EP0181415B1 - Positioning device for a rodless actuator - Google Patents

Positioning device for a rodless actuator Download PDF

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Publication number
EP0181415B1
EP0181415B1 EP84113772A EP84113772A EP0181415B1 EP 0181415 B1 EP0181415 B1 EP 0181415B1 EP 84113772 A EP84113772 A EP 84113772A EP 84113772 A EP84113772 A EP 84113772A EP 0181415 B1 EP0181415 B1 EP 0181415B1
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EP
European Patent Office
Prior art keywords
cylinder body
markings
piston
measuring
positioning device
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.)
Expired
Application number
EP84113772A
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German (de)
French (fr)
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EP0181415A1 (en
Inventor
Dieter Mai
Karl Wydra
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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 EP84113772A priority patent/EP0181415B1/en
Priority to DE8484113772T priority patent/DE3469781D1/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 with the features specified in the preambles of independent claims 1, 5 or 7.
  • 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 likewise fastened to the power delivery slide.
  • the power delivery slide can be guided in a longitudinally displaceable manner on the cylinder body and provided with a brake, by means of which it can be locked in any stroke position.
  • 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.
  • rodless cylinders to provide stroke switches, for example reed switches, which can be switched by the piston without contact.
  • stroke switches for example reed switches
  • 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.
  • the sensor signals are added to counters to display the piston position in an evaluation circuit.
  • the publication also shows that the signals from three sensors arranged on half the marking division can be fed to three coils arranged at an angle of 120 ° each, the rotating field of which control a magnetic needle indicating the position of the piston rod.
  • the document shows a magnetic tape to be arranged on the piston rod with two separately scannable rows of markings, one of which has a much greater division than the other row of marks.
  • FIGS. 1 to 3 different embodiments for positioning devices designed according to the invention are shown, for example.
  • 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 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.
  • Pressure medium preferably compressed air.
  • Switching valves can be connected, via which the pressure medium applied to the piston 3 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.
  • Deflection rollers 9 are supported on the cylinder covers 6 by means of bearing blocks 8, over which the band 5 is guided and deflected by approximately 180 °, such that it extends from one to the other deflection roller 9 in a region 10 to the side next to the cylinder body 1.
  • a power delivery carriage 11 is held on the belt 5, which is displaceable in the direction of the arrow 12 parallel to the longitudinal direction of the cylinder body 1.
  • 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 in any manner, for example it can be guided on the cylinder body 1 in the manner apparent from DE-A-2 945 133 or DE-A-3 124 915 and can be braked with respect thereto.
  • a preferably made of plastic strip 13 is attached to the cylinder body 1, which extends below the range of motion of the power output slide 11 and which on its side facing away from the cylinder body 1 carries a magnetic tape 14 which can only be seen 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 in such a way that it is able to record the magnetic markings of the magnetic tape 14.
  • the sensor 15 When moving the power delivery sled 11, the sensor 15 thus emits sensor signals corresponding to the markings of the magnetic tape 14 that are moving relative to it, which signals are removed from the power delivery sled 11 via lines (not shown) and processed in a processing device (not shown) such that the respective position of the Power output sled 11 indicating, analog or digital output signal and / or control signals for the switching valves are formed such that the power output sled 11 is controlled by a corresponding actuation control of the piston 3 in a predetermined, specific position and is braked in this, if necessary.
  • 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.
  • 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 is provided laterally next to the piston guide 2 with an elongate recess 20 parallel to the latter, for receiving guide and / or braking elements 21 of the power output slide 11, wherein the guiding and / or braking elements 21 are connected to the power output 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 output slide 11 cannot be covered in a manner not apparent from FIG. 3, 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.
  • the cylinder body 1 on the bottom side of the recess 20 has a measuring tape 24 embedded in a longitudinal groove, for example formed according to the strip 13 and the magnetic tape 14 according to FIG. 1, 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 force output 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 can be used even in a heavily contaminated environment or atmosphere Malfunction of the positioning device is operable.
  • the strip 13 which The annular surface 16, the band 5 or the measuring band 24 can also be provided with different types of markings, for example optical or structural types, the sensor of course having to be adapted to these types of markings.
  • markings for example optical or structural types
  • the sensor of course having to be adapted to these types of markings.
  • 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 expedient in the case of an annular arrangement of the markings, for example on the annular 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 outputs changes in resistance corresponding to the piston position as measured values.
  • the measuring organ embodiment 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 links form a band 5 have are limited.
  • Correspondingly designed 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 a threaded rod by 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)

Description

Die Erfindung betrifft eine Positioniereinrichtung mit den in den Oberbegriffen der unabhängigen Patentansprüche 1, 5 oder 7 angegebenen Merkmalen.The invention relates to a positioning device with the features specified in the preambles of independent claims 1, 5 or 7.

