JP2010121677A - Pneumatic system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance effectiveness or efficiency in reusing compressed air used for operating an actuator. <P>SOLUTION: The compressed air flowing out of pneumatic cylinder devices 13 and 17 is selectively supplied to a tank 32, and pulsation of the compressed air is removed by the tank 32, and the pulsation-removed compressed air is supplied from the tank 32 to a supply port 22A of an ejector 22 in a vacuum generator 21. The ejector 22 forms a vacuum by using the compressed air supplied from the tank 32, and generates suction force in a suction pad 28, and can grip and carry a workpiece 29 by the suction pad 28. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a pneumatic system including a plurality of actuators operated by air pressure, such as a pneumatic cylinder and a vacuum pad.

  For example, when the rod of a double acting pneumatic cylinder is advanced, the compressed air is caused to flow into the cylinder cap side supply / discharge port. At this time, compressed air inside the cylinder flows out from the head side (rod side) supply / discharge port. Further, when the rod of the cylinder is moved backward, the compressed air is caused to flow into the head side supply / discharge port of the cylinder. At this time, the compressed air inside the cylinder flows out from the cap-side supply / discharge port. The compressed air flowing out from the head-side supply / discharge port and the cap-side supply / discharge port is generally discharged into the atmosphere.

Further, there are some known techniques for reusing the compressed air flowing out from the cylinder head side supply / discharge port or the cap side supply / discharge port without immediately discharging it into the atmosphere. For example, Japanese Unexamined Patent Application Publication No. 2007-146867 (Patent Document 1) describes a pneumatic circuit that does not discharge compressed air flowing out from a cylinder head side (rod side) supply / discharge port to the atmosphere. Japanese Unexamined Patent Application Publication No. 2004-360735 (Patent Document 2) describes a technique for introducing and reusing compressed air used for operating a cylinder into an inlet port of a local power unit including a compressor. . Japanese Patent Laid-Open No. 2002-174203 (Patent Document 3) describes a technique for returning compressed air used for operating a cylinder to a pump and reusing it.
JP 2007-146867 A JP 2004-360735 A JP 2002-174203 A

  It is not preferable that the compressed air used to operate an actuator such as a pneumatic cylinder is discharged into the atmosphere without being reused at all because energy utilization efficiency is low. For this reason, it is desirable that the compressed air used for operating the actuator is not immediately discharged into the atmosphere, but the compressed air is reused to operate other actuators and the like. In this case, the problem is how to effectively reuse the compressed air, that is, how to increase the reuse efficiency of the compressed air.

  In this regard, the technique described in Japanese Patent Application Laid-Open No. 2007-146867 (Patent Document 1) immediately discharges compressed air flowing out from the cap-side supply / exhaust port of the cylinder into the atmosphere. It cannot be said that efficiency is high.

  Moreover, the technique described in Unexamined-Japanese-Patent No. 2004-360735 (patent document 2) only returns the compressed air used in order to operate a cylinder to the local power unit containing a compressor, and is reused as air. Therefore, the effectiveness of reuse as compressed air having pressure, flow rate or energy is not high. The same can be said for the technique described in Japanese Patent Laid-Open No. 2002-174203 (Patent Document 3).

  As described above, although several techniques for reusing the compressed air used for operating the actuator are known, in any of these techniques, the compressed air used for operating the actuator such as a pneumatic cylinder is used. The effectiveness or efficiency of reuse is not high.

  On the other hand, when reusing the compressed air used to operate the first-stage actuator and operating the second-stage actuator, stabilize the pressure or flow rate of the compressed air used to operate the first-stage actuator. After that, it is necessary to supply to the latter stage actuator. Further, it is necessary to set the pressure or flow rate of the compressed air so as to be an appropriate pressure or flow rate for operating the actuator at the subsequent stage. In addition, it is necessary to consider a situation in which the subsequent actuator is operated while the first actuator is stopped.

  However, stabilizing the pressure or flow rate of the compressed air to be reused, setting the pressure or flow rate of the compressed air to be reused to be compatible with the subsequent actuator, and the first stage actuator being stopped It is not easy to operate the latter stage actuator in between.

  The present invention has been made in view of the above-described problems, for example, and a first object of the present invention is to increase the effectiveness or efficiency of reuse of compressed air used for operating an actuator. To provide a system.

  The second problem of the present invention is to stabilize the pressure or flow rate of the compressed air to be reused when the compressed air used to operate the first stage actuator is reused to operate the latter stage actuator. Pneumatic system that can set the pressure or flow rate of the compressed air to be reused to match the latter actuator, or can operate the latter actuator while the first actuator is stopped Is to provide.

  In order to solve the above-described problems, a first pneumatic system of the present invention is operated by compressed air supplied from a first pneumatic source and the first pneumatic source, connected to the first pneumatic source. A pneumatic actuator device that discharges compressed air as a result of this operation, a supply port, a discharge port, and a vacuum port, and the supply port is connected to the pneumatic actuator device and discharged from the pneumatic actuator device. A vacuum generator for generating a vacuum in the vacuum port by discharging the compressed air flowing in through the discharge port, and a suction pad connected to the vacuum port of the vacuum generator.

  In the above-described first pneumatic system of the present invention, the compressed air discharged from the pneumatic actuator device is connected between the pneumatic actuator device and the vacuum generator, and the stored compressed air is stored in the compressed air. A first tank that supplies the vacuum generator may be added.

  In the first pneumatic system of the present invention described above, the second tank and one end side are connected between the air actuator device and the vacuum generator, and the other end side is connected to the second tank. A first branch path may be added.

  Further, in the first pneumatic system of the present invention described above, a supply for supplying compressed air discharged from the first pneumatic pressure source to the first tank separately from compressed air discharged from the pneumatic actuator device. A route may be added.

  Further, in the first pneumatic system of the present invention described above, the compressed air discharged from the first tank is connected and connected between the first tank and the vacuum generator. A third tank for supplying compressed air to the vacuum generator; a connection between the first tank and the third tank; and a connection between the first tank and the third tank. -You may add the 1st switching valve which switches interruption | blocking.

  In the first pneumatic system of the present invention described above, a pressure intensifier may be connected between the first tank and the third tank.

  In the first pneumatic system of the present invention described above, a second pneumatic pressure source connected to the supply port of the vacuum generator and supplying compressed air to the vacuum generator, and the second pneumatic pressure source, A second switching valve that is connected between the vacuum generator and switches between connection and disconnection between the second air pressure source and the vacuum generator may be added.

  In the first pneumatic system of the present invention described above, a plurality of pneumatic actuator devices are provided, one end side is connected between each pneumatic actuator device and the supply port of the vacuum generator, and the other end side is external. A part of or all of the compressed air to be supplied to the supply port of the vacuum generator from each pneumatic actuator device. A control valve for discharging gas may be added.

  In the first pneumatic system of the present invention described above, the fourth tank connected between the vacuum port of the vacuum generator and the suction pad, the fourth tank, and the suction pad A third switching valve that is connected between the fourth tank and the suction pad for switching between connection and disconnection may be added.

