JP2001059503A - Electrically/pneumatically driven hybrid actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve power control performance and a power weight ratio by interlockingly connecting rotary shafts of electric and pneumatic motors to an output shaft, operating the electrically driven motor in the case where an accuracy is necessitated for an output shaft rotating angle or rotating speed, and operating both motors in the case where a high power is necessitated. SOLUTION: In the case where an accuracy is necessitated for a rotating angle and rotating speed of an output shaft 5, a selector valve 10 disposed in an intake/exhaust port 3c of a pneumatic motor 3 and a selector valve 11 disposed in an intake/exhaust port 3d are set to an exhaust position, and an electric motor 2 is driven. When driving power of a motor 2 is controlled, a rotating angle, rotating speed, and the like are finely controlled. In the case where a high output is demanded to an outside, the selector valves 10, 11 are operated, compressed air is supplied from an air tank 9 in which compressed air is filled to the port 3c, air is exhausted from the port 3d into the motor 3, the motor 3 is driven, and the motors 2, and 3 are driven in the same rotating directions. The high power is generated with resultant force of large driving force of the motor 3 and driving force of the motor 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an electric / pneumatic actuator used for automation equipment such as a robot.

[0002]

2. Description of the Related Art As is well known, pneumatic motors, electric motors and the like have been used as actuators in the field of automation equipment such as robots.
In particular, electric motors are easily used in the field because they are easy to control, and only require wiring of electric and electric signal lines, and do not require piping as in a pneumatic motor. I have.

[0003] In the field of automation equipment such as robots today, it is desired to reduce the size of the entire apparatus and improve energy efficiency. One of the means for meeting these demands is the output of the electric motor versus its own weight. Improvements in the ratio (output per unit weight) are mentioned. However, the electric motor is technically mature to some extent,
Immediate improvement in the output-to-weight ratio cannot be expected.

If it is not possible to immediately increase the output-to-weight ratio of the electric motor as described above, a pneumatic motor, which is one of the actuators, may be used instead. However, although the pneumatic motor has an excellent output-to-weight ratio, it is difficult to control the number of rotations and the rotation angle of the rotating shaft of the pneumatic motor, that is, a robot that requires fine control because its output control performance is poor. Not very suitable for In addition, it is necessary to supply compressed air as a power source, and a compressor must be installed nearby and piped from there to the pneumatic motor, so that the weight and size are slightly increased, and handling is inconvenient. There is a problem that. For this reason, where a pneumatic motor is used in automation equipment such as a robot, detailed control is not required, and it is not often used in other places.

[0005] As described above, there is no current actuator that has good output control performance and an excellent output-to-weight ratio. As a result, automation devices such as robots are heavy and large devices, and accordingly energy efficiency is not good.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to control output in order to reduce the size and weight of automation devices such as robots. An object of the present invention is to provide an actuator having good performance and an excellent output-to-weight ratio.

[0007]

According to the first aspect of the present invention, an electric / pneumatic hybrid actuator is provided.
A hybrid actuator comprising an electric motor and a pneumatic motor, wherein a rotating shaft of the electric motor and a rotating shaft of the pneumatic motor are connected to an output shaft by a connecting means.

According to a second aspect of the present invention, there is provided an electric / pneumatic drive hybrid actuator according to the first aspect, further comprising: a switching valve provided in a supply / exhaust port of a pneumatic motor; and an air tank provided in the switching valve. A clutch is provided between the interlocking connection means and the output shaft.

According to a third aspect of the present invention, there is provided an electric / pneumatically driven hybrid actuator according to the first or second aspect, wherein a clutch is provided between the interlocking connection means and a rotating shaft of the pneumatic motor. .

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an electric / pneumatic hybrid actuator 1 according to a first embodiment of the present invention will be described.
Will be described with reference to the drawings. As shown in FIG. 1, the electric / pneumatic drive hybrid actuator 1 is a hybrid actuator including an electric motor 2 and a pneumatic motor 3, and includes a rotation shaft 2 a of the electric motor 2 and a rotation of the pneumatic motor 3. An electric / pneumatic drive hybrid actuator characterized in that the shaft 3a is linked to the output shaft 5 by the linking means 4. Hereinafter, this will be described in more detail.

