JP4241972B2

JP4241972B2 - Air balancer

Info

Publication number: JP4241972B2
Application number: JP31268098A
Authority: JP
Inventors: 明男松井
Original assignee: 株式会社パボット技研
Priority date: 1998-09-29
Filing date: 1998-09-29
Publication date: 2009-03-18
Anticipated expiration: 2018-09-29
Also published as: JP2000103599A

Description

【０００１】
【産業上の利用分野】
組立作業に於て、重量物を高精度で移動させる場合に、補助力として、空気圧の使用が可能な分野。
【０００２】
【従来の技術】
１、荷重検出装置（特願平３−３５６３６８）。
２、重量自動感知バランス吊上装置（特開平７−１０１７００）。
３、流体用シリンダ及びこれを用いた流体制御装置（特開平５−１４７８９９）。
上記従来技術にはそれぞれ、荷重センサー、エァ操作調圧弁及びロック機構付きエァバランサーが開示されている。
【０００３】
【発明が解決しようとする課題】
自動荷重検出を行い、且つ、ワーク自体を操作することが可能で更にストローク途中でのワークの積み卸しが可能な廉価で、小型で、微妙な制御が可能なエァバランサーを提供する。
【０００４】
【課題を解決するための手段】
１、荷重センサーの圧力室を駆動用エァシリンダのシリンダ室とすることによりこれを省く。
２、荷重センサーの給排気バルブを調圧弁の給排気バルブとすることによりこれを省く。３、調圧弁の排気バルブをパイロットタイプとすることによりワークの操作力を
小さくする。
４、排気ピストンを二段構造とすることで更にワークの操作力をちいさくする。
５、荷重センサーとして用いる時だけ排気バルブからパイロット機構を除くことにより、チャタリング現象を防止し、過酷なワークの積み卸しを可能にする。
以上の技術思想に基づき、小型で高性能の新規なエァバランサーを提供する。
【０００５】
【発明の実施の形態】
図面に従って説明する。
図１は本願発明のエァバランサーの調圧弁に沿った断面図であり、図２は本願発明のエァバランサーのクラッチ機構に沿った、図１の９０度回転断面図である。又、図３は排気弁近傍の図１に直角な断面図である。
図１について述べる。
図１は、駆動用エァシリンダ１６が上位部に固定され、ピストンロッド１５に接続されたワーク１７を上下に移動させる場合の本願発明のエァバランサーの断面図である。
図１に於て、ダイヤフラムピストン１の上側にパイロット圧室２が又、下側に操作圧室３が形成され、更に、ダイヤフラムピストン１にはチェック弁５とチェックピン１８が組み込まれている。
調圧弁本体４には、前記チェック弁５と同軸上に排気弁座８と排気シリンダ９が設けられ、且つ、前記チェックピン１８と同軸上に給気弁座１９と給気シリンダ２０が設けられている。又、前記排気シリンダ９には排気ピストン７が嵌合され、該排気ピストン７にチェックピストン６が嵌合されて、更に、該チェックピストン６に排気弁１２がパッキン１３を付けて嵌合されており、これらの可動たいにはそれぞれ、動作を安定させるためのスプリング（図示）が取り付けられている。
又、前記給気シリンダ２０には、給気弁をかねた給気ピストン２１が嵌合されて、更に、前記給気ピストン２１には、チェック弁２２と通気孔２３が設けられている。次に、前記ダイヤフラムピストン１にはブレーキ部材２４と、わずかな軸方向のあそび（がた）をもって連結するための円筒部２５と長穴部２６が固定されている。
次に、図２に於て、調圧弁本体の下方延長部２７にクラッチ機構が設けられており、ブレーキ部材２４に回転モーメントを与えるために対称位置にスプリング２８が、又、ブレーキ部材２４をストッパー３０に押し付けることでピストンロッド１５と直角にして、クラッチを解除するための解除シリンダ３１及び解除ピストン２９が対称位置に設けられている。
ここで、ブレーキ部材２４とピストンロッド１５の嵌合部の形状について述べる。図１と図２に描かれた嵌合部の断面が異なることから解るように、円筒直に部分的に切り欠き部を設けている、このことが摩擦力の増大に役だっている。
次に、図３に於て、排気シリンダ９からの流れを止めるチェック弁３２とこれを解除する解除シリンダ３３及び解除ピストン３４が設けられている。