Kolbenstangenlose Zylinder sind in unterschiedlichen Ausführungsformen bekannt. Bei einer Bauform beispielsweise nach dem DE-U 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-A-3 403 830 kann der Kraftabgabeschlitten am Zylinderkörper längsverschieblich geführt und 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-C-2 162 572 mit einem durch einen Längsschlitz des den Kolben führenden Zylinders radial 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 a design, for example according to DE-U 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 likewise fastened to the power delivery slide. According to DE-A-3 403 830, the power delivery slide can be guided in a longitudinally displaceable manner on the cylinder body and 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-C-2 162 572 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 covered pressure-tight in the area outside the piston 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. Aus der bereits erwähnten DE-A-3 403 830 ist es für kolbenstangenlose Zylinder bekannt, berührungsfrei vom Kolben schaltbare Hubschalter, beispielsweise Reedschalter, vorzusehen. Bei für die erwähnten Geräte geeigneten Zylindern ist es jedoch erforderlich, nicht nur wenige einzelne, beispielsweise durch die erwähnten 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. From the aforementioned DE-A-3 403 830 it is known for rodless cylinders to provide stroke switches, for example reed switches, which can be switched by the piston without contact. In the case of cylinders suitable for the devices mentioned, however, it is necessary not only to be able to repeatedly move to a few individual piston positions, for example determined by the stroke switches mentioned, but it is often necessary to be able to set any desired 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 (FR-A-2 503 609), die Kolbenstange mit wendel- oder ringförmigen, beispielsweise magnetischen Markierungen zu versehen, welche berührungsfrei durch bis zu vier ringförmig oder auch axial versetzt angeordnete Sensoren, beispielsweise Hallgeneratoren, abgetastet werden. Die Sensorsignale werden in einer Auswerteschaltung addiert Zählern zur Anzeige der Kolbenstellung zugeführt. Die Druckschrift zeigt auch, dass die Signale dreier auf halber Markierungsteilung verteilt angeordneter Sensoren drei im Winkel von je 120° angeordneten Spulen zuführbar sind, deren Drehfeld eine die Position der Kolbenstange anzeigende Magnetnadel steuern. Weiterhin zeigt die Druckschrift ein an der Kolbenstange anzuordnendes Magnetband mit zwei getrennt abtastbaren Markierungsreihen, deren eine eine wesentlich grössere Teilung als die andere Markierungsreihe aufweist.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 (FR-A-2 503 609) to provide the piston rod with helical or ring-shaped, for example magnetic, markings which are scanned in a contact-free manner by up to four sensors, for example Hall generators, which are arranged in a ring-shaped or axially offset manner. The sensor signals are added to counters to display the piston position in an evaluation circuit. The publication also shows that the signals from three sensors arranged on half the marking division can be fed to three coils arranged at an angle of 120 ° each, the rotating field of which control a magnetic needle indicating the position of the piston rod. Furthermore, the document shows a magnetic tape to be arranged on the piston rod with two separately scannable rows of markings, one of which has a much greater division than the other row of marks.

Bei andersartigen Ausführungen von Kolbenstangenzylindern ist es bekannt, den Kolbenstangenkopf gegebenenfalls über Zwischenhebel mit dem Schleifer eines Rheostaten bzw. Potentiometers zu verbinden und so kolbenstellungsabhängige Widerstände und damit Spannungen bzw. Stromflüsse einzustellen, welche dazu dienen können, die jeweilige Position des Kolbens anzuzeigen.In other types of piston rod cylinders, it is known to connect the piston rod head to the wiper 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.

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 is possibly very precise enables.

