JP4764576B2 - Output device with buffer function - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an output device that includes, for example, a suction pad and is used for pressing the suction pad against an object placed at a predetermined position, and provides a reciprocating linear motion in such a predetermined operation. The present invention relates to an output device with a buffer function provided with a buffer mechanism for reducing an impact with an object to be received.
[0002]
[Prior art]
For transporting small items such as electronic components, an output device with a buffer function having a suction pad is used. 8 and 9 are views showing a conventional output device with a buffer function.
An output device with a buffer function (hereinafter simply referred to as “output device”) 100 is configured to obtain an axial stroke by a cylinder. The shock is reduced by absorbing the load of the buffer at a predetermined stroke, and a predetermined stroke is obtained. The suction pad is pressed against the object by force.
[0003]
The output device 100 shown in the figure has a left side surface of a body 101 as an attachment surface, and has a built-in cylinder in which a piston rod 102 projects downward. That is, the piston in the cylinder is pressurized by air supplied from an air port (not shown) formed in the body 101, and the piston rod 102 integrated with the piston outputs the stroke shown in FIGS. The body 101 has a guide formed on the right side opposite to the mounting surface, and an L-shaped slider 103 fixed to the piston rod slides in parallel with the piston rod 102 along the guide. It is configured.
[0004]
On the other hand, a holder 104 is projected from the slider 103 in a lateral direction perpendicular to the output direction of the cylinder, and a buffer 105 for reducing the impact is attached thereto. As the buffer 105 used here, for example, a suction pad buffer as shown in FIG. 10 using a metal coil spring is used.
The suction pad buffer 105A is inserted into a cylindrical fixed shaft 151 so that the movable shaft 153 on which the head 152 is formed is not dropped by the head 152 and the stopper 154. The movable shaft 153 that can move in the axial direction with respect to the fixed shaft 151 is biased to one side by a coil spring 156 between the flange portion 155 of the end surface of the fixed shaft 151 and the head 152.
[0005]
A suction pad 160 is attached to the head 152, and a suction flow path 157 is formed for making the suction part that contacts the transported object negative pressure by suction. In order to attach the suction pad buffer 105A to the holder 104, a male screw 158 is cut on the outer peripheral surface of the fixed shaft 151, and two nuts 159 and 159 are provided.
In such an output device 100, as shown in FIGS. 8 and 9, the piston rod 102 is extended by driving the cylinder, and the buffer 105 is pressed against the object by the movement of the slider 103. The buffer 105 absorbs the reaction force when the movable shaft is pressed against the object, and alleviates the impact. In the case of the suction pad buffer 105A shown in FIG. 10, when the suction pad 160 is pressed against the object to be conveyed, the coil spring 156 is compressed and the impact at the time of contact is absorbed by the elastic force.
[0006]
[Problems to be solved by the invention]
However, these conventional output devices have the following problems.
First, the conventional output device 100 requires a mounting guide for adjusting the mounting position of the output device itself such as a pneumatic cylinder that moves linearly, and further provides a slide guide for the buffer 105 to operate in a straight line. There was a need. Further, many members such as a bracket for attaching the buffer 105 to the slider 103, which is an operation part of the pneumatic cylinder, are required, and it is difficult and costly to downsize the device itself.
[0007]
On the other hand, in the suction pad buffer 105A, for example, the stroke of the movable shaft 153 is small, and the magnitude of the load received varies depending on the amount of expansion and contraction of the coil spring 156. Therefore, when the suction pad 160 is pressed against the object to be transported by the suction pad buffer 105A with a predetermined force, the stroke adjustment of the piston rod 102 and the accuracy of the mounting accuracy of the output device 100 are required, and the handling is inconvenient. There was a problem that the mounting position was limited.
Further, in the case where a hand is accidentally pinched, the buffering action by the conventional buffer 105 cannot avoid danger, and a safety device is additionally required, and further, the entire device is increased in size and costs for that. It took.
[0008]
Accordingly, an object of the present invention is to provide a compact output device with a buffer function with an improved buffer function in order to solve the above-described problems.
