JP2007085503A - Motion control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motion control device which varies a braking force imparted on a movable body a control object in response by a rotating direction of a pressing member. <P>SOLUTION: In the motion control device, a first and second valve mechanisms 50, 60 have functions for throttling flow rates of viscous fluids passing through the first and second passages 21, 22 respectively, wherein the throttle amount of the first valve mechanism 50 differs from that of the second valve mechanism 60. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a motion control device, and more specifically, can maintain a motion stop state of a movable body that stops at an arbitrary position unless an external force exceeding a predetermined value is applied to the movable body to be controlled. Furthermore, the present invention relates to a motion control device that can continue the motion of the movable body even when the external force on the movable body is lower than that at the start of the motion after the motion of the movable body is started.

  For example, the pamphlet of International Publication No. 2005/073589 includes a first passage that connects the first chamber and the second chamber, a second passage that connects the third chamber and the fourth chamber, the first chamber, and the first chamber. A third passage that communicates with the four chambers, a fourth passage that communicates between the second chamber and the third chamber, a pressing member that presses the viscous liquid filled in the first to fourth chambers by rotational movement, A motion control device including a first valve mechanism provided in one passage and a second valve mechanism provided in a second passage is disclosed.

  Here, the first valve mechanism has a function of preventing the backflow of the viscous liquid from the second chamber to the first chamber. The first valve mechanism is configured such that when the internal pressure in the first chamber, which is increased by pressing the viscous liquid in the first chamber against the pressing member that tries to rotate in one direction, is equal to or less than a predetermined value, Is prevented from moving to the second chamber through the first passage, and the viscous liquid in the first chamber can move to the second chamber through the first passage when the internal pressure of the first chamber exceeds a predetermined value. And after that, even if the internal pressure of the first chamber drops below a predetermined value, the viscous liquid is allowed to move through the first passage, and when the rotational movement of the pressing member stops, the viscous liquid in the first chamber It has a function of preventing movement to the second chamber through the first passage. Furthermore, the first valve mechanism has a function of reducing the flow rate of the viscous liquid passing through the first passage.

  On the other hand, the second valve mechanism has a function of preventing the backflow of the viscous liquid from the fourth chamber to the third chamber. Further, the second valve mechanism is configured such that when the internal pressure of the third chamber, which is increased when the viscous liquid in the third chamber is pressed by the pressing member that rotates in the reverse direction, is equal to or lower than a predetermined value, Is prevented from moving to the fourth chamber through the second passage, and the viscous liquid in the third chamber can move to the fourth chamber through the second passage when the internal pressure of the third chamber exceeds a predetermined value. And after that, even if the internal pressure of the third chamber falls below a predetermined value, the viscous liquid is allowed to move through the second passage, and when the rotational movement of the pressing member stops, the viscous liquid in the third chamber It has a function of preventing movement to the fourth chamber through the second passage. Furthermore, the second valve mechanism has a function of reducing the flow rate of the viscous liquid passing through the second passage.

  However, in the conventional motion control device, even if the first and second valve mechanisms have a function of reducing the flow rate of the viscous liquid passing through the first and second passages, respectively, The throttle amount of the second valve mechanism was set to be the same.

Therefore, when such a motion control device is applied to, for example, an automobile door, the same braking force as that when the door is rotated in the opening direction is applied to the door even when the door is rotated in the closing direction. It was.
Thus, there has been a demand for a motion control device that can apply a braking force that is reduced when the door is turned in the closing direction, compared to when the door is turned in the opening direction.

International Publication No. 2005/073589 Pamphlet

  This invention is made | formed in view of the said situation, and makes it a subject to provide the exercise | movement control apparatus which can vary the braking force given to the movable body which is a control object with the rotation direction of a press member. It is.