  In order to solve the above problem, a second pneumatic system according to the present invention is operated by compressed air supplied from the pneumatic pressure source and the pneumatic pressure source, and compressed air supplied from the pneumatic pressure source. A pneumatic actuator device that discharges air, a supply port, a discharge port, and a vacuum port, and the supply port is connected to the pneumatic actuator device, and the compressed air that is discharged from the pneumatic actuator device and flows in through the supply port A plurality of main vacuum generators for generating a vacuum in the vacuum port by discharging from the discharge port; a supply port; a discharge port; and a vacuum port, wherein the supply port is connected to the air pressure source and discharged from the air pressure source The compressed air flowing in through the supply port is discharged from the discharge port to the vacuum port. A sub-vacuum generator for generating air; a vacuum path in which a vacuum port of the plurality of main vacuum generators and a vacuum port of the sub-vacuum generator are connected to one end side, and a suction pad is connected to the other end side; And a tank connected between the one end side and the other end side of the vacuum path.

  According to the present invention described above, it is possible to increase the effectiveness or efficiency of reuse of compressed air used for operating an actuator. Further, according to the present invention described above, when the compressed air used for operating the first stage actuator is reused to operate the subsequent stage actuator, the pressure or flow rate of the compressed air to be reused is stabilized. The pressure or flow rate of the compressed air to be reused can be set to match the latter actuator, and the latter actuator can be operated while the first actuator is stopped.

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

(First embodiment)
FIG. 1 shows a first embodiment of the pneumatic system of the present invention. The pneumatic system 1 in FIG. 1 is a system that operates the vacuum generator 21 by reusing the compressed air used to operate the pneumatic cylinder devices 13 and 17.

  In the pneumatic system 1, the main compressor 11 generates compressed air by compressing air and discharges the compressed air. The main compressor 11 is a specific example of the first air pressure source. The pressure gauge 12 measures the pressure of compressed air discharged from the main compressor 11.

  The pneumatic cylinder device 13 is connected to the main compressor 11. The compressed air discharged from the main compressor 11 is supplied to the pneumatic cylinder device 13. The pneumatic cylinder device 13 is operated by the compressed air supplied from the main compressor 11 and discharges the compressed air with this operation.

  Specifically, the pneumatic cylinder device 13 includes a double-acting pneumatic cylinder 14, a double solenoid type 5-port 3-position direction switching valve 15, and speed controllers 16, 16. When a high level control signal is supplied to the solenoid 15A of the switching valve 15 and a low level control signal is supplied to the solenoid 15B, the switching valve 15 is connected to the head side (rod side) supply / discharge port of the main compressor 11 and the pneumatic cylinder 14. Between the cap side supply / discharge port of the pneumatic cylinder 14 and the vacuum generator 21 via the check valve 34 and the tank 32. On the other hand, when a low level control signal is supplied to the solenoid 15A of the switching valve 15 and a high level control signal is supplied to the solenoid 15B, the switching valve 15 is connected to the main compressor 11 and the cap side supply / discharge port of the pneumatic cylinder 14. The head side supply / discharge port of the pneumatic cylinder 14 and the vacuum generator 21 are connected via the check valve 34 and the tank 32. When a low level control signal is supplied to the solenoids 15A and 15B of the switching valve 15, the switching valve 15 shuts off the main compressor 11 and the pneumatic cylinder 14, and the pneumatic cylinder 14 and the vacuum generator 21 Block between. The speed controllers 16 and 16 adjust the forward speed and the backward speed of the rod of the pneumatic cylinder 14, respectively.

  The pneumatic cylinder device 17 is connected to the main compressor 11 and operates with compressed air supplied from the main compressor 11 and discharges compressed air with this operation. The pneumatic cylinder device 17 includes a double-acting pneumatic cylinder 18, a double solenoid type 5-port 3-position direction switching valve 19, and speed controllers 20, 20 and operates in the same manner as the pneumatic cylinder device 13. The pneumatic cylinder devices 13 and 17 are specific examples of pneumatic actuator devices.

  The vacuum generator 21 includes an ejector 22, a single solenoid type 2-port 2-position switching valve 23 for generating a vacuum, a single-solenoid 2-port 2-position switching valve 24 for breaking a vacuum, a throttle valve 25, and a check valve 26. .

  The ejector 22 has a supply port 22A, a discharge port 22B, and a vacuum port 22C. Pneumatic cylinder devices 13 and 17 are connected to the supply port 22A via a check valve 34, a tank 32, and a switching valve 23, respectively. The discharge port 22B is opened to the atmosphere via a silencer 27. A suction pad 28 is connected to the vacuum port 22C via a check valve 26, a tank 30, and a switching valve 31. The compressed air discharged from the pneumatic cylinder device 13 or 17 passes through the check valve 34, the tank 32, and the switching valve 23, flows in through the supply port 22A, and is discharged from the discharge port 22B, whereby the vacuum port 22C. A vacuum is generated. The ejector 22 is a specific example of a vacuum generator.

  The switching valve 23 for generating a vacuum is connected between the pneumatic cylinder devices 13 and 17 and the supply port 22A of the ejector 22 (specifically, between the tank 32 and the supply port 22A). When a high level control signal is supplied to the solenoid of the switching valve 23, the switching valve 23 connects the pneumatic cylinder devices 13, 17 and the supply port 22 </ b> A of the ejector 22 via the check valve 34 and the tank 32. On the other hand, when a low-level control signal is supplied to the solenoid of the switching valve 23, the switching valve 23 blocks between the pneumatic cylinder devices 13 and 17 and the supply port 22A.

  The vacuum break switching valve 24 is connected between the pneumatic cylinder devices 13 and 17 and the connection point A (specifically, between the tank 32 and the throttle valve 25). The connection point A is in the middle of a pipe line connecting the vacuum port 22C of the ejector 22 and the suction pad 28, and is located between the switching valve 31 and the suction pad 28. When a high-level control signal is supplied to the solenoid of the switching valve 24, the switching valve 24 connects the pneumatic cylinder devices 13, 17 and the connection point A via the check valve 34, the tank 32, and the throttle valve 25. When a low-level control signal is supplied to the solenoid of the switching valve 24, the switching valve 24 blocks between the pneumatic cylinder devices 13 and 17 and the connection point A.

  The throttle valve 25 is a compressed air that flows from the pneumatic cylinder devices 13 and 17 toward the suction pad 28 when the vacuum breaks, that is, when the pneumatic cylinder devices 13 and 17 and the connection point A are connected by the switching valve 24. It is a valve that adjusts the flow rate (destructive flow rate).

  The check valve 26 is a valve for preventing the pressure in the tank 30 from increasing due to the flow of compressed air from the vacuum port 22 </ b> C of the ejector 22 toward the tank 30.

  The suction pad 28 is a pad for gripping and transporting the workpiece 29 using the vacuum suction force formed by the ejector 22.

  The tank 30 is connected between the vacuum port 22 of the ejector 22 and the suction pad 28 (more specifically, between the check valve 26 and the switching valve 31). The tank 30 stores the energy of the vacuum formed by the ejector 22. The tank 30 is a specific example of the fourth tank.

  The single solenoid type 2-port 2-position switching valve 31 is connected between the tank 30 and the suction pad 28. When a high-level control signal is supplied to the solenoid of the switching valve 31, the switching valve 31 connects between the tank 30 and the suction pad 28. On the other hand, when a low-level control signal is supplied to the solenoid of the switching valve 31, the switching valve 31 blocks between the tank 30 and the suction pad 28. The switching valve 31 is a specific example of a third switching valve.