[0009]
[Means for Solving the Problems]
The output device with a buffer function according to the present invention includes an output rod fitted and inserted in a state in which reciprocal linear movement is possible in the axial direction, retreat means for returning the output rod moved in the output direction, and fitted into the output rod. A cylindrical movable-side permanent magnet that is arranged coaxially with the output rod, and a cylindrical fixed-side permanent magnet that is provided corresponding to the movable-side permanent magnet of the output rod that is passed through. The outer peripheral surface of the movable side permanent magnet and the inner peripheral surface of the fixed side permanent magnet are magnetized with different magnetic poles, and the movable side permanent magnet and the fixed side are magnetized by the retreat means. A permanent magnet is moved backward in the axial direction, and the movable permanent magnet is attracted to the fixed permanent magnet to move the output rod in the axial direction to obtain an output. To do.
The output device with a buffer function according to the present invention has a structure in which the movable permanent magnet and the fixed permanent magnet are divided in the axial direction by a non-magnetic material, and the movable permanent magnet and the fixed permanent magnet are: Both have the same axial length, A non-magnetic body that divides the movable-side permanent magnet and a non-magnetic body that divides the fixed-side permanent magnet arranged to face the non-magnetic body have the same length in the axial direction. It is desirable that the movable permanent magnet and the fixed permanent magnet be divided in the circumferential direction by an N pole band and an S pole band.
[0010]
In the output device with a buffer function of the present invention, the retracting means is a cylinder disposed in parallel with the output rod, and the piston rod protrudes in the direction opposite to the output direction, and the output rod It is desirable that they are engaged so as to move only in the backward direction.
In the output device with a buffer function of the present invention, the retracting means is a motor disposed on the retracting side of the output rod, and is wound with one end connected to a pulley fixed to the motor shaft. It is desirable that the connecting string is fed from the tangential direction of the pulley and connected to the backward end portion of the output rod, and is driven only in the rotational direction that moves the output rod only in the backward direction.
[0011]
Therefore, according to the present invention, at the time of output, only the attractive force of the movable permanent magnet and the fixed permanent magnet works, and an output can be obtained by projecting the output rod by the attractive force of the magnetic force. Since the attractive force of the movable permanent magnet and the fixed permanent magnet is substantially constant during a predetermined stroke, it becomes a force for obtaining the stroke of the output rod, and at any position between the predetermined strokes. In this case, even if it hits the object, it cannot be pressed with any more force, so the buffer function at the time of collision could be improved. Therefore, the improvement of the buffer function eliminates the need for conventional parts processing accuracy and assembly centering, and the buffer function in a wide stroke range is a safety device even when the hand is caught. Can also work. Further, since the output side and the buffering function are made to function by the movable side permanent magnet and the fixed side permanent magnet, a structure such as a slider becomes unnecessary, and the entire apparatus is reduced in size.
Moreover, the movable side permanent magnet and the fixed side permanent magnet have a structure in which the nonmagnetic material is divided in the axial direction, and the movable side permanent magnet and the fixed side permanent magnet both have the same axial length. A non-magnetic body that divides the movable-side permanent magnet and a non-magnetic body that divides the fixed-side permanent magnet arranged to face the non-magnetic body have the same length in the axial direction. Since it is arranged, the thrust can be adjusted by the number of magnet end portions without being affected by the axial length of the magnet.
[0012]
In the output device with a buffer function according to the present invention, it is preferable that the movable permanent magnet and the fixed permanent magnet are divided in the circumferential direction by an N pole band and an S pole band.
Therefore, according to the present invention, since the attractive force of the movable permanent magnet and the fixed permanent magnet acting in the circumferential direction functions as a detent for preventing the output rod from rotating, it is necessary to use a separate detent pin or the like. Is gone. Moreover, since the movable permanent magnet and the stationary permanent magnet are not in contact with each other and no rotation prevention means is required, the generation of particles is prevented by eliminating the rubbing part in the device as much as possible, and the output rod Smooth movement becomes possible.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of an output device with a buffer function according to the present invention will be described below with reference to the drawings. 1 and 2 show a shock absorber according to the first embodiment. With ability It is sectional drawing which shows an output device, and has each shown the different operation state.