In order to solve the above problems, the present invention provides the following motion control device.
(1) a first passage communicating the first chamber and the second chamber;
A second passage communicating the third chamber and the fourth chamber;
A third passage communicating the first chamber and the fourth chamber;
A fourth passage communicating the second chamber and the third chamber;
A pressing member that presses the viscous liquid filled in the first to fourth chambers by rotational movement;
The first passage is provided in the first passage, and prevents the viscous liquid from flowing back from the second chamber to the first chamber, and increases when the viscous liquid in the first chamber is pressed by a pressing member that attempts to rotate in one direction. When the internal pressure of the chamber is below a predetermined value, the viscous liquid in the first chamber is prevented from moving to the second chamber through the first passage, and when the internal pressure of the first chamber exceeds the predetermined value, the first chamber The viscous liquid can be moved to the second chamber through the first passage, and the movement of the viscous liquid through the first passage is allowed even if the internal pressure of the first chamber drops below a predetermined value thereafter. A first valve mechanism for preventing the viscous liquid in the first chamber from moving to the second chamber through the first passage when the rotational movement of the pressing member is stopped;
A third passage which is provided in the second passage and prevents the viscous liquid from flowing backward from the fourth chamber to the third chamber, and increases when the viscous liquid in the third chamber is pressed by the pressing member which is going to rotate in the reverse direction. When the internal pressure of the chamber is below a predetermined value, the viscous liquid in the third chamber is prevented from moving to the fourth chamber through the second passage, and when the internal pressure of the third chamber exceeds the predetermined value, the third chamber The viscous liquid can be moved to the fourth chamber through the second passage, and the movement of the viscous liquid through the second passage is allowed even if the internal pressure of the third chamber drops below a predetermined value thereafter. A second valve mechanism that prevents the viscous liquid in the third chamber from moving to the fourth chamber through the second passage when the rotational movement of the pressing member stops;
The first and second valve mechanisms have a function of restricting the flow rate of the viscous liquid passing through the first and second passages, respectively, and the throttle amount of the first valve mechanism and the throttle amount of the second valve mechanism are different. Characteristic motion control device.
(2) The flow rate of the viscous liquid between the valve member that can close the first and / or the second passage and the outer peripheral surface of the valve member housed inside the first and / or second valve mechanism. A working chamber having an inner peripheral surface that forms a gap to be squeezed; a spring that provides resistance to the valve member when the valve member is about to move in the opening direction by receiving the pressure of the viscous liquid; The motion control device according to (1), further comprising a first adjustment member capable of adjusting a resistance force.
(3) The first and / or second valve mechanism can close the first and / or second passages, and a valve member in which a part or all of the outer peripheral surface is tapered, and one of the inner peripheral surfaces When the valve member receives the pressure of the viscous liquid, the working chamber having a tapered surface that forms a gap for restricting the flow rate of the viscous liquid between the tapered surface of the valve member that is housed in part or in whole. A spring for imparting resistance to the valve member when moving in the opening direction; and a second adjusting member capable of adjusting a movement limit position of the valve member in the opening direction. The motion control apparatus according to 1).
(4) The first and / or second valve mechanism may close the first and / or second passages, and a valve member having a part or all of the outer peripheral surface tapered, and one inner peripheral surface A working chamber having a tapered surface that forms a gap for restricting the flow rate of the viscous liquid between the valve member and the tapered surface of the valve member that is housed in the whole or the whole, and the valve member receives the pressure of the viscous liquid A spring for imparting resistance to the valve member when attempting to move in the opening direction; and a third adjustment member capable of simultaneously adjusting the resistance force of the spring and the movement limit position of the valve member in the opening direction. The motion control device according to (1), further comprising:

According to the present invention described in (1) above, the first and second valve mechanisms have a function of restricting the flow rate of the viscous liquid passing through the first and second passages, respectively, and the restriction of the first valve mechanism. Since the amount and the throttle amount of the second valve mechanism are different, the braking force applied to the movable body to be controlled can be made different depending on the rotation direction of the pressing member.
According to the present invention described in (2) above, since the first adjustment member that can adjust the resistance force of the spring is provided, the resistance force of the spring is increased by the first adjustment member, so It is possible to increase the force (holding force) for holding the motion stop state, and it is possible to reduce the holding force by reducing the resistance force of the spring by the first adjusting member.
According to the present invention described in (3) above, since the gap for reducing the flow rate of the viscous liquid is formed between the tapered surface of the valve member and the tapered surface of the working chamber, the movement distance of the valve member in the opening direction. Is longer, the cross-sectional area of the gap becomes larger and the amount of restriction is reduced. Further, since the second adjustment member that can adjust the movement limit position in the opening direction of the valve member is provided, the second adjustment member Thus, by adjusting the movement limit position of the valve member in the opening direction, the moving distance of the valve member in the opening direction can be shortened or lengthened. Accordingly, it is possible to increase or decrease the throttle amount and make the braking force variable.
According to the present invention described in (4) above, since the gap for reducing the flow rate of the viscous liquid is formed between the tapered surface of the valve member and the tapered surface of the working chamber, the moving distance of the valve member in the opening direction. Is longer, the cross-sectional area of the gap becomes larger and the amount of restriction is reduced. Further, a third adjusting member that can simultaneously adjust the resistance force of the spring and the movement limit position of the valve member in the opening direction is provided. Therefore, by operating the third adjustment member, both the holding force and the braking force can be increased or decreased simultaneously.

  Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings.

  1 to 6 are diagrams showing an internal structure of a motion control apparatus according to Embodiment 1 of the present invention. As shown in these drawings, the motion control apparatus according to the present embodiment includes the first to fourth chambers 11 to 14, the first to fourth passages 21 to 24, the vanes 31 and 32 that function as pressing members, or the partition walls. 41, 42, a first valve mechanism 50 and a second valve mechanism 60.

  As shown in FIG. 1, the first to fourth chambers 11 to 14 are formed by partitioning a space formed in the casing 10 by two partition walls 41 and 42 and two vanes 31 and 32. . The first to fourth chambers 11 to 14 are filled with a viscous liquid. Silicon oil or the like can be used as the viscous liquid.

  Of the two partition walls 41 and 42, one partition wall 41 is provided with a seal member 81 (see FIGS. 1 and 2). The seal member 81 allows the viscous liquid in the first and second chambers 11 and 12 to pass through a gap formed between the casing 10 and the partition wall 41, a gap formed between the shaft 30 and the partition wall 41, and the like. It works to prevent it from moving. Similarly, the other partition wall 42 is provided with a seal member 82 (see FIGS. 1 and 2). The seal member 82 allows the viscous liquid in the third and fourth chambers 13 and 14 to pass through a gap formed between the casing 10 and the partition wall 42 or a gap formed between the shaft 30 and the partition wall 42. It works to prevent it from moving.

  Further, one of the two vanes 31 and 32 is provided with a seal member 83 (see FIG. 1). The seal member 83 functions to prevent the viscous liquid in the first and third chambers 11 and 13 from moving with each other through a gap formed between the casing 10 and the vane 31. Similarly, a seal member 84 is provided on the other vane 32 (see FIG. 1). The seal member 84 functions to prevent the viscous liquid in the second and fourth chambers 12 and 14 from moving with each other through a gap formed between the casing 10 and the vane 32.