  The tank 32 is connected between the pneumatic cylinder devices 13 and 17 and the vacuum generator 21 (specifically, between the check valve 34 and the vacuum generator 21). The tank 32 accumulates the compressed air discharged from the pneumatic cylinder devices 13 and 17 and supplies the accumulated compressed air to the vacuum generator 21. The tank 32 is a specific example of the first tank. The pressure gauge 33 measures the pressure on the discharge side of the tank 32. The tank 32 is provided with a valve that detects the pressure in the tank 32 and discharges the compressed air in the tank 32 to the outside of the tank 32 when the pressure exceeds a preset upper limit in the tank. Is desirable.

  The check valve 34 is a valve for preventing the compressed air accumulated in the tank 32 or the compressed air supplied by the sub-compressor 43 from escaping into the atmosphere through the branch pipes 36 and 40.

  The single solenoid type 2-port 2-position switching valve 35 has one end between the pneumatic cylinder device 13 and the supply port 22A of the ejector 22 in the vacuum generator 21 (specifically, between the pneumatic cylinder device 13 and the check valve 34). And the other end is connected in the middle of the branch pipe 36 opened to the atmosphere. When a high level control signal is supplied to the solenoid of the switching valve 35, the switching valve 35 shuts off the other end of the branch pipe 36 from the atmosphere. On the other hand, when a low-level control signal is supplied to the solenoid of the switching valve 35, the switching valve 35 opens the other end of the branch pipe 36 to the atmosphere. Further, the branch pipe 36 has a throttle valve 37 for adjusting the flow rate of the compressed air discharged into the atmosphere through the branch pipe 36, and the abnormal noise generated when the compressed air is discharged into the atmosphere through the branch pipe 36. A silencer 38 is provided to reduce the noise. The switching valve 35 is a specific example of the control valve, and the branch pipe 36 is a specific example of the second branch path.

  One end of the single solenoid type 2-port 2-position switching valve 39 is between the pneumatic cylinder device 17 and the supply port 22A of the ejector 22 in the vacuum generator 21 (specifically, between the pneumatic cylinder device 17 and the check valve 34). And the other end side is connected in the middle of the branch pipe 40 opened to the atmosphere. When a high level control signal is supplied to the solenoid of the switching valve 39, the switching valve 39 shuts off the other end of the branch pipe 40 from the atmosphere. On the other hand, when a low-level control signal is supplied to the solenoid of the switching valve 39, the switching valve 39 opens the other end of the branch pipe 40 to the atmosphere. Further, the branch pipe 40 has a throttle valve 41 for adjusting the flow rate of the compressed air discharged into the atmosphere through the branch pipe 40, and an abnormal noise generated when the compressed air is discharged into the atmosphere through the branch pipe 40. A silencer 42 is provided to reduce the noise. The switching valve 39 is a specific example of the control valve, and the branch pipe 40 is a specific example of the second branch path.

  The sub compressor 43 is connected to the supply port 22 </ b> A of the ejector 22 via the switching valve 45, the tank 32, and the switching valve 23. The sub-compressor 43 generates compressed air pressure by compressing air and discharges the compressed air. The sub-compressor 43 is a specific example of the second air pressure source. The pressure gauge 44 measures the pressure of the compressed air discharged from the sub compressor 43.

  The single solenoid type 2-port 2-position switching valve 45 is connected between the sub compressor 43 and the supply port 22A of the ejector 22 (specifically, between the sub compressor 43 and the tank 32). When a high-level control signal is supplied to the solenoid of the switching valve 45, the switching valve 45 connects the sub compressor 43 and the supply port 22 </ b> A of the ejector 22 via the tank 32 and the switching valve 23. On the other hand, when a low-level control signal is supplied to the solenoid of the switching valve 45, the switching valve 45 cuts off the connection between the sub compressor 43 and the supply port 22A of the ejector 22. The switching valve 45 is a specific example of the second switching valve.

  Piping or the like is used to connect the above-described compressor, cylinder, each control valve, tank, etc. constituting the pneumatic system 1.

  The controller 46 is, for example, a microcomputer, and functions as a switching valve control unit and a pneumatic pressure source control unit. The controller 46 is electrically connected to solenoids of the switching valves 15, 19, 23, 24, 31, 35, 39, and 45, respectively. The controller 46 controls the switching of the switching valves 15, 19, 23, 24, 31, 35, 39 and 45 by supplying control signals to these solenoids. The controller 46 controls the driving of the main compressor 11 and the sub compressor 43.

  FIG. 2 shows control signals supplied from the controller 46 to the solenoids of the switching valves 15, 19, 23, 24, 31, 35, 39 and 45 during the operation of the pneumatic system 1. In FIG. 2, for convenience of explanation, preparation for operating the vacuum generator 21 by reusing the compressed air used for operating the pneumatic cylinder device 13 is performed in the period P1, and the pneumatic cylinder device is used in the period P2. The vacuum generating apparatus 21 is operated by reusing the compressed air used to operate 13. Subsequently, in the period P3, preparation for operating the vacuum generator 21 is performed by reusing the compressed air used for operating the pneumatic cylinder device 17, and in order to operate the pneumatic cylinder device 17 in the period P4. The vacuum generator 21 is operated by reusing the compressed air used in the above. Subsequently, in period P5, preparation is made to operate the vacuum generator 21 using compressed air supplied from the sub-compressor 43. In period P6, compressed air supplied from the sub-compressor 43 is used. The vacuum generator 21 is operated.

  As shown in FIG. 2, at the time immediately before operating the pneumatic system 1 (the time before the start point of the period P1), the controller 46 has the switching valves 15, 19, 23, 24, 31, 35, 39 and 45. A low level control signal is supplied to each solenoid. As a result, the switching valves 15, 19, 23, 24, 31, 35, 39, and 45 are positioned as shown in FIG.

  Subsequently, in the period P1, the controller 46 supplies a control signal having a substantially square waveform that periodically switches between the high level and the low level to the solenoids 15A and 15B of the switching valve 15 of the pneumatic cylinder device 13. The control signal supplied to the solenoid 15A and the control signal supplied to the solenoid 15B are 180 degrees out of phase with each other. Immediately after this, the controller 46 drives the main compressor 11. As a result, the compressed air discharged from the main compressor 11 is supplied to the pneumatic cylinder 14, and the pneumatic cylinder 14 starts to operate (rod advance / retreat). The compressed air alternately flows out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 14. Subsequently, the controller 46 switches the level of the control signal supplied to the solenoid of the switching valve 35 from the low level to the high level. Thereby, the position of the switching valve 35 is switched, and the other end side of the branch pipe 36 is shut off from the atmosphere. As a result, the compressed air flowing out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 14 both passes through the check valve 34 and is supplied to the tank 32. At this time, since the tank 32 and the supply port 22A of the ejector 22 are blocked by the switching valve 23 of the vacuum generator 21, the compressed air supplied from the pneumatic cylinder 14 is accumulated exclusively in the tank 32. As a result, the pressure in the tank 32 increases.