As shown in FIG. 1, the electric / pneumatic drive hybrid actuator 1
The gear 2b provided on the rotating shaft 2a of the motor and the gear 3b provided on the rotating shaft 3a of the pneumatic motor 3 are engaged with the gear 5a provided on the output shaft 5 by the interlocking connection means 4, whereby the electric motor is driven. A rotating shaft 2a of the motor 2 and a rotating shaft 3a of the pneumatic motor 3 are linked to the output shaft 5. The output shaft 5 is provided with an encoder 5b for detecting the rotational speed and a torque sensor 5c for detecting the rotational driving force.

The interlocking connection means 4 for interlockingly connecting the rotating shaft 2a of the electric motor 2 and the rotating shaft 3a of the pneumatic motor 3 is not limited to this, but may be any of the gears 2b, 3b, 5a. Instead, as shown in FIG. 2, a belt wheel 8a is fixed, and these are connected by an endless belt 8b to connect the rotation shaft 2a of the electric motor 2 and the rotation shaft 3a of the pneumatic motor 3 to the output shaft. 5, and a rotating shaft 3a of the pneumatic motor 3 is protruded at both ends, one end of which is directly connected to the rotating shaft 2a of the electric motor 2, and the other end is formed as shown in FIG. The direct connection with the output shaft 5 may be an interlocking connection means 4B for interlockingly connecting the rotation shaft 2a of the electric motor 2 and the rotation shaft 3a of the pneumatic motor 3 to the output shaft 5.

The pneumatic motor 3 generates compressed air from the air supply / exhaust port 3c or the air supply / exhaust port 3d if a rotational force is applied to its rotating shaft 3a as in the air pressure vane motor shown in FIG. What is necessary is just to perform the function as a compressor. Another example is a pneumatic radial piston motor.

The hybrid actuator 1 of the electric / pneumatic drive constructed as described above is provided in the housing 7 as one actuator.

The air supply / exhaust port 3c of the pneumatic motor 3
As shown in FIG. 1, 3d is connected to an air tank 9 provided separately from the electric / pneumatic drive hybrid actuator 1 via switching valves 10 and 11, and the air tank 9 is filled with compressed air. Is provided by piping.

The operation of the electric / pneumatically driven hybrid actuator 1 and other components configured as described above is controlled by a control unit 13 provided separately. The information input to the control unit 13 and the command issued from the control unit 13 mainly include the electric motor 2
, Controlled opening / closing state and opening / closing command of the switching valves 10 and 11, air pressure inside the air tank 9, rotation speed and torque of the output shaft 5. The electrical signal of each device, which is such information, is input to the control unit 13 via an A / D (analog / digital) converter 14.
Alternatively, the electric signal of the command issued from the control unit 13 is output to each device via the A / D converter 14. The control unit 13 controls the electric / pneumatic hybrid actuator 1 based on these electric signals and a determined control program.

The electric motor 2 has the advantage of being excellent in delicate control of the rotation angle and the number of revolutions, but has the disadvantage of a low output-to-weight ratio, and the pneumatic motor 3 has a low output-to-weight ratio. Although it has the advantage of being high, it has the disadvantage that it is not good at controlling the rotation angle, the number of rotations, and the like. The electric / pneumatic drive hybrid actuator 1 is such that the electric motor 2 and the pneumatic motor 3 are combined to use only the advantages of each other. Therefore, when the electric / pneumatic drive hybrid actuator 1 is used to output to the outside, the electric motor 2 is required depending on the type of output required.
And control for properly using the pneumatic motor 3 is required. Hereinafter, the kind of the required output is referred to as the output shaft 5.
The rotation angle and the number of rotations will be described separately when accuracy is required and when high output is required.