  The two partition walls 41 and 42 described above are fixed to the casing 10 so as not to move even when the shaft 30 rotates. The two vanes 31 and 32 described above are formed integrally with the shaft 30 so as to be able to rotate together with the shaft 30 (see FIG. 1).

  The bottom wall 15 of the casing 10 is provided with first and second passages 21 and 22 (see FIGS. 2, 3, 5, and 6). The first passage 21 is formed to communicate the first chamber 11 and the second chamber 12, and the second passage 22 is formed to communicate the third chamber 13 and the fourth chamber 14. The shaft 30 is provided with third and fourth passages 23 and 24 (see FIGS. 1 and 2). The third passage 23 is formed to communicate the first chamber 11 and the fourth chamber 14, and the fourth passage 24 is formed to communicate the second chamber 12 and the third chamber 13.

  The pressing member presses the viscous liquid filled in the first to fourth chambers 11 to 14 by rotational movement. For example, when the casing 10 is fixed and the shaft 30 rotates, the two vanes 31 and 32 correspond to pressing members. On the other hand, when the shaft 30 is fixed and the casing 10 rotates around the shaft 30, the two partition walls 41 and 42 correspond to pressing members.

The first valve mechanism 50 is provided in the first passage 21 (see FIG. 4). The first valve mechanism 50 has the following functions.
(1) a function of preventing the backflow of viscous liquid from the second chamber 12 to the first chamber 11;
(2) When the internal pressure of the first chamber 11 that is increased by pressing the viscous liquid in the first chamber 11 by a pressing member that tries to rotate in one direction is less than or equal to a predetermined value, the viscous liquid in the first chamber 11 A function of preventing movement to the second chamber 12 through the one passage 21;
(3) When the internal pressure of the first chamber 11 exceeds a predetermined value, the viscous liquid in the first chamber 11 can move to the second chamber 12 through the first passage 21, and thereafter the first chamber 11 A function of allowing the viscous liquid to move through the first passage 21 even if the internal pressure of the liquid drops below a predetermined value,
(4) a function of preventing the viscous liquid in the first chamber 11 from moving to the second chamber 12 through the first passage 21 when the rotational movement of the pressing member is stopped; and (5) passing through the first passage 21. A function to reduce the flow rate of viscous liquid.

  As shown in FIG. 4, the first valve mechanism 50 employed in the present embodiment is viscous between the valve member 51 that can close the first passage 21 and the outer peripheral surface of the valve member 51 accommodated therein. A working chamber 52 having an inner peripheral surface that forms a gap a that restricts the flow rate of the liquid, and the valve member 51 gives resistance to the valve member 51 when attempting to move in the opening direction by receiving the pressure of the viscous liquid. And a spring 53.

  The valve member 51 further includes a spherical valve body 51a and a valve presser 51b provided so as to be interposed between the valve body 51a and the spring 53 (see FIG. 4). According to the valve member 51, the spherical surface of the valve body 51a abuts on the valve seat (the opening portion of the first passage 21 that opens to the working chamber 52), thereby improving the sealing performance when the valve is closed.

  The size of the pressure receiving surface of the valve member 51 that receives the pressure of the viscous liquid about to flow into the working chamber 52 from the first chamber 11 is important in order to exhibit the function (3) described above. That is, in a normal check valve configured to include a valve member and a spring that imparts resistance to the valve member when the valve member is about to move in the opening direction, the size of the pressure receiving surface when the valve member is closed Therefore, when the pressure of the viscous liquid decreases after the valve is opened, the valve member is pushed back by the resistance force of the spring. Therefore, in a normal check valve, when the internal pressure of the first chamber 11 exceeds a predetermined value, the viscous liquid in the first chamber 11 can move to the second chamber 12 through the first passage 21. However, if the internal pressure of the first chamber 11 drops below a predetermined value after that, the valve body closes the first passage 21, so that the movement of the viscous liquid through the first passage 21 can be permitted. Can not. Therefore, in order to prevent the valve member from being pushed back by the resistance force of the spring even if the pressure of the viscous fluid decreases after the valve is opened, the size of the pressure receiving surface when the valve is closed and the size of the pressure receiving surface after the valve is opened are large. It is necessary to provide a difference so that a large pressure receiving surface is provided after the valve is opened.

  In this embodiment, the pressure receiving surface of the valve body 51a is set small, and the pressure receiving surface of the valve presser 51b is set large, so that the valve member 51 can move the spring 53 even if the pressure of the viscous liquid decreases after the valve is opened. It is prevented from being pushed back by resistance.

  As shown in FIG. 4, the gap a for reducing the flow rate of the viscous liquid is formed between a groove formed in a part of the outer peripheral surface of the valve presser 51 b and the inner peripheral surface of the working chamber 52. A compression coil spring is used as the spring 53.