次に、空気圧回路について述べる。
パイロット圧室２と操作圧室３は二個のパイロットチェック弁３５を通して連通されておりパイロット回路はレバー操作バルブ３６を経てエァ源に通じている。又、操作圧室３と駆動用エァシリンダのシリンダ室３７は常時連通している。
クラッチを解除するための二個の解除シリンダ３１及びチェック弁３２を解除する解除シリンダ３３は共にレバー操作バルブ３６を経てエァ源に通じている。
又、無負荷バランス用レギュレータ３９はエァ源と操作圧室３の途中に設けられており、更にチェック弁４５を介して切り替えバルブ４０が設けられている。
次に、動作について述べる。
レバー操作バルブ３６を検出状態（クラッチがかかった状態）、即ち、管路４１が給気、管路４２が排気の状態とする。
ここで、無負荷バランス用レギュレータ３９を通して加圧していくと、排気孔４３より排気始める、この時点で、前記レギュレータ３９をセットする。
次に、レバー操作バルブ３６を操作状態（クラッチが離れた状態）に切り換える、即ち、管路４１が排気、管路４２が給気の状態とする、この状態では、パイロット圧室２と操作圧室３は二個のパイロットチェック弁３５により完全に遮断さる、又、クラッチ機構は解除ピストン２９によりブレーキ部材２４をストッパー３０に押し付けることで開状態となっている。又、更に、解除ピストン３４はスプリングにより復帰しチェック弁３２は閉状態となり、排気弁座８はパイロット駆動となっている（この際、排気シリンダ９と排気ピストン７間からスローリークが生じる）。この状態は、無負荷でのバランス状態であり、ピントンロッド１５及び付属品を極めて小さい操作力で上下できる。
次に、ストローク途中の任意の位置で、レバー操作バルブ３６を前述の検出状態に切り換えると、クラッチがかかった状態となり、ここでワークを積み込むと、ピストンロッド１５が下がり、ブレーキ部材２４は下側のストッパー３０に当たる、ここでブレーキ部材２４にピストンロッド１５にかかる下向きの力とストッパー３０と軸心間の距離の積に相当する回転モーメントがかかり、この回転モーメントに対するピストンロッドからの反力に起因する摩擦力が、本願発明のクラッチ機構の連結力となり、より以上のピストンロッドの下降を妨げる。
この際の、ピストンロッド１５の下降がブレーキ部材２４を介してダイヤフラムピストン１を下降させ、チェック弁２２を開き、給気ピストン２１がパイロット駆動で給気弁座１９を開き、操作圧室３を通って駆動用シリンダ室３７に給気し、ピストンロッド１５が上昇し新たなバランス状態となる（この際、給気シリンダ２０と給気ピストン２１間からスローリークが生じる）。
ここで、レバー操作バルブ３６を前述の操作状態に切り換えると荷重状態で自由に上下できる。この際、排気弁座８はパイロット駆動の状態で、極めて小さい力で操作できる。
次に、地上に接地した状態でワークを積み込む場合は、レギュレータ３９は無負荷時にセットしたままで、レバー操作バルブ３６を前述の検出状態とし、他の切り替えバルブ４０から給気を続け、排気孔４３から排気するのを確認して、前記切り替えバルブ４０を閉にする。次に、レバー操作バルブ３６を前述の操作状態に切り換えると荷重時でのバランス状態となる。
又、ストローク途中でワークを降ろす場合は類似した技術内容で可能である。
次に、ワークとピントンロッド１５の間で荷重に応じて変形が生じる場合、あるいは、ロープ等を介してワークを釣り上げる場合は、管路４１と管路４２が共に給気状態で、管路４４が排気状態とし、前述の切り替えバルブ４０より給気を続け、排気孔４３よりの排気を確認してから、前述の操作状態とすると、バランス状態となる。
【０００６】
【実施例】
以下の条件で実施した結果、負荷時の操作力が３ｋｇｆ以内でスムースな操作が確認できた。
エァシリンダ内径８０ｍｍ、ストローク８００ｍｍ、最大エァシリンダ内圧力５ｋｇｆ／ｃｍ^２、
【０００７】
【発明の効果】
本願発明の効果は、
１、ワーク自体を操作するための調圧弁を備え、且つ、ストローク途中でのワークの積み卸しを可能とする、クラッチ機構及び自動荷重検出機構を備えている。
２、ワーク自体を操作するときの操作力を極めて小さくするために、調圧弁をパイロット操作としている。
３、前２項の、極めて小さな操作力にもかかわらず、検出時のチャタリング現象を防止するためのチェック機構を備えている。
の三点に基づいた、小型で、廉価なエァバランサーを新規に提供する点にある。
【図面の簡単な説明】
【図１】本願発明の調圧弁に沿った断面図である。
【図２】本願発明のクラッチ機構に沿った断面図であり、図１の９０度回転断面図である