Diese Aufgabe wird nach der Erfindung für kolbenstangenlose Zylinder, die dem eingangs erwähnten Oberbegriff des Patentanspruches 1 entsprechen, durch die im kennzeichnenden Teil des Patentanspruches 1 geforderten Merkmale, oder für kolbenstangenlose Zylinder, die den ebenfalls eingangs erwähnten Oberbegriffen der Patentansprüche 5 oder 7 entsprechen, durch die im kennzeichnenden Teil des Patentanspruches 5 oder 7 geforderten Merkmale gelöst.This object is achieved according to the invention for rodless cylinders, which correspond to the preamble of claim 1 mentioned in the introduction, by the features required in the characterizing part of claim 1, or for rodless cylinders which correspond to the preambles of claims 5 or 7, which are also mentioned at the outset solved the features required in the characterizing part of claim 5 or 7.

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 (DE-A 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 Auswerteeinrichtungen 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 MarkierungsReihen möglich.A large number of contact-free measuring devices, preferably of a magnetic, but also of an optical or other type, are already known for scanning the rotary movements, in particular the rotational speed, the direction of rotation and / or the angle of rotation of rotating bodies (DE-A 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 optionally include interpolation devices serving to increase the measuring accuracy. The interpolation of the measurement signals from several sensors, similar to graduations with a slide gauge or micrometer, enables significant increases in the accuracy of the measured values in relation to the marking distances in the marking rows.

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

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 4 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-A-2 945 133 oder DE-A-3 124 915 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. At the line connections 4 are Switching valves, not shown, can be connected, via which the pressure medium applied to the piston 3 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. Deflection rollers 9 are supported on the cylinder covers 6 by means of bearing blocks 8, over which the band 5 is guided and deflected by approximately 180 °, such that it extends from one to the other deflection roller 9 in a region 10 to the side next to the cylinder body 1. In the area 10, a power delivery carriage 11 is held on the belt 5, which is displaceable in the direction of the arrow 12 parallel to the longitudinal direction of the cylinder body 1. 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 in any manner, for example it can be guided on the cylinder body 1 in the manner apparent from DE-A-2 945 133 or DE-A-3 124 915 and can be braked with respect thereto.

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 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 festgebremst 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.1, a preferably made of plastic strip 13 is attached to the cylinder body 1, which extends below the range of motion of the power output slide 11 and which on its side facing away from the cylinder body 1 carries a magnetic tape 14 which can only be seen 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 in such a way that it is able to record the magnetic markings of the magnetic tape 14. When moving the power delivery sled 11, the sensor 15 thus emits sensor signals corresponding to the markings of the magnetic tape 14 that are moving relative to it, which signals are removed from the power delivery sled 11 via lines (not shown) and processed in a processing device (not shown) such that the respective position of the Power output sled 11 indicating, analog or digital output signal and / or control signals for the switching valves are formed such that the power output sled 11 is controlled by a corresponding actuation control of the piston 3 in a predetermined, specific position and is braked in this, if necessary. The measuring element formed from magnetic tape 14 and sensor 15 and the processing device (not shown) preferably works in the manner of a pulse counter and storage device, as a result of which 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 well as with the sensor 17, fixed sensors 18 and 19 can be used, which facilitates the removal of the sensor signals.

Falls 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/oder 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 the cylinder according to FIG. 3, which shows a cross section through the cylinder, has a cylinder body 1, which is provided laterally next to the piston guide 2 with an elongate recess 20 parallel to the latter, for receiving guide and / or braking elements 21 of the power output slide 11, wherein the guiding and / or braking elements 21 are connected to the power output 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 output slide 11 cannot be covered in a manner not apparent from FIG. 3, 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 measuring tape 24 embedded in a longitudinal groove, for example formed according to the strip 13 and the magnetic tape 14 according to FIG. 1, 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 force output 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 can be used even in a heavily contaminated environment or atmosphere Malfunction of the positioning device is operable.

Anstelle der vorstehend mehrfach erwähnten, magnetischen Markierungen kann die Leiste 13, die Ringfläche 16, das Band 5 bzw. 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. 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 which The annular surface 16, the band 5 or the measuring band 24 can also be provided with different types of markings, for example optical or structural types, 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. 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 Potentiometers 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 verbunden 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 expedient in the case of an annular arrangement of the markings, for example on the annular 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 outputs changes in resistance corresponding to the piston position 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 force-transmitting carriage 11; In this case too, the measuring element 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, robot, handling or assembly devices that cover the surface or space and / or enable any gripping or tool movements can be constructed in a simple, space-saving and cost-saving manner.