  Thereafter, when the pressure in the tank 32 reaches a predetermined pressure during the period P1, the controller 46 changes the level of the control signal supplied from the low level to the solenoid of the switching valve 23 for generating vacuum in the vacuum generating device 21. Switch to high level. Thereby, the position of the switching valve 23 is switched, and the tank 32 and the supply port 22A of the ejector 22 are connected. Thereby, the compressed air supplied from the pneumatic cylinder 14 of the pneumatic cylinder device 13 and accumulated in the tank 32 is supplied to the supply port 22 </ b> A of the ejector 22. This compressed air flows into the ejector 22 from the supply port 22A, passes through the nozzle and diffuser formed in the ejector 22, flows out of the ejector 22 through the discharge port 22B, and enters the atmosphere through the silencer 27. To be discharged. Thereby, a vacuum is generated in the vacuum port 22C. At this time, since the tank 30 and the suction pad 28 are shut off by the switching valve 31, the energy of the vacuum generated in the vacuum port 22C is accumulated only in the tank 30.

  Subsequently, when the vacuum energy is accumulated in the tank 30 and the vacuum pressure in the tank 30 is sufficiently increased (end point of the period P1), the controller 46 controls the level of the control signal supplied to the solenoid of the switching valve 31. From low level to high level. Thereby, the position of the switching valve 31 is switched, the tank 30 and the suction pad 28 are connected, and a suction force is generated in the suction pad 28 by the vacuum pressure in the tank 30.

  Subsequently, in the period P2, a vacuum is formed in the vacuum port 22C of the ejector 22 by the compressed air supplied from the pneumatic cylinder 14 of the pneumatic cylinder device 13 and accumulated in the tank 32, and suction generated by the suction pad 28 generated thereby. The workpiece 29 is gripped and conveyed by the force. The compressed air supplied from the pneumatic cylinder 14 to the tank 32 is compressed air that alternately flows out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 14 as the rod of the pneumatic cylinder 14 reciprocates. Pulsating. However, this pulsation of compressed air is removed by the tank 32. Therefore, the compressed air supplied from the tank 32 to the supply port 22A of the ejector 22 is not pulsating.

  Subsequently, in the period P3, the controller 46 supplies a control signal having a substantially square waveform in which the high level and the low level are periodically switched to the solenoids 19A and 19B of the switching valve 19 of the pneumatic cylinder device 17. The control signal supplied to the solenoid 19A and the control signal supplied to the solenoid 19B are 180 degrees out of phase with each other. As a result, the compressed air discharged from the main compressor 11 is supplied to the pneumatic cylinder 18, and the pneumatic cylinder 18 starts operating (rod advance / retreat). The compressed air alternately flows out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 18. Immediately after this, the controller 46 switches the level of the control signal supplied to the solenoid of the switching valve 39 from the low level to the high level. Thereby, the position of the switching valve 39 is switched, and the other end side of the branch pipe 40 is shut off from the atmosphere. As a result, the compressed air flowing out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 18 both passes through the check valve 34 and is supplied to the tank 32.

  Immediately after this, the controller 46 switches the level of the control signal supplied to the solenoid of the switching valve 35 from the high level to the low level. Thereby, the position of the switching valve 35 is switched, and the other end side of the branch pipe 36 is opened to the atmosphere. As a result, the compressed air flowing out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 14 is released to the atmosphere through the branch pipe 36. Thereafter, the controller 46 supplies control signals for maintaining the low level to the solenoids 15A and 15B of the switching valve 15 of the pneumatic cylinder device 13, respectively. As a result, the main compressor 11 and the pneumatic cylinder 14 are disconnected, and the pneumatic cylinder 14 stops. Thus, in the period P3, the supply source of the compressed air for operating the vacuum generator 21 is switched from the pneumatic cylinder device 13 to the pneumatic cylinder device 17.

  Subsequently, in the period P4, a vacuum is formed in the vacuum port 22C of the ejector 22 by the compressed air supplied from the pneumatic cylinder 18 of the pneumatic cylinder device 17 and accumulated in the tank 32, and suction generated in the suction pad 28 is thereby generated. The workpiece 29 is gripped and conveyed by the force. The compressed air supplied from the pneumatic cylinder 18 to the tank 32 pulsates similarly to the compressed air supplied from the pneumatic cylinder 14 to the tank 32, but this pulsation is removed by the tank 32.

  Subsequently, in the period P5, the controller 46 switches the level of the control signal supplied to the switching valve 45 from the low level to the high level. Thereby, the position of the switching valve 45 is switched, and the sub compressor 43 and the tank 32 are connected. Immediately after this, the controller 46 drives the sub compressor 43. Thereby, the compressed air discharged from the sub compressor 43 is supplied to the tank 32.

  Immediately after this, the controller 46 switches the level of the control signal supplied to the solenoid of the switching valve 39 from the high level to the low level. Thereby, the position of the switching valve 39 is switched, and the other end side of the branch pipe 40 is opened to the atmosphere. As a result, the compressed air respectively flowing out from the head side supply / discharge port and the cap side supply / discharge port of the pneumatic cylinder 18 is released to the atmosphere through the branch pipe 40. Thereafter, the controller 46 supplies control signals for maintaining the low level to the solenoids 19A and 19B of the switching valve 19 of the pneumatic cylinder device 17, respectively. As a result, the main compressor 11 and the pneumatic cylinder 19 are disconnected from each other, and the pneumatic cylinder 19 is stopped.

  Subsequently, in a period P6, a vacuum is formed in the vacuum port 22C of the ejector 22 by the compressed air supplied from the sub-compressor 43 and accumulated in the tank 32, and the workpiece is generated by the suction force generated by the suction pad 28. 29 is gripped and conveyed.

  When the workpiece 29 gripped by the suction pad 28 is separated from the suction pad 28, the position of the switching valve 31 is switched by switching the level of the control signal supplied to the switching valve 31 from the high level to the low level. At the same time, the position of the switching valve 24 is switched by switching the level of the control signal supplied to the switching valve 24 from the low level to the high level. Connect to A. As a result, the compressed air accumulated in the tank 32 flows to the suction pad 28 via the connection point A, a vacuum break occurs, and the workpiece is separated from the suction pad 28.

  In FIG. 2, for convenience of explanation, the case where the compressed air supply source for operating the vacuum generator 21 is switched in the order of the pneumatic cylinder device 13, the pneumatic cylinder device 17, and the sub compressor 43 is taken as an example. Actually, the supply source of compressed air for operating the vacuum generator 21 is switched according to the operating conditions of the pneumatic cylinder devices 13 and 17. For example, while the pneumatic cylinder device 13 is operated and a workpiece is processed, conveyed, etc., the vacuum generator 21 is operated by reusing compressed air used to operate the pneumatic cylinder device 13. In addition, while the pneumatic cylinder device 17 is operated to process or convey a workpiece, the vacuum generator 21 is operated by reusing the compressed air used to operate the pneumatic cylinder device 17. In order to operate either one of the pneumatic cylinder devices 13 and 17 while switching both the switching valves 35 and 39 while the pneumatic cylinder devices 13 and 17 are operated to process or convey the workpiece. The vacuum generator 21 is operated by reusing the compressed air to be used. Further, while both the pneumatic cylinder devices 13 and 17 are stopped, the sub compressor 43 is driven, and the vacuum generator 21 is operated using the compressed air supplied from the sub compressor 43. When the supply amount of compressed air from the pneumatic cylinder devices 13 and 17 is insufficient, the sub compressor 43 is driven simultaneously with the pneumatic cylinder devices 13 and 17, and the shortage of compressed air is supplied from the sub compressor 43. Can be supplemented by compressed air.

