless actuator Expired EP0181415B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE19833317113 DE3317113A1 (en) 1983-05-10 1983-05-10 POSITIONING DEVICE FOR PISTONLESS CYLINDERS
DE8484113772T DE3469781D1 (en) 1984-11-14 1984-11-14 Positioning device for a rodless actuator
EP84113772A EP0181415B1 (en) 1983-05-10 1984-11-14 Positioning device for a rodless actuator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19833317113 DE3317113A1 (en) 1983-05-10 1983-05-10 POSITIONING DEVICE FOR PISTONLESS CYLINDERS
EP84113772A EP0181415B1 (en) 1983-05-10 1984-11-14 Positioning device for a rodless actuator

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP86103865.1 Division-Into 1984-11-14
EP86103865A Division EP0196572A3 (en) 1984-11-14 1984-11-14 Positioning device for a rodless actuator

Publications (2)

Publication Number Publication Date
EP0181415A1 true EP0181415A1 (en) 1986-05-21
EP0181415B1 EP0181415B1 (en) 1988-03-09

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ID=25810683

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Application Number Title Priority Date Filing Date
EP84113772A Expired EP0181415B1 (en) 1983-05-10 1984-11-14 Positioning device for a rodless actuator

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EP (1) EP0181415B1 (en)
DE (1) DE3317113A1 (en)

Cited By (4)

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EP0257590A2 (en) * 1986-08-22 1988-03-02 Gilbarco Inc. Linear sensing apparatus for positive displacement meter
EP0258195A1 (en) * 1986-08-21 1988-03-02 Bo Granbom Device in pneumatic cylinderpiston arrangements
WO2008141613A2 (en) * 2007-05-23 2008-11-27 Schaeffler Kg Linear drive
WO2020233954A1 (en) 2019-05-17 2020-11-26 Volkswagen Aktiengesellschaft System, and method for actuating a travel unit of the system

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DE3436946C2 (en) * 1984-10-09 1994-06-09 Mannesmann Ag linear actuator
DE8525587U1 (en) * 1985-09-07 1987-01-08 Robert Bosch Gmbh, 7000 Stuttgart, De
DE3619473A1 (en) * 1986-06-10 1987-12-17 Knorr Bremse Ag Pressure medium-driven, piston rod-less working cylinder
DE3731073A1 (en) * 1987-09-16 1989-03-30 Wabco Westinghouse Steuerung Linear drive
DE3822103A1 (en) * 1988-06-30 1990-02-08 Winkler Duennebier Kg Masch DEVICE FOR MOVING PARTS
DE3905561C2 (en) * 1989-02-23 1995-04-20 Rexroth Pneumatik Mannesmann Working cylinder actuatable by pressure medium
DE3909344A1 (en) * 1989-03-22 1990-09-27 Rexroth Pneumatik Mannesmann PRESSURE-OPERABLE WORKING CYLINDER
DE29505345U1 (en) * 1995-03-31 1995-05-18 Festo Kg Output element of a linear drive

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0258195A1 (en) * 1986-08-21 1988-03-02 Bo Granbom Device in pneumatic cylinderpiston arrangements
EP0257590A2 (en) * 1986-08-22 1988-03-02 Gilbarco Inc. Linear sensing apparatus for positive displacement meter
EP0257590A3 (en) * 1986-08-22 1989-02-15 Gilbarco Inc. Linear sensing apparatus for positive displacement meter
WO2008141613A2 (en) * 2007-05-23 2008-11-27 Schaeffler Kg Linear drive
WO2008141613A3 (en) * 2007-05-23 2009-02-19 Schaeffler Kg Linear drive
WO2020233954A1 (en) 2019-05-17 2020-11-26 Volkswagen Aktiengesellschaft System, and method for actuating a travel unit of the system

Also Published As

Publication number Publication date
EP0181415B1 (en) 1988-03-09
DE3317113A1 (en) 1984-11-15

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