First, a case where accuracy is required for the rotation angle and the number of rotations of the output shaft 5 will be described. As described above, the electric motor 2 is excellent in delicate control of the rotation angle, the number of rotations, and the like, but the pneumatic motor 3 is not good at controlling these. Therefore, when precision is required for the rotation angle of the output shaft 5, the driving force is transmitted to the output shaft 5 by operating only the electric motor 2 without operating the pneumatic motor 3. .

Specifically, both the switching valve 10 piped to the air supply / exhaust port 3c of the pneumatic motor 3 and the switching valve 11 piped to the air supply / exhaust port 3d are both set to the exhaust position (the air supply / exhaust port 3c). 3d, the switching valves 10 and 11 are opened to the atmosphere) so that the pneumatic motor 3 does not generate a load even if the pneumatic motor 3 is rotated by the driving force of the electric motor 2. The electric motor 2 is driven while keeping it. Thereafter, if the driving power of the electric motor 2 is controlled, the delicate control of the rotation angle, the number of rotations and the like can be realized.

Alternatively, as shown in FIG. 5, if a clutch 15 capable of disconnecting connection is provided between the rotary shaft 3a of the pneumatic motor 3 and the interlocking connection means 4, it is only necessary to disconnect this clutch. In this case, there is little energy loss because the pneumatic motor 3 does not receive any resistance.

Next, a case where a high output is required for the outside will be described. As described above, the pneumatic motor 3 has a large output-to-weight ratio, but the electric motor 2
Has a small output-to-weight ratio. Therefore, when a high output is required for the outside, the driving force is transmitted to the output shaft 5 by operating both the pneumatic motor 3 and the electric motor 2.

More specifically, as shown in FIG. 1, the switching valve 10 and the switching valve 11 piped to the supply / exhaust port 3c and the supply / exhaust port 3d of the pneumatic motor 3 are operated to compress the air. Compressed air is supplied from the air tank 9 filled with air to the supply / exhaust port 3c (or the supply / exhaust port 3d), and the compressed air is supplied from the supply / exhaust port 3d (or the supply / exhaust port 3c) to the inside of the pneumatic motor 3. The air is exhausted to drive the pneumatic motor 3, and the electric motor 2 is also driven in the same rotation direction as the pneumatic motor 3. By doing so, a large driving force of the pneumatic motor 3 and a driving force of the electric motor 2 are output to the output shaft 5, and a high output can be generated. As shown in FIG. 5, the clutch 1 is disposed between the rotating shaft 3a of the pneumatic motor 3 and the gear 3b.
When the clutch 5 is provided, the clutch 15 is kept connected.

Next, the electric motor according to the second embodiment of the present invention
The pneumatically driven hybrid actuator 1A will be described with reference to the drawings. As shown in FIG. 6, the electric / pneumatically driven hybrid actuator 1A is the same as the electric / pneumatically driven hybrid actuator 1 except that the switching valve 10 and the pneumatic motor 3 are connected to a supply / exhaust port 3c of the pneumatic motor 3. Supply / exhaust port 3
d, and an air tank 9 piped to these switching valves 10 and 11.
An electric / pneumatically driven hybrid actuator characterized in that a clutch 16 is provided between the actuator and the output shaft 5.

The pneumatic motor 3 and the switching valve 1
Pipes provided between 0 and 11 and between the switching valves 10 and 11 and the air tank 9 are shortened, or
The pneumatic motor 3 and the switching valves 10, 11 and the switching valves 10, 11 and the air tank 9 are directly connected, and the electric / pneumatic hybrid actuator 1A is provided as a single actuator in a housing 7A. Has been established. The electric / pneumatically driven hybrid actuator 1A does not require the compressor 12 externally (the reason will be described later) unlike the electric / pneumatically driven hybrid actuator 1 and therefore does not require piping to the outside.

The switching valve 10 and the switching valve 11 employ valves that can remotely open and close these valves, for example, solenoid valves. It is connected to the control unit 13 via a D converter 14 by wiring.