  Further, while operating the vacuum generator 21, the pressure of the compressed air supplied from the tank 32 to the supply port 22A of the ejector 22 is set within a certain range. Specifically, during the operation of the vacuum generator 21, the pressure of the compressed air supplied from the tank 32 to the supply port 22A of the ejector 22 is set to a pressure within a predetermined range at which the ejector 22 can appropriately perform the vacuum generation operation. (For example, approximately 0.3 MPa to 0.4 MPa) is always maintained. When compressed air is supplied from the pneumatic cylinder device 13 to the tank 32, the pressure of the compressed air supplied from the tank 32 to the supply port 22A of the ejector 22 is adjusted by appropriately switching the switching valve 35 to adjust the pressure in the tank 32. By doing. That is, when the pressure in the tank 32 exceeds a predetermined range of pressure, the other end of the branch pipe 36 is temporarily opened to the atmosphere by switching the switching valve 35 and supplied from the pneumatic cylinder device 13. The compressed air is temporarily prevented from being supplied to the tank 32, and the pressure in the tank 32 is lowered to a predetermined pressure. Similarly, when compressed air is supplied from the pneumatic cylinder device 17 to the tank 32, the switching valve 39 is appropriately switched to adjust the pressure in the tank 32 and supplied from the tank 32 to the supply port 22A of the ejector 22. Control is performed so that the pressure of the compressed air is within a predetermined range.

  As described above, in the pneumatic system 1, the vacuum generator 21 is operated by reusing the compressed air used to operate the pneumatic cylinder device 13 or 17. In the pneumatic system 1, during operation of the pneumatic cylinder 14 or 18, both compressed air flowing out from the head side (rod side) supply / discharge port of the pneumatic cylinder 14 or 18 and compressed air flowing out from the cap side supply / discharge port are stored in the tank. The vacuum generator 21 is supplied to the vacuum generator 21 through 32 and the like, and the vacuum generator 21 is operated thereby. Therefore, according to the pneumatic system 1, all of the compressed air used for operating the pneumatic cylinder 14 or 18 can be reused effectively and efficiently.

  Further, in the pneumatic system 1, the vacuum generator 21 is operated using the pressure or flow rate of the compressed air flowing out from the pneumatic cylinder 14 or 18. That is, in the pneumatic system 1, the compressed air used to operate the pneumatic cylinder 14 or 18 is not reused as simple air, but is reused as compressed air having pressure or flow rate. Therefore, according to the pneumatic system 1, the energy of the compressed air used for operating the pneumatic cylinder 14 or 18 can be effectively and efficiently reused.

  In the pneumatic system 1, a tank 32 is provided between the pneumatic cylinder devices 13 and 17 and the vacuum generator 21, and the pulsation of compressed air flowing out from the pneumatic cylinder devices 13 and 17 is removed by the tank 32. Thereby, the pressure or flow rate of the compressed air supplied to the supply port 22A of the ejector 22 in the vacuum generator 21 can be stabilized. Therefore, a stable vacuum can be formed at the vacuum port 22C of the ejector 22, the suction force at the suction pad 28 can be stabilized, and the certainty, safety and gripping of the workpiece 29 by the suction pad 28 can be improved. Reliability can be increased.

  Further, in the pneumatic system 1, the switching valves 35 and 39 are provided, and the supply amount of compressed air from the pneumatic cylinder devices 13 and 17 to the tank 32 is adjusted by the switching valves 35 and 39, whereby the vacuum generator 21 from the tank 32. The pressure of the compressed air supplied to the supply port 22A of the ejector 22 is set within a predetermined range. Thus, according to the pneumatic system 1, the pressure or flow rate of the compressed air supplied to the supply port 22 </ b> A of the ejector 22 can be set to match the ejector 22.

  In the pneumatic system 1, a plurality of pneumatic cylinder devices 13, 17 are provided, and compressed air discharged from the pneumatic cylinder devices 13, 17 is selectively supplied to the vacuum generator 21 by the switching valves 35, 39. . Thereby, if either one of the pneumatic cylinder devices 13 and 17 is operating, the vacuum generating device 21 can be operated, and the opportunity to operate the vacuum generating device 21 by reusing the compressed air can be increased. it can. Therefore, the vacuum generator 21 can be effectively utilized by reusing the compressed air.

  In the pneumatic system 1, the sub compressor 43 is provided. When both the pneumatic cylinder devices 13 and 17 are stopped or when the compressed air to be accumulated in the tank 32 is insufficient, the sub compressor 43 is provided. Drive to supplement the compressed air to be supplied to the vacuum generator 21. Thereby, even when both the pneumatic cylinder devices 13 and 17 are stopped, or when the supply amount of compressed air from the pneumatic cylinder devices 13 and 17 is insufficient to operate the vacuum generator 21, The generator 21 can be operated. Therefore, according to the pneumatic system 1, it is possible to prevent the operation of the vacuum generator 21 from being affected by the operation status of the pneumatic cylinder devices 13 and 17.

  Further, in the pneumatic system 1, a tank 30 is provided in the middle of a pipe line leading from the vacuum port 22 </ b> C of the ejector 22 to the suction pad 28, and the vacuum energy formed in the vacuum port 22 </ b> C is accumulated in the tank 30. Ensure sufficient vacuum pressure. Thereby, the stable suction | attraction force can be reliably generate | occur | produced in the suction pad 28. FIG. The tank 30 also has an effect of removing the pulsation of the compressed air flowing out from the pneumatic cylinders 14 and 18 together with the tank 32.

  Further, when the operation of the ejector 22 is started (period P1), the tank 30 and the suction pad 28 are disconnected, the vacuum energy formed in the vacuum port 21 is accumulated in the tank 30, and the vacuum in the tank 30 is stored. After the pressure is sufficiently increased, the tank 30 and the suction pad 28 are connected to generate a suction force on the suction pad 28. Accordingly, a stable suction force can be generated on the suction pad 28 from the beginning of the gripping / conveying operation of the workpiece 29, and the safety of the gripping / conveying operation of the workpiece 29 can be improved.

  In the pneumatic system 1 described above, the case where the two pneumatic cylinder devices 13 and 17 are provided is taken as an example, but the present invention is not limited to this. The number of pneumatic cylinder devices may be one, or three or more. In the pneumatic system 1 described above, the case where one vacuum generator 21 is provided is taken as an example, but the number of vacuum generators may be two or more. When reusing a large amount of compressed air, such as when operating two or more vacuum generators at the same time, accumulate the compressed air from two or more pneumatic cylinder devices at the same time and increase the pressure in the tank. Also good.