The second valve mechanism 60 is provided in the second passage 22 (see FIG. 4). The second valve mechanism 60 has the following functions.
(1) a function of preventing the backflow of viscous liquid from the fourth chamber 14 to the third chamber 13;
(2) When the internal pressure of the third chamber 13 that is increased when the viscous liquid in the third chamber 13 is pressed by the pressing member that rotates in the reverse direction is equal to or lower than a predetermined value, the viscous liquid in the third chamber 13 is A function of preventing movement to the fourth chamber 14 through the two passages 22;
(3) When the internal pressure of the third chamber 13 exceeds a predetermined value, the viscous liquid in the third chamber 13 can move to the fourth chamber 14 through the second passage 22, and then the third chamber 13 A function of allowing the viscous liquid to move through the second passage 22 even if the internal pressure of the liquid drops below a predetermined value;
(4) a function of preventing the viscous liquid in the third chamber 13 from moving to the fourth chamber 14 through the second passage 22 when the rotational movement of the pressing member stops; and (5) passing through the second passage 22. A function to reduce the flow rate of viscous liquid.

  As shown in FIG. 4, the second valve mechanism 60 employed in the present embodiment is viscous between the valve member 61 that can close the second passage 22 and the outer peripheral surface of the valve member 61 that is accommodated therein. A working chamber 62 having an inner peripheral surface that forms a gap for reducing the flow rate of the liquid, and a spring that imparts resistance to the valve member 61 when the valve member 61 attempts to move in the opening direction by receiving the pressure of the viscous liquid. 63.

  Similar to the valve member 51 constituting the first valve mechanism 50, the valve member 60 includes a spherical valve body 61a and a valve presser 61b provided so as to be interposed between the valve body 61a and the spring 63. (See FIG. 4). Similarly to the first valve mechanism 50, the second valve mechanism 60 also prevents the valve member 61 from being pushed back by the resistance force of the spring 63 even when the pressure of the viscous fluid decreases after the valve is opened. A large difference is set between the size of the pressure receiving surface and the size of the pressure receiving surface after the valve is opened, and a large pressure receiving surface is provided after the valve is opened.

  As shown in FIG. 4, the gap b for reducing the flow rate of the viscous liquid is similar to the first valve mechanism 50 between the groove formed in a part of the outer peripheral surface of the valve presser 61 b and the inner peripheral surface of the working chamber 62. It is formed between. However, the size of the gap b is different from the size of the gap a that is formed in the first valve mechanism 50 to reduce the flow rate of the viscous liquid. That is, in the present embodiment, the gap b of the second valve mechanism 60 is set larger than the gap a of the first valve mechanism 50, whereby the throttle amount of the first valve mechanism 50 and the second valve mechanism are set. The aperture amount of 60 is varied.

  The motion control device configured as described above is installed and used such that the casing 10 is fixed to be non-rotatable and the shaft 30 is rotated by the rotational motion of the movable body to be controlled.

  When the motion control device of the present embodiment is applied to, for example, an automobile door, the shaft 30 is installed so as to rotate by a rotational motion accompanying opening and closing of the door.

  For example, when the door is slightly opened from the fully closed position and its rotation is stopped, a gust of wind blows against the door, or people or objects inadvertently come into contact with the door. Trying to rotate by receiving an unintended external force. However, even if the door is about to rotate at this time, if the external force on the door is equal to or less than a predetermined value, the stop state of the door can be held by the motion control device of the present embodiment.

  That is, when the door receives an unintended external force, for example, when it tries to rotate in the opening direction, the vanes 31 and 32 that function as a pressing member together with the shaft 30 will rotate in one direction (counterclockwise in FIG. 1). And At this time, if the external force applied to the door is equal to or less than a predetermined value, the force with which the vane 31 presses the viscous liquid in the first chamber 11 is weak, so the internal pressure in the first chamber 11 does not increase so much and does not reach the predetermined value. The first valve mechanism 50 provided in the first passage 21 has an internal pressure of the first chamber 11 that is increased when the viscous liquid in the first chamber 11 is pressed by a pressing member that is about to rotate in one direction, and is equal to or less than a predetermined value. When the valve member 51 closes the first passage 21, the viscous liquid in the first chamber 11 is prevented from moving to the second chamber 12 through the first passage 21. Further, the second valve mechanism 60 provided in the second passage 22 prevents the backflow of the viscous liquid from the fourth chamber 14 to the third chamber 13. Further, the viscous liquid in the fourth chamber 14 cannot move to the first chamber 11 through the third passage 23 unless the first valve mechanism 50 is opened. Accordingly, the vanes 31 and 32 cannot rotate in one direction. As a result, the stop state of the door is maintained.

  On the other hand, when the door receives an unintended external force, for example, when it tries to rotate in the closing direction, the vanes 31 and 32 that function as the pressing members together with the shaft 30 try to rotate in the reverse direction (clockwise in FIG. 1). To do. At this time, if the external force on the door is less than or equal to a predetermined value, the force with which the vane 31 presses the viscous liquid in the third chamber 13 is weak, so the internal pressure of the third chamber 13 does not increase so much and does not reach the predetermined value. The second valve mechanism 60 provided in the second passage 22 has an internal pressure of the third chamber 13 that is increased when the viscous liquid in the third chamber 13 is pressed by a pressing member that tries to rotate in the opposite direction, and is equal to or less than a predetermined value. When the valve member 61 closes the second passage 22, the viscous liquid in the third chamber 13 is prevented from moving to the fourth chamber 14 through the second passage 22. Further, the first valve mechanism 50 provided in the first passage 21 prevents the backward flow of the viscous liquid from the second chamber 12 to the first chamber 11. Furthermore, the viscous liquid in the second chamber 12 cannot move to the third chamber 13 through the fourth passage 24 unless the second valve mechanism 60 is opened. Accordingly, the vanes 31 and 32 cannot rotate in the reverse direction. As a result, the stop state of the door is maintained.

