JP2578257B2 - Drive cylinder speed controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling the speed of a drive cylinder operated by a compressible fluid.

[0002]

2. Description of the Related Art Heretofore, as a speed control device for a drive cylinder of this type, a device using a speed controller, an electropneumatic proportional control valve, a hydro check valve, an air-hydro converter or the like is known. However, these conventional configurations have a problem that the speed control of the drive cylinder cannot be continuously and accurately performed.

In order to solve this problem, the same applicant as the present invention filed a patent application (Japanese Patent Application No. 63-1441).
No. 50, Japanese Patent Laid-Open No. 1-312208), a piston of a drive cylinder and a piston of a brake cylinder are interlocked with each other, and both fluid chambers defined by the piston of the brake cylinder communicate with each other via a brake passage having an electric field. In addition, a speed control device for a drive cylinder has been proposed in which both fluid chambers and the brake passage are filled with an electrorheological fluid so that the magnitude of the electric field in the brake passage can be adjusted.

[0004]

SUMMARY OF THE INVENTION However, Japanese Patent Application No. Hei.
In Japanese Patent No. 312208, the brake cylinder is constituted by a rod-type cylinder, and a piston rod is protruded from both ends of the cylinder. There is a problem that leakage is likely to occur. On the other hand,
Drive and brake cylinders to reduce body size
A rodless cylinder with a piston and external sliding body
It is conceivable to connect by force, but the electrorheological fluid
For enclosed rodless cylinders,
The magnets arranged on the circumference absorb the magnets arranged on the external slide.
Magnets come into contact with the cylinder inner wall and metal powder is generated.
And the metal powder is mixed into the electrorheological fluid,
There is a problem that the fluid is significantly deteriorated. Also the piston
When the piston comes to the end of the brake cylinder, the piston
Particles of electrorheological fluid sandwiched between end faces of cylinder
Could be damaged.

[0005] The present invention has been made in view of the problems existing in such prior art, and has as its object to reduce the size of the entire apparatus and to reduce the size of the brake cylinder. It is an object of the present invention to provide a drive cylinder speed control device that can prevent the incompressible fluid from leaking and can continuously and accurately control the speed of the drive cylinder.

[0006]

[MEANS FOR SOLVING THE PROBLEMS] To achieve the above object
The invention of claim 1Speed control device for such a drive cylinder
In (A), a magnet (39) is held around the outer periphery.
Rodless cylinder with a piston (6)
Drive cylinder (1) and (B)A magnet (4
3) equipped with a retained piston (14)Brake cylinder
Da (2) and (C)The magnet of the piston (6)
A magnet (41) disposed opposite to (39);
The piston (6) is arranged facing the magnet (43).
A connecting member including a magnet (45) provided;
(D) By the piston (14) of the brake cylinder (2)
Into the two fluid chambers (16, 17)
Is leaked withElectro-rheological fluid (28A)When,
(E) into the fluid chambers (16, 17);Electrorheological fluid
(28A)Adjust the flow rate ofElectric field adjustment applying means (47
A)And

According to the second aspect of the present invention, the brake cylinder
(2) a mug disposed on the outer periphery of the piston (14);
The net (43) is connected to the cylinder by the sliding ring (18).
It is characterized by being held with an inner wall and a gap.
According to the third aspect of the present invention, the configuration of the first or second aspect is
The piston (14) of the brake cylinder (2)
The cushion body 20 is attached to the end.
You.

According to a fourth aspect of the present invention, in the configuration of the first aspect, a magnetic fluid is used as the incompressible fluid, and a magnetic field adjusting means for adjusting and applying a magnetic field to the magnetic fluid is provided as the flow rate adjusting means. It is a thing. In the invention according to claim 5, a drive cylinder operated by a compressible fluid;
A brake cylinder comprising a rodless cylinder, disposed in parallel with the drive cylinder, connecting means for operatively connecting a piston of the drive cylinder and a piston of the brake cylinder, and a brake cylinder defined by the piston of the brake cylinder. The apparatus includes an incompressible fluid flowing into and out of the fluid chamber, and flow rate adjusting means for adjusting a flow rate of the incompressible fluid into the fluid chamber.

According to a sixth aspect of the present invention, in the configuration of the fifth aspect, an electrorheological fluid is used as the incompressible fluid,
An electric field adjustment applying means for adjusting and applying an electric field to the electrorheological fluid is provided as the flow rate adjusting means. According to a seventh aspect of the present invention, in the configuration of the fifth aspect, oil is used as the incompressible fluid, and a flow path opening adjusting means is provided as the flow rate adjusting means for adjusting a flow opening of the oil into the fluid chamber. It is a thing.