  In the pneumatic system 1 described above, the case where the compressed air flowing out from the pneumatic cylinder devices 13 and 17 is selectively supplied to the vacuum generator 21 by the switching valves 35 and 39 has been described as an example. Not exclusively. Both the compressed air flowing out from the pneumatic cylinder device 13 and the compressed air flowing out from the pneumatic cylinder device 17 may be supplied to the vacuum generator 21 at the same time. In this case, when the pressure or flow rate of the compressed air flowing into the supply port 22A of the ejector 22 in the vacuum generator 21 is excessive, the supply valves 22A of the ejector 22 are supplied from the pneumatic cylinder devices 13 and 17 by the switching valves 35 and 39. A part or all of the compressed air to be supplied to the exhaust gas is discharged into the atmosphere, and thereby the pressure in the tank 32 or the pressure or flow rate of the compressed air flowing into the supply port 22A of the ejector 22 falls within an appropriate range. What should I do? A control valve such as a regulator may be used to adjust the pressure or flow rate of the compressed air.

(Second Embodiment)
FIG. 3 shows a second embodiment of the pneumatic system of the present invention. In the above-described pneumatic system 1 (see FIG. 1), a plurality of pneumatic cylinder devices 13 and 17 are provided, and a tank 32 is provided between the pneumatic cylinder devices 13 and 17 and the vacuum generator 21 as an example. Like the pneumatic system 2 shown in FIG. 3, the number of pneumatic cylinder devices may be one and the tank 32 may be excluded. In this case, the pulsation of the compressed air flowing out from the pneumatic cylinder 14 can be removed or suppressed by the tank 30 connected between the ejector 22 and the suction pad 28.

(Third embodiment)
FIG. 4 shows a third embodiment of the pneumatic system of the present invention. In the above-described pneumatic system 1 (see FIG. 1), a case where a plurality of pneumatic cylinder devices 13 and 17 are provided and a tank 30 is provided between the ejector 22 and the suction pad 28 is taken as an example. As in the system 3, one pneumatic cylinder device may be provided and the tank 30 may be eliminated. In this case, the suction force in the suction pad 28 can be stabilized by stabilizing the pressure in the tank 32.

(Fourth embodiment)
FIG. 5 shows a fourth embodiment of the pneumatic system of the present invention. In the pneumatic system 3 (see FIG. 4) described above, the tank 32 is provided between the pneumatic cylinder device 13 and the vacuum generator 21 so that the pneumatic cylinder device 13, the tank 32, and the vacuum generator 21 are arranged in series. Connected. However, as in the pneumatic system 4 shown in FIG. 5, the tank 51 (second tank) and one end side are between the pneumatic cylinder device 13 and the vacuum generator 21 (specifically, the check valve 34 and the switching valve 23). And a branch pipe (first branch path) 52 connected to the tank 51 at the other end, and when the pneumatic cylinder device 13 is operating, the compressed air discharged from the pneumatic cylinder device 13 Air is accumulated in the tank 51 via the branch pipe 52, and when the pneumatic cylinder device 13 is stopped, the compressed air accumulated in the tank 51 is supplied to the vacuum generator 21 via the branch pipe 52. Also good. Further, a regulator 53 may be connected in the middle of the branch pipe 52 to release the excessive pressure of compressed air from the pneumatic cylinder device 13 toward the tank 51 to the atmosphere. In addition, the tank 51 is provided with a valve that detects the pressure in the tank 51 and discharges the compressed air in the tank 51 to the outside of the tank 51 when the pressure exceeds the preset upper tank pressure. Also good. Moreover, you may apply the structure provided with the tank 51 shown in FIG. 5, the branch piping 52, and the regulator 53 to the pneumatic system 1 shown in FIG.

(Fifth embodiment)
FIG. 6 shows a fifth embodiment of the pneumatic system of the present invention. The pneumatic system 5 in FIG. 6 includes a supply pipe 55 that connects between the main compressor 11 and the tank 32 in addition to the components of the pneumatic system 3 in FIG. Thereby, separately from the compressed air discharged from the pneumatic cylinder device 13, the compressed air discharged from the main compressor 11 is supplied to the tank 32 through the supply pipe 55. By providing the supply pipe 55, it is possible to supply sufficient compressed air to the tank 32 even when the pneumatic cylinder device 13 is stopped or when sufficient compressed air is not discharged from the pneumatic cylinder device 13. The vacuum generator 21 can be operated.

  In the middle of the supply pipe 55, a regulator 56 for adjusting the pressure of compressed air supplied from the main compressor 11 to the tank 32 via the supply pipe 55, and compressed air discharged from the main compressor 11 are connected to the supply pipe 55. A switching valve 57 for switching whether to supply to the tank 32 via the supply pipe 55 and a check valve 58 for preventing the compressed air from flowing backward from the tank 32 toward the main compressor 11 via the supply pipe 55 may be provided. . The configuration including the supply pipe 55, the regulator 56, the switching valve 57, and the check valve 58 in FIG. 6 may be applied to the pneumatic system 1 in FIG.

(Sixth embodiment)
FIG. 7 shows a sixth embodiment of the pneumatic system of the present invention. The pneumatic system 6 in FIG. 7 includes a tank 59 (third tank) and a switching valve 60 (first switching valve) in addition to the components of the pneumatic system 5 in FIG. The tank 59 is connected between the tank 32 and the vacuum generator 21, accumulates compressed air discharged from the tank 32, and supplies the accumulated compressed air to the vacuum generator 21. The switching valve 60 is connected between the tank 32 and the tank 59, and switches connection / disconnection between the tank 32 and the tank 59. While the main compressor 11 and the pneumatic cylinder device 13 are operating, or only the main compressor 11 is operating, a high level control signal is supplied to the solenoid of the switching valve 60 to switch the switching valve 60, and the tank 32 and tank 59 are connected. Thereby, the compressed air discharged from the tank 32 flows into the tank 59 and is accumulated in the tank 59. After the compressed air sufficient to operate the vacuum generator 21 is accumulated in the tank 59, the switching valve 59 is switched to shut off the tank 32 and the tank 59. Thereby, the vacuum generator 21 operates exclusively using the compressed air accumulated in the tank 59.

  While the compressed air sufficient to operate the vacuum generator 21 is accumulated in the tank 59, the vacuum generator 21 continues to operate even if the operations of the main compressor 11 and the pneumatic cylinder device 13 are stopped. be able to. By controlling the operation of the main compressor 11 or the pneumatic cylinder device 13 and the switching of the switching valve 60 so that the accumulation of compressed air sufficient to operate the vacuum generator 21 is constantly maintained in the tank 59, Even when the operation period of the main compressor 11 or the pneumatic cylinder device 13 and the operation period of the vacuum generator 21 are different, the vacuum generator 21 can be reliably operated. In other words, the independence of the operation of the pneumatic cylinder device 13 and the operation of the vacuum generator 21 can be increased, and the degree of freedom in utilizing the vacuum generator 21 can be increased. The configuration including the tank 59 and the switching valve 60 in FIG. 7 may be applied to the pneumatic system 1 in FIG.

(Seventh embodiment)
FIG. 8 shows a seventh embodiment of the pneumatic system of the present invention. The pneumatic system 7 in FIG. 8 includes a pressure intensifier 61 in addition to the components of the pneumatic system 6 in FIG. The pressure booster 61 is, for example, a pressure boosting valve, and is connected between the tank 32 and the tank 59. Also, check valves 62 and 63 are connected between the tank 32 and the pressure intensifier 61, and between the pressure intensifier 61 and the tank 59, respectively, for preventing the compressed air from flowing backward from the tank 59 toward the tank 32. Has been.