  According to the motion control device of the present embodiment, when intentionally rotating the door that has been held stopped at an arbitrary position as described above, when the door is released from the stopped state, the door is temporarily stopped. Although a large external force is required, the rotation of the door can be continued with a small external force after the rotation of the door is started.

  That is, when the stopped door is intentionally rotated in the opening direction, a large external force is applied to the stopped door. As a result, the viscous liquid in the first chamber 11 is strongly pressed against the vane 31, and the internal pressure of the first chamber 11 is increased. At this time, when the internal pressure of the first chamber 11 exceeds a predetermined value, the first valve mechanism 50 provided in the first passage 21 causes the viscous liquid in the first chamber 11 to move to the second chamber 12 through the first passage 21. It is possible to do. That is, when the internal pressure of the first chamber 11 exceeds a predetermined value, the pressure of the viscous liquid received by the valve member 51 (valve body 51a) becomes larger than the resistance force of the spring 53, so as shown in FIG. The valve member 51 moves in the opening direction, and the viscous liquid can pass through the first passage 21. Thereby, the viscous liquid in the fourth chamber 14 pressed by the vane 32 moves to the first chamber 11, and the viscous liquid in the second chamber 12 moves to the third chamber 13 through the fourth passage 24. Accordingly, the vanes 31 and 32 can rotate in one direction. As a result, the stop state of the door is released.

  After the door starts to rotate, even if the pressure of the viscous liquid received by the valve member 51 decreases, a large pressure receiving surface of the valve member 51 (valve presser 51b) is provided. The valve member 51 is not pushed back. Accordingly, the vanes 31 and 32 can continue to rotate in one direction. As a result, the door can be rotated with a small external force.

  Moreover, since the 1st valve mechanism 50 has a function which restrict | squeezes the flow volume of the viscous liquid which passes the 1st channel | path 21, after the stop state of a door is cancelled | released, it prevents that the door turning vigorously. Can do. That is, when the viscous liquid passes through the gap a formed between the outer peripheral surface of the valve member 51 and the inner peripheral surface of the working chamber 52, the flow rate of the viscous liquid passing through the first passage 21 is reduced. A resistance is generated in the viscous liquid, and the rotational movement of the vanes 31 and 32 is slowed down. As a result, a braking force is applied to the door.

  On the other hand, when the stopped door is intentionally rotated in the closing direction, a large external force is applied to the stopped door in the same manner as when the door is rotated in the opening direction. As a result, the viscous liquid in the third chamber 13 is strongly pressed against the vane 31, and the internal pressure of the third chamber 13 is increased. At this time, when the internal pressure of the third chamber 13 exceeds a predetermined value, the second valve mechanism 60 provided in the second passage 22 causes the viscous liquid in the third chamber 13 to move to the fourth chamber 14 through the second passage 22. It is possible to do. That is, when the internal pressure of the third chamber 13 exceeds a predetermined value, the pressure of the viscous liquid received by the valve member 61 (valve body 61a) becomes larger than the resistance force of the spring 63, so as shown in FIG. The valve member 61 moves in the opening direction, and the viscous liquid can pass through the second passage 22. Thereby, the viscous liquid in the second chamber 12 pressed by the vane 32 moves to the third chamber 13, and the viscous liquid in the fourth chamber 14 moves to the first chamber 11 through the third passage 23. Accordingly, the vanes 31 and 32 can rotate in the opposite direction, and as a result, the door stop state is released.

  After the door starts to rotate, even if the pressure of the viscous liquid received by the valve member 61 is reduced, a large pressure receiving surface of the valve member 61 (valve retainer 61b) is provided. The valve member 61 is not pushed back. Accordingly, the vanes 31 and 32 can continue to rotate in the reverse direction. As a result, the door can be rotated with a small external force.

  Moreover, since the 2nd valve mechanism 60 has a function which restrict | squeezes the flow volume of the viscous liquid which passes the 2nd channel | path 22, after the stop state of a door is cancelled | released, it prevents that the door turning vigorously. Can do. That is, when the viscous liquid passes through the gap b formed between the outer peripheral surface of the valve member 61 and the inner peripheral surface of the working chamber 62, the flow rate of the viscous liquid passing through the second passage 22 is reduced. A resistance is generated in the viscous liquid, and the rotational movement of the vanes 31 and 32 is slowed down. As a result, a braking force is applied to the door.

  However, in this embodiment, the gap b for reducing the flow rate of the viscous liquid is set to be larger than the gap a of the first valve mechanism 50, whereby the throttle amount of the second valve mechanism 60 is set to the throttle amount of the first valve mechanism 50. Is set smaller than. Therefore, when the vanes 31 and 32 rotate in the opposite direction, the braking force is smaller than when the vanes 31 and 32 rotate in one direction. As a result, when the door is opened, the door can be prevented from rotating vigorously, while when the door is closed, the door is prevented from rotating rapidly and the door is securely closed with a small force. Can be able to.

  FIG. 9 is a graph illustrating characteristics of the motion control device according to the present embodiment. As shown in this figure, according to the motion control device of the present embodiment, even when the angular velocity of the movable body is the same, the movement direction of the movable body, that is, as a pressing member that rotates in accordance with the movement of the movable body. The braking force (braking torque) applied to the movable body varies depending on the rotation direction of the vanes 31 and 32. In FIG. 9, A is the braking torque when the vanes 31 and 32 rotate in one direction, and B is the braking torque when the vanes 31 and 32 rotate in the opposite direction.