【図３】本願発明の排気弁近傍の図１に直角な断面図である。
【符号の説明】
１はダイヤフラムピストン。
２はパイロット圧室。
３は操作圧室。
４は調圧弁本体。
５、２２、３２、４５はチェック弁。
６はチェックピストン。
７は排気ピストン。
８は排気弁座。
９は排気シリンダ。
１０は弁座。
１１は通気孔。
１２は排気弁。
１３はパッキン。
１４は開閉弁。
１５はピストンロッド。
１６はエァシリング。
１７はワーク。
１８はチェックピン。
１９は給気弁座。
２０は給気シリンダ。
２１は給気ピストン。
２３は通気孔。
２４はブレーキ部材。
２５は円筒部。
２６は長穴部。
２７は下方延長部。
２８はスプリング。
２９、３４は解除ピストン。
３０はストッパー。
３１、３３は解除シリンダ。
３５はパイロットチェック弁。
３６はレバー操作バルブ。
３７はシリンダ室。
３９は無負荷バランス用レギュレータ。
４０は切り替えバルブ。
４１、４２、４４は空気圧配管路。
４３は排気孔。[0001]
[Industrial application fields]
A field where air pressure can be used as an auxiliary force when moving heavy objects with high accuracy during assembly work.
[0002]
[Prior art]
1. Load detector (Japanese Patent Application No. 3-356368).
2. Weight automatic sensing balance lifting device (Japanese Patent Laid-Open No. 7-101700).
3. Cylinder for fluid and fluid control apparatus using the same (Japanese Patent Laid-Open No. 5-147899).
Each of the above prior arts discloses a load sensor, an air operation pressure regulating valve, and an air balancer with a lock mechanism.
[0003]
[Problems to be solved by the invention]
Provided is an inexpensive, small, and delicately controlled balancer that can perform automatic load detection, operate the workpiece itself, and can load and unload workpieces during the stroke.
[0004]
[Means for Solving the Problems]
1. This is omitted by making the pressure chamber of the load sensor the cylinder chamber of the driving air cylinder.
2. Omit this by making the load sensor's supply / exhaust valve the pressure control valve's supply / exhaust valve. 3. The operation force of the workpiece is reduced by making the exhaust valve of the pressure regulating valve a pilot type.
4. The operation force of the workpiece is further reduced by adopting a two-stage exhaust piston structure.
5. By removing the pilot mechanism from the exhaust valve only when used as a load sensor, chattering phenomenon is prevented and harsh workpieces can be loaded and unloaded.