  Even when the pressure of the compressed air accumulated in the tank 32 is lower than the pressure of the compressed air necessary for operating the vacuum generator 21, the pressure of the compressed air discharged from the tank 32 is increased by the pressure intensifier 61. As a result, the pressure of the compressed air necessary for operating the vacuum generator 21 can be created. Then, compressed air having a pressure necessary for operating the vacuum generator 21 can be accumulated in the tank 59.

  In FIG. 8, the switching valve 60 in FIG. 7 is removed, but this switching valve 60 may be connected to any location between the tank 32 and the tank 59 in FIG. Further, the configuration including the tank 59, the pressure intensifier 61, and the check valves 62 and 63 in FIG. 8 may be applied to the pneumatic system 1 in FIG.

(Eighth embodiment)
FIG. 9 shows an eighth embodiment of the pneumatic system of the present invention. The pneumatic system 8 in FIG. 9 differs from the pneumatic system 7 in FIG. 8 in that the supply pipe 55, the regulator 56, the switching valve 57, and the check valve 58 are removed. When the pressure of the compressed air to be supplied to the pressure booster 61 in order to operate the pressure booster 61, that is, when the operating pressure of the pressure booster 61 is large, the pressure cylinder 61 is discharged from the pneumatic cylinder device 13 in order to operate the pressure booster 61 appropriately. In many cases, it is necessary to supply compressed air discharged from the main compressor 11 in addition to the compressed air. However, when the operating pressure of the pressure intensifier 61 is small, the pressure intensifier 61 can be appropriately operated only with the compressed air discharged from the pneumatic cylinder device 13. In this case, the compressed air from the main compressor 11 can be operated. Is not necessarily required. When the operating pressure of the intensifier 61 is large, the pneumatic system 7 in FIG. 8 is suitable. However, when the operating pressure of the intensifier 61 is small, the pneumatic system 8 in FIG. Can be simplified.

(Ninth embodiment)
FIG. 10 shows a ninth embodiment of the pneumatic system of the present invention. In the pneumatic system 9 in FIG. 10, the same components as those in the pneumatic system 1 in FIG.

In the pneumatic system 9 in FIG. 10, pneumatic cylinder devices 72 and 73 as two pneumatic actuator devices are connected to a compressor 71 as a pneumatic source. The compressed air discharged from the compressor 71 is supplied to the pneumatic cylinder devices 72 and 73, respectively. The pneumatic cylinder devices 72 and 73 are each operated by this compressed air, and the compressed air is discharged along with this operation. The internal structure of the pneumatic cylinder devices 72 and 73 is the same as that of the pneumatic cylinder devices 13 and 17 in FIG. 1 described above. Two vacuum generators 74 and 75 are connected in parallel to the pneumatic cylinder device 72, respectively. ing. These vacuum generators 74 and 75 are also connected to the pneumatic cylinder device 73 in parallel. Each of the vacuum generators 74 and 75 has a supply port 22A, a discharge port 22B, and a vacuum port 22C, similar to the vacuum generator 21 in FIG. 1 described above, and the supply port 22A is connected to the pneumatic cylinder devices 72 and 73. Ejector 22 (main vacuum generator) for generating vacuum in vacuum port 22C by discharging compressed air discharged from pneumatic cylinder devices 72 and 73 and flowing in through supply port 22A from discharge port 22B, for generating vacuum And a check valve 26 that prevents compressed air from flowing from the vacuum port 22C of the ejector 22 toward the tank 82.

  In addition, a vacuum generator 76 is connected to the compressor 71. The vacuum generator 76 also has a supply port 22A, a discharge port 22B and a vacuum port 22C, similar to the vacuum generator 21 in FIG. 1 described above. The supply port 22A is connected to the pneumatic cylinder devices 72 and 73, and the air pressure is increased. Ejector 22 (sub-vacuum generator) for generating vacuum in vacuum port 22C by discharging compressed air discharged from cylinder devices 72 and 73 and flowing in through supply port 22A from discharge port 22B, switching valve for generating vacuum 23, and a check valve 26 that prevents compressed air from flowing from the vacuum port 22C of the ejector 22 toward the tank 82. A regulator 77 is connected between the compressor 71 and the vacuum generator 76. The regulator 77 reduces the pressure of the compressed air supplied from the compressor 71 to the vacuum generator 76 to a pressure appropriate for operating the ejector 22 of the vacuum generator 76.

  The vacuum port 22C of the ejector 22 included in the vacuum generators 74, 75, and 76 is connected to one end side of the vacuum pipe 80 (vacuum path), and the suction pad 81 is connected to the other end side of the vacuum pipe 80. . A tank 82 is connected between one end side and the other end side of the vacuum pipe 80. A switching valve 83 that switches connection / disconnection between the tank 82 and the suction pad 81 is connected between the tank 82 and the suction pad 81.

  In addition, a vacuum break pipe 84 is provided between the connection point B located between the switching valve 83 and the suction pad 81 in the vacuum pipe 80 and the compressor 71. A switching valve 85 for destruction is connected, and a throttle valve 86 for adjusting the breaking flow rate is connected between the switching valve 85 and the connection point B.

  In the pneumatic system 9 having such a configuration, the switching valve 85 cuts off the connection between the compressor 71 and the connection point B, and the switching valves 23 of the vacuum generators 74, 75, 76 and the pneumatic cylinder devices 72, 73, and The supply port 22 </ b> A of the ejector 22 is connected, the switching valve 83 blocks the tank 82 and the suction pad 81, and the compressor 71 is driven. As a result, the pneumatic cylinder devices 72 and 73 are operated by the compressed air from the compressor 71, and the ejectors 22 of the vacuum generators 74 and 75 are operated by the compressed air discharged from the pneumatic cylinder devices 72 and 73 accordingly. To do. Further, the ejector 22 of the vacuum generator 76 is operated by the compressed air supplied from the compressor 71 without passing through the pneumatic cylinders 72 and 73. A vacuum is generated in the vacuum port 22C of each ejector 22 by the operation of each ejector 22 of the vacuum generators 74, 75, and 76, the energy of this vacuum is accumulated in the tank 82, and the vacuum pressure in the tank 82 increases. When the vacuum pressure in the tank 82 reaches a predetermined vacuum pressure, when the tank 82 and the suction pad 81 are connected by switching the switching valve 83, suction force is generated in the suction pad 81, and the suction pad 81 The workpiece 87 can be gripped. When the workpiece 87 is separated from the suction pad 81, the switching valve 83 is switched to shut off the tank 82 and the suction pad 81, and the switching valve 85 is switched to connect the compressor 71 and the connection point B. And the compressed air from the compressor 71 is supplied to the suction pad 81 via the vacuum breaking pipe 84.