  FIG. 10 is a diagram illustrating the first and second valve mechanisms 50 and 60 employed in the motion control device according to the second embodiment of the present invention. As shown in this figure, the motion control device according to the present embodiment is different from the motion control device according to the first embodiment in the configuration of the first and second valve mechanisms 50 and 60. This is the same as the motion control apparatus according to Example 1.

  As shown in FIG. 10, the first and second valve mechanisms 50, 60 employed in this embodiment are configured to include a first adjustment member 71 that can adjust the resistance force of the springs 53, 63. This is different from the first and second valve mechanisms 50 and 60 employed in the first embodiment. The 1st adjustment member 71 consists of a screw by which the spiral groove | channel was cut along the outer peripheral surface, and is attached to the casing 10 so that the end of the springs 53 and 63 can be supported (refer FIG. 10). The first adjustment member 71 can be operated from the outside.

  Both the first and second valve mechanisms 50 and 60 can compress the springs 53 and 63 by rotating the first adjustment member 71 in one direction. Thereby, the resistance force of the springs 53 and 63 is increased. Therefore, in order to move the valve members 51 and 61 in the opening direction, a larger viscous liquid pressure is required. Therefore, the force (holding force) for holding the motion stopped state of the movable body to be controlled is increased. Is possible. On the other hand, when the first adjusting member 71 is rotated in the reverse direction, the springs 53 and 63 are relaxed. Thereby, the resistance force of the springs 53 and 63 is reduced. Accordingly, the valve members 51 and 61 can be moved in the opening direction with a relatively small pressure of the viscous liquid, so that the holding force can be reduced.

  The first adjusting member 71 may be provided only in the first valve mechanism 50 or may be provided only in the second valve mechanism 60.

  FIG. 11 is a graph illustrating characteristics of the motion control device according to the present embodiment. As shown in this figure, according to the motion control apparatus of the present embodiment, for example, when the first adjusting member 71 of the second valve mechanism 60 is operated to increase the resistance force of the spring 63, the spring 63 The peak of the braking torque indicating the point in time when the movable body is released from the motion stop state can be made larger than before the resistance force is increased. In FIG. 11, C is a braking torque after the resistance force of the spring 63 is increased by the first adjusting member 71, D is a braking torque before the resistance force of the spring 63 is increased, and the X axis is a movable body. Rotation angle.

  FIG. 12 is a diagram illustrating the first valve mechanism 50 employed in the motion control device according to the third embodiment of the present invention. As shown in this figure, the motion control device according to the present embodiment is different from the motion control device according to the first embodiment in the configuration of the first valve mechanism 50, and the other configurations are the motion according to the first embodiment. It is the same as the control device.

  The first valve mechanism 50 employed in the present embodiment can close the first passage 21 and has a valve member 51 whose outer peripheral surface is a tapered surface and a taper of the valve member 51 whose inner peripheral surface is housed inside. When the valve member 51 tries to move in the opening direction by receiving the pressure of the viscous liquid, the valve member is formed with a tapered surface forming a gap c for reducing the flow rate of the viscous liquid between the surface and the valve member. A spring 53 for imparting resistance to 51 and a second adjustment member 72 that can adjust the movement limit position of the valve member 51 in the opening direction are configured.

  The tapered surface formed on the valve member 51 may be formed on the entire outer peripheral surface of the valve member 51 or may be formed on a part thereof. Further, the tapered surface formed in the working chamber 52 may be formed on the entire inner peripheral surface of the working chamber 52 or may be formed on a part thereof. As in this embodiment, the opposing surfaces of the valve member 51 and the working chamber 52 are tapered surfaces, so that the gap c for reducing the flow rate of the viscous liquid according to the movement distance R in the opening direction of the valve member 51. Can be changed (see FIG. 12).

  As shown in FIG. 12, the second adjustment member 72 is made of a screw having a spiral groove cut along the outer peripheral surface, and is attached to the casing 10. Further, a protrusion 72 a is provided at the tip of the second adjustment member 72. The second adjustment member 72 can be operated from the outside.

  As shown in FIG. 12A, the first valve mechanism 50 can move the second adjustment member 72 in a direction close to the valve member 51 by rotating the second adjustment member 72 in one direction. Further, as shown in FIG. 12B, the second adjustment member 72 can be moved away from the valve member by rotating the second adjustment member 72 in the reverse direction. On the other hand, since the valve member 51 cannot move in the opening direction by coming into contact with the protrusion 72 a of the second adjustment member 72, the second adjustment member 72 is moved in the direction of approaching or separating from the valve member 51. Thus, the limit position P at which the valve member 51 can move in the opening direction can be adjusted. Then, as shown in FIG. 12A, when the second adjustment member 72 is operated to set the movement distance R in the opening direction of the valve member 51 to be short, the gap c for reducing the flow rate of the viscous liquid. Therefore, the throttle amount of the first valve mechanism 50 can be increased. On the other hand, as shown in FIG. 12B, when the second adjustment member 72 is operated so that the movement distance R in the opening direction of the valve member 51 is set to be long, the gap c for reducing the flow rate of the viscous liquid. Therefore, the throttle amount of the first valve mechanism 50 can be reduced.