Based on the above technical idea, a small and high performance new balancer is provided.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
This will be described with reference to the drawings.
FIG. 1 is a cross-sectional view along the pressure regulating valve of the present invention, and FIG. 2 is a 90-degree cross-sectional view of FIG. 1 along the clutch mechanism of the present invention. FIG. 3 is a cross-sectional view perpendicular to FIG. 1 near the exhaust valve.
Reference is made to FIG.
FIG. 1 is a cross-sectional view of the balancer of the present invention when the driving air cylinder 16 is fixed to the upper part and the work 17 connected to the piston rod 15 is moved up and down.
In FIG. 1, a pilot pressure chamber 2 is formed on the upper side of the diaphragm piston 1, and an operation pressure chamber 3 is formed on the lower side, and a check valve 5 and a check pin 18 are incorporated in the diaphragm piston 1.
The pressure regulating valve body 4 is provided with an exhaust valve seat 8 and an exhaust cylinder 9 coaxially with the check valve 5, and with an air supply valve seat 19 and an air supply cylinder 20 coaxially with the check pin 18. ing. An exhaust piston 7 is fitted to the exhaust cylinder 9, a check piston 6 is fitted to the exhaust piston 7, and an exhaust valve 12 is fitted to the check piston 6 with a packing 13. Each of these movable members is provided with a spring (shown) for stabilizing the operation.
An air supply piston 21 that also functions as an air supply valve is fitted to the air supply cylinder 20, and a check valve 22 and a vent hole 23 are provided in the air supply piston 21. Next, the diaphragm piston 1 is fixed with a cylinder member 25 and an elongated hole portion 26 for connecting to the brake member 24 with a slight axial play.
Next, in FIG. 2, a clutch mechanism is provided in the lower extension 27 of the pressure regulating valve body, and a spring 28 is provided at a symmetrical position to give a rotational moment to the brake member 24, and the brake member 24 is stopped by a stopper. A release cylinder 31 and a release piston 29 for releasing the clutch are provided at symmetrical positions so as to be perpendicular to the piston rod 15 by being pressed against the piston rod 15.
Here, the shape of the fitting portion between the brake member 24 and the piston rod 15 will be described. As can be seen from the different cross-sections of the fitting portions depicted in FIG. 1 and FIG. 2, a notch is partially provided directly on the cylinder, which helps increase the frictional force.
Next, in FIG. 3, a check valve 32 for stopping the flow from the exhaust cylinder 9 and a release cylinder 33 and a release piston 34 for releasing the check valve 32 are provided.
Next, a pneumatic circuit will be described.
The pilot pressure chamber 2 and the operation pressure chamber 3 communicate with each other through two pilot check valves 35, and the pilot circuit communicates with an air source via a lever operation valve 36. The operation pressure chamber 3 and the cylinder chamber 37 of the driving air cylinder are always in communication.
The two release cylinders 31 for releasing the clutch and the release cylinder 33 for releasing the check valve 32 both communicate with the air source via the lever operation valve 36.
Further, the no-load balancing regulator 39 is provided in the middle of the air source and the operation pressure chamber 3, and a switching valve 40 is further provided via a check valve 45.
Next, the operation will be described.
The lever operation valve 36 is in a detection state (a state where the clutch is applied), that is, the pipe line 41 is in an air supply state and the pipe line 42 is in an exhaust state.
Here, when the pressure is applied through the no-load balancing regulator 39, exhaust starts from the exhaust hole 43. At this time, the regulator 39 is set.