The reason that the electric / pneumatic hybrid actuator 1A does not require an external compressor is that if the pneumatic motor 3 is rotated by the electric motor 2, compressed air is generated inside the pneumatic motor 3. Because it is generated, it can be used as a compressor. Specifically, in a state where the rotation shaft 3a of the pneumatic motor 3 and the rotation shaft 2a of the electric motor 2 are connected in an interlocking manner, the clutch 16 provided between the interlocking connection means 4 and the output shaft 5 is disengaged. When the electric motor 2 is driven by shutting off, the compressed air is discharged from the supply / exhaust port 3c or the supply / exhaust port 3d,
The switching valves 10 and 11 are switched to charge the air tank 9 with compressed air. Therefore, the compressed air stored in the air tank 9 can be used as a power source of the pneumatic motor 3, so that the air tank 9 is separately provided like the electric / pneumatic drive hybrid actuator 1. There is no need to provide an extra pipe from the compressor 12, so that the appearance is beautiful, and the weight and size can be reduced.

FIG. 7 shows a specific example of the output-to-weight ratio of the above-described electric / pneumatically driven hybrid actuator 1A. If the graph of FIG. 7 is in the direction of arrow 17 (lower right), it means that the output-to-weight ratio is high and excellent. As shown in this graph, above a certain output, as described above, the output-to-weight ratio of the electric motor is low, and the output-to-weight ratio of the pneumatic motor is higher. In comparison with these, the electric / pneumatic hybrid actuator 1A has, for example, an output of 200
It has a pneumatic motor of [W] and an electric motor of output of 50 [W]. As shown in the graph, the output is 20 [W].
It can be said that the actuator has a higher output-to-weight ratio than the electric motor of 0 [W] and is lighter than the electric motor. When the output is 200 [W] or more, the degree to which the output-to-weight ratio of the electric motor becomes lower increases, and the degree of weight reduction of the electric / pneumatic drive hybrid actuator 1A further increases. Further, the switching valve 10,
In the case of the electric / pneumatically driven hybrid actuator 1 having the compressor 11, the compressor 12, and the air tank 9, the self-weight is reduced, so that the output-to-self-weight ratio is naturally higher than that of the electric / pneumatically driven hybrid actuator 1A. It is thought to grow.

[0028]

According to the first aspect of the present invention, since the electric / pneumatic drive hybrid actuator has the rotating shaft of the electric motor and the rotating shaft of the pneumatic motor linked to the output shaft by the linking means, the output is increased. Shaft rotation angle,
When high precision is required for the number of revolutions, the electric motor is driven, and when high output is required to the outside, a high output can be generated by simultaneously driving the pneumatic motor and the electric motor. That is, the output control performance and the output-to-weight ratio are both excellent.

According to a second aspect of the present invention, there is provided an electric / pneumatic drive hybrid actuator comprising: a switching valve provided in a supply / exhaust port of the pneumatic motor of the first aspect; and an air tank provided in the switching valve. Since a clutch is provided between the means and the output shaft, as described above, no external compressor is required, and there is no need to provide piping to the outside. Therefore, the weight of the entire device to which the electric / pneumatic hybrid actuator is mounted is reduced,
The size can be reduced.

According to a third aspect of the present invention, there is provided an electric / pneumatic drive hybrid actuator according to the first or second aspect, wherein the electric / pneumatic drive hybrid actuator is provided between the interlocking connection means and a rotary shaft of the pneumatic motor. Since the electric motor is provided with a clutch, the electric motor can be driven independently of the pneumatic motor. Therefore, when driving one electric motor,
There is an advantage in energy efficiency since it is not affected by the driving resistance of the pneumatic motor.

[Brief description of the drawings]

FIG. 1 is an explanatory view of an electric / pneumatic drive hybrid actuator according to a first embodiment.

FIG. 2 is a diagram showing an example of an interlocking connection means between an electric motor and a pneumatic motor.