According to the invention of claim 8, in the configuration of claim 5, a magnetic fluid is used as the incompressible fluid, and a magnetic field adjusting means for adjusting and applying a magnetic field to the magnetic fluid is provided as the flow rate adjusting means. It is a thing. According to a ninth aspect of the present invention, in the configuration of the fifth aspect, the connecting means includes a connecting member disposed between the driving cylinder and the braking cylinder, and a connecting member and the pistons of the two cylinders. It consists of magnets provided to face each other.

According to a tenth aspect of the present invention, in the configuration of the fifth aspect, the two fluid chambers of the brake cylinder are communicated via a communication passage, and the incompressible fluid is filled in the two fluid chambers and the communication passage. Things.

[0012]

In the drive cylinder speed control device configured as described above, when the piston of the drive cylinder is moved by the compressible fluid, the piston of the brake cylinder is moved in conjunction with the movement of the piston. An incompressible fluid flows into and out of the fluid chamber. At this time, if the flow rate adjusting means adjusts the flow rate of the incompressible fluid into the fluid chamber,
The braking force of the brake cylinder changes according to the adjusted flow rate, and the speed of the drive cylinder can be changed.
That is, when the flow rate is reduced, the braking force increases and the speed decreases, and when the flow rate increases, the braking force decreases and the speed increases.

Further, when an electrorheological fluid or a magnetic fluid is used as the non-compressed fluid and an electric field adjustment applying means or a magnetic field adjustment applying means is used as a flow rate adjusting means, there is no movable member, so that the durability is improved. I do.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of a drive cylinder speed control device embodying the present invention will be described in detail with reference to FIGS. As shown in FIG. 2, the drive cylinder 1 and the brake cylinder 2 are each composed of a rodless cylinder, and are disposed in parallel between the pair of end blocks 3 and 4. The drive cylinder 1 includes a cylinder tube 5 and
A pair of pistons 6 movably provided in the cylinder tube 5 and a piston rod 7 connecting the pistons 6 are provided.
A pair of fluid chambers 8 and 9 are defined therein. A sliding ring 10 and a packing 11 are fitted around the outer periphery of each piston 6,
Cushion bodies 12 are attached to both ends of the piston rod 7.

The brake cylinder 2 includes a cylinder tube 13, a pair of pistons 14 movably provided in the cylinder tube 13, and a piston rod 15 connecting the pistons 14. A pair of fluid chambers 16 and 17 are defined in the interior 13. A sliding ring 18 and a packing 19 are fitted around the outer periphery of each piston 14, and cushion bodies 20 are attached to both ends of the piston rod 15.

A pair of input ports 21 and 22 are provided in the end block 3, and one input port 21 is connected to one fluid chamber 8 of the drive cylinder 1. The communication pipe 23 is provided between the end blocks 3 and 4, and the other input port 22 is connected to the other fluid chamber 9 via the communication pipe 23. When the compressible fluid is supplied from the compressor (not shown) to the one fluid chamber 8 via the one input port 21 by switching the switching valve (not shown), the piston 6 of the drive cylinder 1 is turned on.
Is moved to the left. Further, when a compressible fluid is supplied from the compressor (not shown) to the other fluid chamber 9 via the other input port 22 by switching the switching valve (not shown), the piston 6 is moved rightward. .

A communication pipe 26 is provided between the two end blocks 3 and 4 to form a communication passage 27 which forms a closed circuit for communicating the two fluid chambers 16 and 17 of the brake cylinder 2 including the communication pipe 26. Have been. Incompressible fluid 2
8 denotes both fluid chambers 16 and 17 of the brake cylinder 2 and the communication passage 2
7, and in the first embodiment, an electrorheological fluid 28A is used as the incompressible fluid 28. This electrorheological fluid 28A has the property that the viscosity changes in proportion to the magnitude of the electric field.

A connecting device 29 constituting a connecting means is provided between the drive cylinder 1 and the brake cylinder 2, and the piston 6 of the drive cylinder 1 and the piston 1 of the brake cylinder 2
4 is linked so as to be interlockable. This connecting device 29
A slider 30 movably inserted in the cylinder tube 5 of the drive cylinder 1, a slider 31 movably inserted in the cylinder tube 13 of the brake cylinder 2, and a drive cylinder for connecting the sliders 30, 31. 1 and a moving member 32 as a connecting member disposed between the brake cylinder 2 and the brake cylinder 2. Each of the pair of cylindrical bodies 33, 34 is fitted in the sliders 30, 31, and has sliding rings 35, 36 and scrapers 37,
38 are provided respectively.