  According to the pneumatic system 9, like the pneumatic system 1 in FIG. 1 described above, all of the compressed air used to operate the pneumatic cylinder devices 72 and 73 can be effectively and efficiently reused. Moreover, the energy which the compressed air used in order to operate the pneumatic cylinders 72 and 73 can be reused effectively and efficiently. Further, similarly to the pneumatic system 2 in FIG. 3 described above, the pulsation of the compressed air flowing out from the pneumatic cylinders 72 and 73 can be removed or suppressed by the tank 82. Also, a plurality of vacuum generators 74, 75 are operated using compressed air discharged from the pneumatic cylinder devices 72, 73, and vacuum energy created by these vacuum generators 74, 75 is collected in the tank 82. Thus, the vacuum pressure in the tank 82 can be increased, and a sufficient suction force can be generated in the suction pad 81. Further, when the vacuum pressure in the tank 82 cannot be secured only by the vacuum generators 74 and 75 using the compressed air discharged from the pneumatic cylinder devices 72 and 73, the compressed air supplied from the compressor 71 is directly used. By operating the vacuum generator 76 to be used, the vacuum pressure in the tank 82 can be sufficiently increased.

  In the pneumatic system 9, the case where two vacuum generators 74 and 75 that operate using compressed air discharged from the pneumatic cylinder devices 72 and 73 are described as an example, but the pneumatic cylinder devices 72 and 73 are provided. The number of vacuum generators that operate using the compressed air discharged from the pipe may be three or more. By setting the number of vacuum generators to two or three or more, even when the nozzle diameter of the ejector 22 employed in each vacuum generator is small, the operating speed of the pneumatic cylinders 14 and 18 in the pneumatic cylinder devices 72 and 73 can be reduced. Can be raised. That is, as shown in FIG. 10, when the diameter of the nozzle in the ejector 22 connected to the discharge path of the pneumatic cylinders 14 and 18 is small, the nozzle in the ejector 22 moves to the discharge path of the pneumatic cylinders 14 and 18. There is a case where the throttle action occurs, and as a result, the discharge flow rate of the compressed air from the pneumatic cylinders 14 and 18 is limited, and the operating speed of the pneumatic cylinders 14 and 18 may be reduced. In such a case, the number of vacuum generators is increased, and the number of ejectors 22 connected to the discharge paths of the pneumatic cylinders 14 and 18 is increased. Thereby, the throttle action produced in the discharge path of the pneumatic cylinders 14, 18 by the nozzles in the ejector 22 can be reduced, the discharge flow rate of the compressed air from the pneumatic cylinders 14, 18 can be increased, and the pneumatic cylinders 14, The operating speed of 18 can be increased.

  The specific configuration of each switching valve in the pneumatic systems 1 to 9 described above, such as the switching operation method of each switching valve, is not limited to the examples shown in FIGS. 1 and 3 to 10. 1 may be a 5-port 2-position direction switching valve.

  In the pneumatic systems 1 to 9 described above, the pneumatic cylinder device 13 (17) is used as an example of the pneumatic actuator device. However, the present invention is not limited to this. As the pneumatic actuator device, for example, an oscillating actuator device or the like can be used.

  Further, the present invention can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and a pneumatic system with such a change is also included in the technical concept of the present invention. It is.

1 is a circuit diagram showing a pneumatic system according to a first embodiment of the present invention. It is a timing chart which shows the control signal for controlling the switching valve in the pneumatic system which is the 1st embodiment of the present invention. It is a circuit diagram which shows the pneumatic system which is the 2nd Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 3rd Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 4th Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 5th Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 6th Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 7th Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 8th Embodiment of this invention. It is a circuit diagram which shows the pneumatic system which is the 9th Embodiment of this invention.

Explanation of symbols

1, 2, 3, 4, 5, 6, 7, 8, 9 Pneumatic system 11 Main compressor 13, 17, 72, 73 Pneumatic cylinder device 21, 74, 75, 76 Vacuum generator 22 Ejector 22A Supply port 22B Release port 22C Vacuum port 28, 81 Suction pad 30, 32, 51, 59, 82 Tank 31, 35, 39, 45, 60 Switching valve 36, 39, 52 Branch pipe 43 Sub compressor 55 Supply line 61 Pressure booster 71 Compressor 80 Vacuum Piping

Claims (10)

A first air pressure source;
A pneumatic actuator device connected to the first air pressure source, operated by compressed air supplied from the first air pressure source, and discharging compressed air in accordance with the operation;
A supply port, a discharge port, and a vacuum port, wherein the supply port is connected to the pneumatic actuator device, and a vacuum is discharged by discharging compressed air discharged from the pneumatic actuator device and flowing in through the supply port from the discharge port; A vacuum generator for generating a vacuum at the port;
A pneumatic system comprising: a suction pad connected to a vacuum port of the vacuum generator.   A first tank is connected between the pneumatic actuator device and the vacuum generator, accumulates compressed air discharged from the pneumatic actuator device, and supplies the accumulated compressed air to the vacuum generator. The pneumatic system according to claim 1, wherein: A second tank,
The one end side is connected between the air actuator device and the vacuum generator, and the other end side is provided with a first branch path connected to the second tank. Pneumatic system.   3. A supply path for supplying compressed air discharged from the first air pressure source to the first tank separately from compressed air discharged from the pneumatic actuator device. Pneumatic system as described. A third tank that is connected between the first tank and the vacuum generator, accumulates compressed air discharged from the first tank, and supplies the accumulated compressed air to the vacuum generator When,
A first switching valve that is connected between the first tank and the third tank and that switches connection / disconnection between the first tank and the third tank; 3. A pneumatic system according to claim 2, characterized in that   The pneumatic system according to claim 5, wherein a pressure intensifier is connected between the first tank and the third tank. A second air pressure source connected to the supply port of the vacuum generator and supplying compressed air to the vacuum generator;
A second switching valve that is connected between the second air pressure source and the vacuum generator and that switches connection / disconnection between the second air pressure source and the vacuum generator; The pneumatic system according to claim 1, characterized in that: A plurality of the pneumatic actuator devices;
A second branch path having one end connected between each pneumatic actuator device and the supply port of the vacuum generator, and the other end opened to the outside;
A control valve connected in the middle of the second branch path and for discharging part or all of the compressed air to be supplied from the pneumatic actuator devices to the supply port of the vacuum generator. The pneumatic system according to claim 1, wherein: A fourth tank connected between the vacuum port of the vacuum generator and the suction pad;
A third switching valve is connected between the fourth tank and the suction pad, and switches between connection and disconnection between the fourth tank and the suction pad. Item 2. The pneumatic system according to Item 1. A pneumatic source;
A pneumatic actuator device connected to the air pressure source, operated by compressed air supplied from the air pressure source, and discharging compressed air with this operation;
A supply port, a discharge port, and a vacuum port; the supply port is connected to the pneumatic actuator device; and a vacuum is discharged by discharging compressed air discharged from the pneumatic actuator device and flowing in through the supply port from the discharge port. Multiple main vacuum generators that generate vacuum at the port;
A supply port, a discharge port, and a vacuum port; the supply port is connected to the air pressure source; and the compressed air discharged from the air pressure source and flowing in through the supply port is discharged from the discharge port to the vacuum port. A sub-vacuum generator for generating a vacuum;
A vacuum path in which a vacuum port of the plurality of main vacuum generators and a vacuum port of the sub vacuum generator are respectively connected to one end side, and a suction pad is connected to the other end side;
A pneumatic system comprising: a tank connected between the one end side and the other end side of the vacuum path.

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