FIG. 3 is a view showing an example of an interlocking connection means between an electric motor and a pneumatic motor.

FIG. 4 is a perspective view of a vane motor shown as an example of a pneumatic motor.

FIG. 5 is an explanatory diagram showing a case where a clutch is provided between a rotating shaft of a pneumatic motor and an interlocking connection means.

FIG. 6 is an explanatory diagram of an electric / pneumatic drive hybrid actuator according to a second embodiment.

FIG. 7 is a graph showing an output-to-weight ratio of an electric / pneumatic drive hybrid actuator according to a second embodiment.

[Explanation of symbols]

 2 Electric motor 2a Rotary shaft of electric motor 3 Pneumatic motor 3a Rotary shaft of pneumatic motor 4 Interlocking connection means 5 Output shaft

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[Procedure amendment]

[Submission date] June 9, 2000 (200.6.9)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction contents]

[0007]

According to the first aspect of the present invention, an electric / pneumatic hybrid actuator is provided.
A hybrid actuator comprising an electric motor and a pneumatic motor, wherein a rotating shaft of the electric motor and a rotating shaft of the pneumatic motor are interlockedly connected to an output shaft by interlocking connecting means, and are connected to a supply / exhaust port of the pneumatic motor.
A switching valve and an air tank connected to the switching valve.
The accuracy is required for the rotation angle or the number of rotations of the output shaft.
If only the electric motor is operated,
When high output is required, the pneumatic motor and
Drive the electric motor so that the electric motor works.
The dynamic power and the switching valve are controlled .

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction contents]

According to a second aspect of the present invention, there is provided an electric / pneumatic drive hybrid actuator according to the first aspect, wherein a clutch is provided between the interlocking connection means and the output shaft.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction contents]

[0028]

According to a first aspect of the present invention, there is provided an electric / pneumatic drive hybrid actuator comprising an electric motor and a pneumatic motor, wherein a rotation axis of the electric motor and a rotation axis of the pneumatic motor are interlocked. Linked to the output shaft by connecting means ,
A switching valve piped to an air supply / exhaust port of a pneumatic motor;
An air tank piped to the switching valve; and
If accuracy is required for the rotation angle or rotation speed,
High output is demanded from outside by using only the electric motor
Is operated, the pneumatic motor and the electric motor are operated.
Drive power to the electric motor and the switching
Since the valve is controlled, the electric motor is driven when accuracy is required for the rotation angle and the number of rotations of the output shaft, and when a high output is required for the outside, the pneumatic motor and the electric motor are used. Can be simultaneously driven to generate a high output. That is, the output control performance and the output-to-weight ratio are both excellent.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0029

[Correction method] Change

[Correction contents]

According to a second aspect of the present invention, there is provided an electric / pneumatic hybrid actuator according to the first aspect, wherein a clutch is provided between the interlocking connection means and the output shaft. And electric
When the rotating shaft of the motor is
When the electric motor is driven by closing the latch,
Compressed air is discharged from the supply / exhaust port of the pneumatic motor.
Then, the compressed air is filled in the air tank. Yo
Therefore , no external compressor is required and there is no need for piping to the outside. Therefore, it is possible to reduce the weight and size of the entire device to which the present electric / pneumatic hybrid actuator is attached.

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Claims (3)

[Claims] 1. A hybrid actuator comprising an electric motor and a pneumatic motor, wherein a rotating shaft of the electric motor and a rotating shaft of the pneumatic motor are interlockedly connected to an output shaft by interlocking connecting means.・ Pneumatically driven hybrid actuator. 2. A switching valve provided in an air supply / exhaust port of the pneumatic motor and an air tank provided in the switching valve, and a clutch is provided between the interlocking connection means and the output shaft. The electric / pneumatically driven hybrid actuator according to claim 1. 3. The electric / pneumatic hybrid actuator according to claim 1, wherein a clutch is provided between the interlocking connection means and a rotation shaft of the pneumatic motor.