A plurality of piston-side magnets 39 are disposed between the pistons 6 of the drive cylinder 1 via a plurality of yokes 40, and a plurality of sliders are provided on the inner surface of the slider 30 so as to face the piston-side magnets 39. The side magnet 41 is provided via a plurality of yokes 42. The plurality of piston-side magnets 43 are disposed between the pistons 14 of the brake cylinder 2 via a plurality of yokes 44, and a plurality of slider-side magnets 45 are provided on the inner surface of the slider 31 so as to face the piston-side magnets 43. Are arranged via a plurality of yokes 46. Then, both cylinders 1 and 2 are attracted by the magnets 39 and 43 on the piston side and the magnets 41 and 45 on the slider side.
Pistons 6 and 14 are operatively connected via sliders 30 and 31 and a moving member 32.

A flow control device 47 as flow control means is provided in the one end block 3 and controls the flow rate of the electrorheological fluid 28A flowing into and out of the fluid chambers 16 and 17 of the brake cylinder 2 from the communication passage 27. . In the first embodiment, an electric field adjustment applying device 47A is provided as the flow adjustment device 47 as electric field adjustment applying means for adjusting and applying an electric field to the electrorheological fluid 28A. The electric field adjustment applying device 47A includes a cylindrical electrode 49 provided in the communication passage 27 via an insulator 48, and an insulator 48 so as to be positioned at a predetermined gap 50 in the cylindrical electrode 49. Rod-shaped electrode 5 disposed in the communication path 27 via
2 is comprised. The magnitude of the electric field is changed by increasing or decreasing the voltage applied to both electrodes 49 and 52 via the lead wire 53, and the both electrodes 49 and 52 are changed.
The viscosity of the electrorheological fluid 28A passing through the gap 50 between them increases or decreases in proportion to the magnitude of the electric field.

Next, the operation of the drive cylinder speed control device having the above-described structure will be described. Now, when a switching valve (not shown) is switched, a compressive fluid is supplied from the compressor (not shown) to the fluid chamber 8 or the fluid chamber 9 of the drive cylinder 1 via one of the input ports 21 and 22. , The piston 6 of the drive cylinder 1 is moved leftward or rightward. The piston 6 of this drive cylinder 1
With the movement of the piston 14, the piston 14 of the brake cylinder 2 is integrally moved in the same direction via the sliders 30, 31 and the moving member 32 of the interlocking device 29, and the movement of the piston 14 An electrorheological fluid 28A flows between the fluid chambers 16 and 17.

At this time, when the voltage applied to the two electrodes 49 and 51 of the electric field adjustment applying device 47A is increased or decreased, the magnitude of the electric field is changed and the electrorheological flow flowing through the gap 50 between the two electrodes 49 and 52 is changed. The viscosity of the fluid 28A is increased or decreased in proportion to the magnitude of the electric field, and the braking force of the brake cylinder 2 is increased or decreased. That is, when the voltage applied to both electrodes 49 and 52 increases, the viscosity of the electrorheological fluid 28A increases, and the gap 5
0, the flow rate of the electrorheological fluid 28A decreases, the braking force of the braking cylinder 2 increases, and the speed of the driving cylinder 1 decreases. Conversely, when the applied voltage decreases, the viscosity of the electrorheological fluid 28A decreases, the flow rate through the gap 50 increases, the braking force of the brake cylinder 2 decreases, and the speed of the drive cylinder 1 increases. Therefore, the speed control of the drive cylinder 1 operated by the compressible fluid can be continuously and accurately performed by the electric signal. The gap 50
Is reduced, the flow rate of the electrorheological fluid 28A is almost eliminated, and a state close to a locked state can be achieved.

In this embodiment, since the drive cylinder 1 and the brake cylinder 2 are constituted by rodless cylinders as described above, both cylinders 1 and 2 are provided as in the conventional apparatus constituted by rod type cylinders. Since the piston rods do not protrude from both ends of the device 2, the entire device can be reduced in size. Further, in this embodiment, the cylinder tubes 5 of the drive cylinder 1 and the brake cylinder 2
Since the piston rod or the like does not penetrate through 13, the compression fluid can be prevented from leaking from the drive cylinder 1, and the electrorheological fluid 28A as the incompressible fluid can be prevented from leaking from the brake cylinder 2.