  Unlike the present embodiment, the second valve mechanism 60 may be configured in the same manner as the first valve mechanism 50. In this case, the angle of the tapered surface formed on the mutually facing surfaces of the valve member 61 and the working chamber 62 of the second valve mechanism 60 is set to the mutually facing surfaces of the valve member 51 and the working chamber 52 of the first valve mechanism 50. By making the angle different from the angle of the formed tapered surface, the throttle amount of the first valve mechanism 50 and the throttle amount of the second valve mechanism 60 can be made different. Further, instead of the first valve mechanism 50, only the second valve mechanism 60 may be configured similarly to the first valve mechanism 50 employed in the present embodiment.

  FIG. 13 is a graph illustrating characteristics of the motion control device according to the present embodiment. As shown in this figure, according to the motion control device of the present embodiment, the second adjusting member 72 of the first valve mechanism 50 is operated so that the moving distance R in the opening direction of the valve member 51 is shortened. When set, the braking force (braking torque) to be applied to the movable body to be controlled can be increased as compared to before the setting. In FIG. 13, E is a braking torque after the second adjusting member 72 is set so that the moving distance R in the opening direction of the valve member 51 is shortened, and F is a braking torque before the setting is made. Yes, the X axis is the rotation angle of the movable body.

  FIG. 14 is a diagram illustrating the first valve mechanism 50 employed in the motion control device according to the fourth embodiment of the present invention. As shown in this figure, the motion control device according to the present embodiment is different from the motion control device according to the first embodiment in the configuration of the first valve mechanism 50, and the other configurations are the motion according to the first embodiment. It is the same as the control device.

  The first valve mechanism 50 employed in the present embodiment can close the first passage 21 and has a valve member 51 whose outer peripheral surface is a tapered surface and a taper of the valve member 51 whose inner peripheral surface is housed inside. When the valve member 51 tries to move in the opening direction by receiving the pressure of the viscous liquid, the valve member 51 and the working chamber 52 having a tapered surface that forms a gap for reducing the flow rate of the viscous liquid between the surface and the surface. And a third adjustment member 73 capable of simultaneously adjusting the resistance force of the spring 53 and the movement limit position of the valve member 51 in the opening direction.

  The tapered surface formed on the valve member 51 may be formed on the entire outer peripheral surface of the valve member 51 or may be formed on a part thereof. Further, the tapered surface in which the working chamber 52 is formed may be formed on the entire inner peripheral surface of the working chamber 52 or may be formed on a part thereof. As in this embodiment, the opposing surfaces of the valve member 51 and the working chamber 52 are tapered surfaces, so that the gap c for reducing the flow rate of the viscous liquid according to the movement distance R in the opening direction of the valve member 51. Can be changed (see FIG. 14).

  The third adjustment member 73 is a screw having a spiral groove cut along the outer peripheral surface, and is attached to the casing 10 so as to support one end of the spring 53. A protrusion 73 a is provided at the tip of the third adjustment member 73. The third adjustment member 73 can be operated from the outside.

  As shown in FIG. 14A, the first valve mechanism 50 rotates the third adjustment member 73 in one direction to move the third adjustment member 73 in a direction close to the valve member 51, and the spring 53 can be compressed. Thereby, it is possible to increase the resistance force of the spring 53 and increase the force (holding force) for holding the motion stopped state of the movable body to be controlled, and at the same time, the distance that the valve member 51 can move in the opening direction. R can be shortened to reduce the throttle amount of the first valve mechanism 50. On the other hand, as shown in FIG. 14B, by rotating the third adjustment member 73 in the reverse direction, the third adjustment member 73 is moved away from the valve member 51 and the spring 53 is relaxed. Can do. Accordingly, it is possible to reduce the resistance force of the spring 53 and reduce the holding force, and at the same time, it is possible to increase the throttle amount of the first valve mechanism 50. That is, according to the present embodiment, it is possible to increase or decrease both the holding force and the braking force simultaneously by operating the third adjustment member 73.

  Unlike the present embodiment, the second valve mechanism 60 may be configured in the same manner as the first valve mechanism 50. In this case, the angle of the tapered surface formed on the mutually facing surfaces of the valve member 51 and the working chamber 52 of the first valve mechanism 50 is set to the mutually facing surfaces of the valve member 61 and the working chamber 62 of the second valve mechanism 60. By making the angle different from the angle of the formed tapered surface, the throttle amount of the first valve mechanism 50 and the throttle amount of the second valve mechanism 60 can be made different. Further, instead of the first valve mechanism 50, only the second valve mechanism 60 may be configured similarly to the first valve mechanism 50 employed in the present embodiment.

  FIG. 15 is a graph illustrating characteristics of the motion control device according to the present embodiment. As shown in this figure, according to the motion control apparatus of the present embodiment, the third adjustment member 73 of the first valve mechanism 50 is operated so that the movement distance R in the opening direction of the valve member 51 is shortened. When set, the braking force (braking torque) to be applied to the movable body to be controlled can be increased and braking torque indicating the time point when the movable body is released from the motion stop state than before the setting. The peak of can be increased. In FIG. 15, G is the braking torque after setting the moving distance R in the opening direction of the valve member 51 by the third adjusting member 73 to be short, and H is the braking torque before setting as such. Yes, the X axis is the rotation angle of the movable body.