Next, the lever operation valve 36 is switched to the operation state (the state where the clutch is disengaged), that is, the pipe line 41 is in the exhaust state and the pipe line 42 is in the air supply state. The chamber 3 is completely shut off by the two pilot check valves 35, and the clutch mechanism is opened by pressing the brake member 24 against the stopper 30 by the release piston 29. Further, the release piston 34 is returned by a spring, the check valve 32 is closed, and the exhaust valve seat 8 is pilot driven (at this time, a slow leak occurs between the exhaust cylinder 9 and the exhaust piston 7). This state is a balanced state with no load, and the pinton rod 15 and the accessory can be moved up and down with a very small operating force.
Next, when the lever operation valve 36 is switched to the above-described detection state at any position during the stroke, the clutch is engaged. When the workpiece is loaded here, the piston rod 15 is lowered and the brake member 24 is moved downward. Here, a rotational moment corresponding to the product of the downward force applied to the piston rod 15 and the distance between the stopper 30 and the shaft center is applied to the brake member 24, and the brake member 24 is caused by a reaction force from the piston rod against this rotational moment. The frictional force to be used becomes the coupling force of the clutch mechanism of the present invention and prevents further lowering of the piston rod.
At this time, the lowering of the piston rod 15 lowers the diaphragm piston 1 via the brake member 24, opens the check valve 22, the air supply piston 21 opens the air supply valve seat 19 by pilot drive, and the operation pressure chamber 3 is opened. Then, the air is supplied to the drive cylinder chamber 37, and the piston rod 15 rises to a new balance state (a slow leak occurs between the air supply cylinder 20 and the air supply piston 21).
Here, when the lever operation valve 36 is switched to the above-described operation state, it can freely move up and down in a loaded state. At this time, the exhaust valve seat 8 can be operated with extremely small force in a pilot-driven state.
Next, when a workpiece is loaded while being grounded on the ground, the regulator 39 is set at the time of no load, the lever operation valve 36 is set to the above-described detection state, air supply from the other switching valve 40 is continued, and the exhaust hole After confirming that the air is exhausted from 43, the switching valve 40 is closed. Next, when the lever operation valve 36 is switched to the above-described operation state, a balanced state at the time of load is obtained.
Further, when the workpiece is lowered during the stroke, similar technical contents are possible.
Next, when deformation occurs according to the load between the workpiece and the pinton rod 15 or when the workpiece is picked up via a rope or the like, both the pipeline 41 and the pipeline 42 are in an air supply state, and the pipeline 44 Is in an exhaust state, continues to supply air from the switching valve 40 described above, confirms exhaust from the exhaust hole 43, and then enters the above-described operation state, a balanced state is obtained.
[0006]
【Example】
As a result of carrying out under the following conditions, smooth operation could be confirmed when the operating force under load was within 3 kgf.
Air cylinder inner diameter 80mm, Stroke 800mm, Maximum air cylinder pressure 5kgf / cm ² ,
[0007]
【The invention's effect】
The effect of the present invention is
1. A pressure control valve for operating the workpiece itself is provided, and a clutch mechanism and an automatic load detection mechanism are provided that enable loading and unloading of the workpiece during the stroke.
2. In order to extremely reduce the operating force when operating the workpiece itself, the pressure regulating valve is pilot operated.
3. A check mechanism is provided to prevent chattering during detection despite the extremely small operating force described in the previous two items.
Based on these three points, it is a point to provide a new small and inexpensive air balancer.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view taken along a pressure regulating valve according to the present invention.
2 is a cross-sectional view taken along the clutch mechanism of the present invention, and is a 90-degree rotated cross-sectional view of FIG. 1. FIG. 3 is a cross-sectional view perpendicular to FIG.
[Explanation of symbols]
1 is a diaphragm piston.
2 is a pilot pressure chamber.
3 is an operation pressure chamber.
4 is the pressure regulating valve body.
5, 22, 32 and 45 are check valves.
6 is a check piston.
7 is an exhaust piston.
8 is an exhaust valve seat.
9 is an exhaust cylinder.
10 is a valve seat.
11 is a vent hole.
12 is an exhaust valve.
13 is packing.
14 is an on-off valve.