Further, both fluid chambers 1 of the brake cylinder 2
6 and 17 are communicated via a communication passage 27 to form a closed circuit as a whole.
The filling of the communication passages 27, 27 and the communication path 27 can prevent the incompressible fluid 28 from leaking. When the electro-rheological fluid 28A is used as the non-compressed fluid 28 and the electric field adjusting means 47A is used as the flow rate adjusting means, there is no movable member, so that the durability can be improved.

[0025]

Next, a second embodiment of the present invention will be described with reference to FIG. Now, in this embodiment, oil 28B is used as the incompressible fluid 28 which is filled in the fluid chambers 16 and 17 and the communication passage 27 of the brake cylinder 2;
As a flow adjusting device 47 for adjusting the flow rate of the fluid,
Oil 28B into fluid chambers 16 and 17 of brake cylinder 2
There is provided a flow path opening adjusting device 47B as flow path opening adjusting means for adjusting the flow path opening amount. The flow path opening adjusting device 47B includes a frame 56 screwed to one end block 3, a support 57 screwed to the frame 56, and a stem 58 rotatably screwed to the support 57. And oil 28B to the fluid chamber 16 of the brake cylinder 2
A needle valve 60 provided at the inner end of the stem 58 and an adjustment knob 61 attached to the outer end of the stem 58 so as to correspond to the flow path 59. or,
A stem guide 62 is provided on the inner periphery of the frame 56,
Packings 63 and 64 are provided on the inner and outer circumferences of the frame 56.

Therefore, in the second embodiment, when the stem 58 is rotated by the adjusting knob 61 of the flow path opening adjusting device 47B, the needle valve 60 is moved in the axial direction and the opening amount of the flow path 59 is increased. Is adjusted, and the flow rate of the oil 28B flowing through the flow path 59 is increased or decreased when the drive cylinder 1 is operated by the compressive fluid. And this oil 2
The speed of the drive cylinder 1 is changed by changing the braking force of the brake cylinder 2 according to the flow rate of 8B. When the flow path 59 is closed by the stem 58, the brake cylinder 2 is locked.

Next, a third embodiment of the present invention will be described with reference to FIG. In the third embodiment, the oil 28 is used as the incompressible fluid 28 as in the second embodiment.
B is used, and the brake cylinder 2
A flow path opening adjusting device 47B for adjusting the flow path opening amount of the oil 28B into the fluid chambers 16 and 17 is provided. The flow path opening adjusting device 47B includes a sleeve 67 having an opening 68 communicating with the communication passage 27, a spool 69 movably inserted into the sleeve 67, and a spool 6
9 in one direction.
The electromagnetic proportional solenoid 71 is mounted on a side surface of the end block 3 and includes a plunger 72 having an outer end of a spool 69 fixed therethrough, and a coil 73 wound around the plunger 72.

Therefore, in this embodiment, a magnetic force having a magnitude corresponding to the current applied to the coil 73 of the electromagnetic proportional solenoid 71 is generated, and the position of the plunger 72 is adjusted steplessly. The spool 69 is moved via the plunger 72, and the flow rate of the oil 28B flowing through the opening 68 of the sleeve 67 is increased or decreased. And this oil 28
The braking force of the braking cylinder 2 changes according to the flow rate of B,
The speed of the drive cylinder 1 is changed. When the opening 68 is completely closed by the spool 69, the brake cylinder 2 is locked.

Next, a fourth embodiment of the present invention will be described with reference to FIG. Now, in this embodiment, a magnetic fluid 28C is used as the incompressible fluid 28 filled in the fluid chambers 16 and 17 and the communication passage 27 of the brake cylinder 2;
As a flow adjusting device 47 for adjusting the flow rate of the fluid,
A magnetic field adjustment applying device 47C is provided as magnetic field adjustment applying means for adjusting and applying a magnetic field to the magnetic fluid 28C. The magnetic field adjustment providing device 47C includes a core 76 provided so as to surround the communication path 27, and a coil 77 for exciting the core 76.

Therefore, in this embodiment, the magnitude of the generated magnetic field changes by adjusting the magnitude of the current applied to the coil 77 of the magnetic field adjustment applying device 47C, and the magnetic fluid flowing through the communication path 27 is changed. The viscosity of 28C is increased or decreased in proportion to the magnitude of the magnetic field. Thereby, the braking force of the brake cylinder 2 changes, and the speed of the drive cylinder 1 changes. In this embodiment, the magnetic field adjustment applying device 47 is used.
By reducing the passage area of the communication passage 27 corresponding to C, the flow of the magnetic fluid 28C is almost eliminated when the coil 77 is energized, and the brake cylinder 2 can be brought into a state close to the locked state.