It is a figure which shows the internal structure of the exercise | movement control apparatus which concerns on Example 1 of this invention. It is an AA section sectional view in FIG. It is a BB part fragmentary sectional view in FIG. FIG. 2 is a partial enlarged cross-sectional view taken along a line CC in FIG. 1. It is a DD section fragmentary sectional view in Drawing 1, and is a figure showing the state where the valve member and spring which constitute the 1st valve mechanism were removed. It is the EE section sectional view in Drawing 2, and is a figure showing the state where the valve member and spring which constitute the 1st and 2nd valve mechanisms were removed. It is a figure for demonstrating the effect | action of a 1st valve mechanism. It is a figure for demonstrating the effect | action of a 2nd valve mechanism. 3 is a graph illustrating characteristics of the motion control device according to the first embodiment. It is a figure which shows the structure of the 1st and 2nd valve mechanism employ | adopted in the motion control apparatus which concerns on Example 2 of this invention. 6 is a graph illustrating characteristics of the motion control device according to the second embodiment. It is a figure which shows the structure of the 1st valve mechanism employ | adopted in the movement control apparatus which concerns on Example 3 of this invention. 10 is a graph illustrating characteristics of the motion control device according to the third embodiment. It is a figure which shows the structure of the 1st valve mechanism employ | adopted in the movement control apparatus which concerns on Example 4 of this invention. 12 is a graph illustrating characteristics of the motion control device according to the fourth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Casing 11 1st chamber 12 2nd chamber 13 3rd chamber 14 4th chamber 15 Bottom wall 21 1st channel | path 22 2nd channel | path 23 3rd channel | path 24 4th channel | path 30 Axis 31, 32 Vane 41, 42 Partition 50 First Valve mechanism 51 Valve member 51a Valve body 51b Valve retainer 52 Working chamber 53 Spring 60 Second valve mechanism 61 Valve member 61a Valve body 61b Valve retainer 62 Actuating chamber 63 Spring 71 First adjusting member 72 Second adjusting member 72a Projection 73 Third Adjustment member 73a Protrusion 81-84 Seal member

Claims (4)

A first passage communicating the first chamber and the second chamber;
A second passage communicating the third chamber and the fourth chamber;
A third passage communicating the first chamber and the fourth chamber;
A fourth passage communicating the second chamber and the third chamber;
A pressing member that presses the viscous liquid filled in the first to fourth chambers by rotational movement;
The first passage is provided in the first passage, and prevents the viscous liquid from flowing back from the second chamber to the first chamber, and increases when the viscous liquid in the first chamber is pressed by a pressing member that attempts to rotate in one direction. When the internal pressure of the chamber is below a predetermined value, the viscous liquid in the first chamber is prevented from moving to the second chamber through the first passage, and when the internal pressure of the first chamber exceeds the predetermined value, the first chamber The viscous liquid can be moved to the second chamber through the first passage, and the movement of the viscous liquid through the first passage is allowed even if the internal pressure of the first chamber drops below a predetermined value thereafter. A first valve mechanism for preventing the viscous liquid in the first chamber from moving to the second chamber through the first passage when the rotational movement of the pressing member is stopped;
A third passage which is provided in the second passage and prevents the viscous liquid from flowing backward from the fourth chamber to the third chamber, and increases when the viscous liquid in the third chamber is pressed by the pressing member which is going to rotate in the reverse direction. When the internal pressure of the chamber is below a predetermined value, the viscous liquid in the third chamber is prevented from moving to the fourth chamber through the second passage, and when the internal pressure of the third chamber exceeds the predetermined value, the third chamber The viscous liquid can be moved to the fourth chamber through the second passage, and the movement of the viscous liquid through the second passage is allowed even if the internal pressure of the third chamber drops below a predetermined value thereafter. A second valve mechanism that prevents the viscous liquid in the third chamber from moving to the fourth chamber through the second passage when the rotational movement of the pressing member stops;
The first and second valve mechanisms have a function of restricting the flow rate of the viscous liquid passing through the first and second passages, respectively, and the throttle amount of the first valve mechanism and the throttle amount of the second valve mechanism are different. Characteristic motion control device.   The first and / or second valve mechanism has a gap for restricting the flow rate of the viscous liquid between the valve member capable of closing the first and / or second passage and the outer peripheral surface of the valve member housed inside. A working chamber having an inner peripheral surface to be formed; a spring for imparting resistance to the valve member when the valve member attempts to move in the opening direction by receiving pressure of the viscous liquid; and a resistance force of the spring. The motion control apparatus according to claim 1, further comprising a first adjustment member that can be adjusted.   The first and / or second valve mechanism can close the first and / or second passages, and a valve member in which part or all of the outer peripheral surface is tapered, and part or all of the inner peripheral surface A working chamber having a tapered surface that forms a gap for reducing the flow rate of the viscous liquid between the valve member and the tapered surface of the valve member accommodated therein, and the valve member in the opening direction by receiving the pressure of the viscous liquid The spring according to claim 1, further comprising: a spring that imparts resistance to the valve member when attempting to move; and a second adjustment member that can adjust a movement limit position in an opening direction of the valve member. Motion control device. The first and / or second valve mechanism can close the first and / or second passages, and a valve member in which part or all of the outer peripheral surface is tapered, and part or all of the inner peripheral surface A working chamber having a tapered surface that forms a gap for reducing the flow rate of the viscous liquid between the valve member and the tapered surface of the valve member accommodated therein, and the valve member in the opening direction by receiving the pressure of the viscous liquid A spring for imparting resistance to the valve member when attempting to move, and a third adjustment member capable of simultaneously adjusting a resistance force of the spring and a movement limit position of the valve member in the opening direction. The motion control apparatus according to claim 1, wherein:

Images