15 is a piston rod.
16 is an ashing.
17 is a work.
18 is a check pin.
19 is a supply valve seat.
20 is an air supply cylinder.
21 is a supply piston.
23 is a vent hole.
24 is a brake member.
25 is a cylindrical part.
26 is a long hole part.
27 is a downward extension.
28 is a spring.
29 and 34 are release pistons.
30 is a stopper.
31 and 33 are release cylinders.
35 is a pilot check valve.
36 is a lever operation valve.
37 is a cylinder chamber.
39 is a regulator for no load balance.
40 is a switching valve.
41, 42, and 44 are pneumatic piping lines.
43 is an exhaust hole.

Claims

A driving air cylinder (16) having a piston rod (15) for suspending the workpiece (17) is disposed so as to protrude downward from the piston rod (15), and the rod of the driving air cylinder (16) is arranged. An air balancer having a pressure regulating valve body (4) fixed to a cover,
A diaphragm piston (1) having a cylindrical part (25) is provided in the pressure regulating valve body (4), and the cylindrical part (25) can move with a slight play in the axial direction with respect to the piston rod (15). And a piston pressure chamber (2) is formed on one side of the diaphragm piston (1), and an operation pressure chamber (3) is formed on the other side of the diaphragm piston (1). The operating pressure chamber (3) communicates with the cylinder chamber (37) of the driving air cylinder (16), while an air pressure source is connected to the operating pressure chamber (3), and the diaphragm An air supply valve and an exhaust valve that are opened and closed by the movement of the piston (1) are provided,
A clutch mechanism for applying or releasing the brake to the piston rod (15) via the brake member (24) is disposed in the lower part of the pressure regulating valve main body (4). The brake member (24) The piston rod (15) can be locked by being attached to the lower portion of the cylindrical portion (25), and when the piston rod (15) is locked by the brake member (24), the piston rod (15) is slightly Configured to transmit movement to the diaphragm piston (1);
In the exhaust valve, a check valve (5) is incorporated on the operation pressure chamber (3) side of the diaphragm piston (1), and an exhaust valve seat (8) and an exhaust cylinder (9) are coaxially connected to the check valve (5). ), The exhaust piston (7) is inserted into the exhaust cylinder (9), and the check piston (6) is coaxially inserted into the exhaust piston (7). Is provided with a valve seat (10) on which the check valve (5) is seated and a vent hole (11) capable of communicating with the operation pressure chamber (3), and an exhaust valve is provided in a small diameter portion of the check piston (6). (12) is configured to be fitted through the packing (13),
The lever operation valve (36) opens the pilot check valve (35) to cause the pilot pressure chamber (2) and the operation pressure chamber (3) to communicate with each other when the brake member (24) is braked. While the load applied to the rod (15) is detected, the load balance of the work is maintained by the air supply / exhaust operation of the air supply valve and the exhaust valve, and then the brake release cylinder (31) and the release cylinder (33) are operated. Provided to release the brake,
In the air supply valve, an air supply piston (21) is inserted into an air supply cylinder (20), and the air supply piston (21) is provided with a vent hole (23) capable of communicating with the operation pressure chamber (3). In addition, a check valve (22) for opening and closing the vent hole (23) is provided, and a check pin (18) connected to the diaphragm piston (1) is provided in contact with the check valve (22). Configured,
The air supply piston (21) is seated on and removed from the air supply valve seat (19) to open and close the operation pressure chamber (3) and the air supply cylinder (20), while the check valve (22) In response to the movement of the diaphragm piston (1), the air supply piston (21) is pushed down through the vent hole (23), the air supply valve seat (19) is opened, and the air pressure source and the operation pressure chamber are opened. (3) is configured to communicate and supply air, and an open / close valve (14) is connected to the exhaust cylinder (9), and only when the clutch mechanism brakes the piston rod (15), An air balancer, wherein the on-off valve (14) is controlled to open .