The present invention is not limited to the configuration of each of the above-described embodiments. For example, as shown in FIG. The configuration of each part is not deviated from the gist of the present invention, such as a plurality of the cylinders, a rod-type cylinder for the drive cylinder 1, and a configuration in which the incompressible fluid 28 and the flow rate adjusting device 47 are appropriately changed. Can be arbitrarily changed and embodied.

[0032]

According to the present invention, there is provided a speed control device for a driving cylinder according to the present invention.
According to (A), the magnet (39) was held on the outer periphery.
Drive which is a rodless cylinder with piston (6)
Cylinder (1) and (B) magnet (43) on the outer periphery
Brake cylinder with retained piston (14)
(2) and (C) the magnet (3) of the piston (6).
9) a magnet (41) disposed opposite to the
The piston (6) is disposed to face the magnet (43).
(D) a connecting member having a magnet (45) provided
It is defined by the piston (14) of the brake cylinder (2).
Flow into the two fluid chambers (16, 17)
(E) an electrorheological fluid (28A) flowing out;
Of the electrorheological fluid (28A) into the fluid chambers (16, 17)
Electric field adjustment applying means (47A) for adjusting the flow rate
So that the entire device can be downsized as a rodless cylinder
Thus, the speed control of the driving cylinder can be continuously and accurately performed.

According to the second aspect of the present invention, the magnet
(43) always has a gap with the cylinder inner surface due to the sliding ring 18.
Since it is held with a gap, the magnet (43)
There is no risk of contact with the cylinder inner wall,
It does not degrade the characteristics of the electrorheological fluid. In addition,
In the invention according to claim 3, the piston of the brake cylinder (2) is provided.
The cushion body 20 is attached to the end of (14)
When the piston comes into contact with the end surface of the brake cylinder,
Since the electrorheological fluid is hardly caught,
There is no risk that the particles of the ionic fluid will be damaged.

[Brief description of the drawings]

FIG. 1 is a schematic sectional view showing a first embodiment of a drive cylinder speed controller embodying the present invention.

FIG. 2 is a sectional view showing a first embodiment of a drive cylinder speed control device embodying the present invention;

FIG. 3 is a sectional view showing a second embodiment of a drive cylinder speed control device embodying the present invention;

FIG. 4 is a sectional view showing a third embodiment of a drive cylinder speed control device embodying the present invention;

FIG. 5 is a sectional view showing a fourth embodiment of a drive cylinder speed controller embodying the present invention;

FIG. 6 is a schematic sectional view showing another example of the drive cylinder speed control device embodying the present invention;

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 drive cylinder 2 brake cylinder 6 piston of drive cylinder 14 piston of brake cylinder 16 fluid chamber of brake cylinder 17 fluid chamber of brake cylinder 27 communication passage 28 incompressible fluid 28A electrorheological fluid 28B oil 28C magnetic fluid 29 as connecting means Connecting device 32 Moving member as connecting body 39 Piston side magnet 41 Slider side magnet 43 Piston side magnet 45 Slider side magnet 47 Flow rate adjusting device 47A as flow rate adjusting means 47A Electric field adjustment applying device as electric field adjustment applying means 47B Flow path opening adjustment Channel opening adjustment device as means 47C Magnetic field adjustment applying device as magnetic field adjustment applying device

Claims (3)

(57) [Claims] 1. A magnet (39) is held on the outer periphery.
A drive cylinder (1), which is a rodless cylinder having a piston (6), and a piston (1) having a magnet (43) held on its outer periphery.
And a brake cylinder (2) having a magnet (39) of the piston (6).
The magnet (41) provided and the piston (6)
Magnet disposed opposite magnet (43)
(45), and an electrorheological fluid (28A) that flows into and out of both fluid chambers (16, 17) defined by the piston (14) of the brake cylinder (2). The electrorheological fluid (28 ) into the fluid chambers (16, 17);
A speed control device for a drive cylinder, comprising: electric field adjustment applying means (47A) for adjusting the flow rate of ( A) . 2. The speed of the drive cylinder according to claim 1.
In the control device, the outer periphery of the piston (14) of the brake cylinder (2)
The magnet (43) arranged in the sliding ring (1)
8) is held with a clearance from the cylinder inner wall
A speed control device for a drive cylinder, characterized in that: 3. A drive according to claim 1 or claim 2.
In the cylinder speed control device, the end of the piston (14) of the brake cylinder (2) is closed.
A driving mechanism to which a driving body 20 is attached.
Speed control device.