Es ist noch zu erwähnen, dass die Messorgan-Ausführung 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 embodiment 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 links form a band 5 have are limited. Correspondingly designed 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 a threaded rod by the piston.

Claims (11)

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), characterised 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).
2. Positioning device according to claim 1, characterized in that the measuring strip (24) is located near guide or brake surfaces (21) for the output slide (11) on the cylinder body (1) (Fig. 3).
3. Positioning device according to claim 2, characterised in that the measuring strip (24) is located in a guide recess (20) of the one- or multi-part cylinder body (1) which extends parallel to the piston guide (2), holds the guide or brake surfaces (21), and can be covered outwardly by a cover band which can be removed from the output slide (11) (Fig. 3).
4. Positioning device according to claim 1, 2 or 3, characterised in that the measuring strip (24) is located on a plastics strip (13) which is inserted into a longitudinal groove of the cylinder body (1).
5. 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), wherein the coupling elements include a band (5) running over guide rollers (9) and joining the piston (3) to the output slide (11), characterised in that between the band (5) and the cylinder body (1) there is inserted a measuring instrument which emits measuring signals upon relative movement between the two, which instrument incorporates digital longitudinal markings arranged on the band (5) and a sensor (18, 19) fixed on the housing directly opposite the longitudinal markings and scanning them, whereby the sensor emits sensor signals as the longitudinal markings move relative to it (Fig. 2).
6. Positioning device according to claim 5, characterised in that the longitudinal marking consists of aperture markings of the band (5).
7. 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), wherein the coupling elements include a band (5) running over guide rollers (9) and joining the piston (3) to the output slide (11), characterised in that between at least one guide roller (9) and the cylinder body (1) there is inserted a measuring instrument emitting measuring signals upon rotary movement of the guide roller (9), which instrument includes an annular surface (16) arranged on the guide roller (9) or a measuring wheel fixedly connected to it, and a sensor fixed to the cylinder body (1) directly opposite the annular surface (16), whereby the annular surface (16) is provided with digital or analog markings arranged round it, which can be scanned by the sensor (18,19) which emits sensor signals as the markings move relative to it (Fig. 1).
8. Positioning device according to claim 7, characterised in that the markings of the guide roller (9) or of the measuring wheel are constructed mechanically as tooth-like projections.
9. Positioning device according to one of claims 1 to 4 or 7, characterised in that the measuring strip carrying the analog longitudinal markings or the annular surface carrying the analog markings is constructed as an electrical resistance which can be scanned by the measuring instrument reacting to changes in the resistance after the manner of a rheostat or potentiometer.
10. Positioning device according to one of claims 1 to 5 or 7, characterised in that the digital longitudinal or circular markings are constructed as magnetic or optical markings, to which a magnetically or optically working measuring instrument is assigned as appropriate.
11. Positioning device according to claim 10, characterised in that the magnetic markings are located on a magnetic strip which forms the measuring strip (14) or the annular surface (16) or is connected to the band (5).
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
EP84113772A EP0181415B1 (en) 1983-05-10 1984-11-14 Positioning device for a rodless actuator
DE8484113772T DE3469781D1 (en) 1984-11-14 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

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Application Number Title Priority Date Filing Date
EP86103865A Division EP0196572A3 (en) 1984-11-14 1984-11-14 Positioning device for a rodless actuator
EP86103865.1 Division-Into 1986-03-21

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

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DE3619473A1 (en) * 1986-06-10 1987-12-17 Knorr Bremse Ag Pressure medium-driven, piston rod-less working cylinder
SE454288B (en) * 1986-08-21 1988-04-18 Bo Granbom DEVICE FOR PNEUMATIC CYLINDER PISTON DEVICES
US4781066A (en) * 1986-08-22 1988-11-01 Gilbarco Inc. Linear sensing apparatus for positive displacement meter
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, 73734 Esslingen Output element of a linear drive
DE102007024033A1 (en) * 2007-05-23 2008-11-27 Schaeffler Kg linear actuator
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DE3317113A1 (en) 1984-11-15

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