This output device 1 with a buffer function (hereinafter simply referred to as “output device”) 1 is configured by integrating a cylinder 3 and a buffer 4 into a single body 2. The body 2 is a block body having a predetermined thickness, and a through hole 11 for fitting the cylinder 3 in the longitudinal direction and a through hole 12 for constituting the buffer 4 are formed in parallel. .
[0014]
The cylinder 3 is provided with a piston rod 22 fixed from a cylinder tube 21 to a piston (not shown). The cylinder tube 21 has intake and exhaust holes 23 and 24 in an airtight pressure chamber partitioned by the piston. Yes. The intake and exhaust holes 23 and 24 are holes formed in circumferential air grooves 25 a and 26 a formed in the cylinder tube 21, and two air grooves 25 a and 26 a having the intake and exhaust holes 23 and 24 are sandwiched therebetween. Seal grooves 25p, 25p / 26p, and 26p are formed, and a sealing O-ring (not shown) is fitted therein.
[0015]
That is, the cylinder 3 of this embodiment does not directly supply air but supplies and exhausts air from the intake and exhaust holes 23 and 24 via the body 2 to which the cylinder 3 is attached. Therefore, ports 13 and 14 are formed in the body 2, and when the cylinder 3 is attached to the body 2 as shown, the ports 13 and 14 communicate with air grooves 25a and 26a in which intake and exhaust holes 23 and 24 are formed. It is like that. After such a cylinder 3 is inserted into the through hole 11 of the body 2, a fixing screw 27 is screwed into a screw hole formed at the end of the cylinder tube 21, and the cylinder 3 is positioned and fixed to the body 2.
[0016]
Subsequently, the buffer 4 of the present embodiment is configured using a magnetic spring. In the buffer 4, an output rod 31 having a size longer than that of the body 2 is inserted through the through hole 12 of the body 2. A stopper 32 is fixed to one end of the output rod 31, and the stopper 32 is applied to a hooking block 27 fixed to the piston rod 22 from the contraction direction of the cylinder 3.
[0017]
A cylindrical magnet 33 is attached to a part of the output rod 31 whose diameter has been reduced, and a cylindrical magnet 34 is attached to the inner peripheral surface of the through hole 12. Magnets (permanent magnets) 33 and 34 provided in the through hole 12 and the output rod 31 are provided to repel the displacement of the output rod 31 and exhibit a spring function like a coil spring. It is. The magnets 33 and 34 are both formed in the same axial length, and when they are displaced in the axial direction as shown in FIG. 1, they are attracted by magnetic force in the overlapping direction (downward in the drawing) as shown in FIG. Has come to work.
[0018]
As shown in FIG. 3 (a) and FIG. 3 (b) showing a cross section thereof, the magnets 33 and 34 are divided into four in the circumferential direction, and each of the N pole and the S pole is 90 degrees along the axial direction. It is composed of N pole bands 33N and 34N and S pole bands 33S and 34S formed in a band shape with a width. Therefore, the magnets 33 and 34 are configured such that different magnetic poles face each other alternately. The reason why the magnetic poles of the magnets 33 and 34 are divided in the circumferential direction is to function as a detent, and may be divided into two or more than four. In addition, when some rotation is allowed, it is conceivable not to divide. And in order to make the magnets 33 and 34 non-contact, the output rod 31 is slidably inserted by the bushes 35 and 35 fixed to the both ends of the magnet 34, as shown in FIG.
[0019]
By the way, the relationship between the cylinder 3 and the buffer 4 is that the piston rod 22 enters the cylinder tube 21 and the cylinder 3 Is contracted, the output rod 31 of the buffer 4 extends to the opposite side to obtain an output. Therefore, cylinder 3 The magnets 33 and 34 are arranged so as to overlap in the axial direction when is contracted.
[0020]
Next, the operation of the output device 1 will be described. In the non-output state output device 1, as shown in FIG. 1, the output rod 31 is pulled up against the magnetic force by the piston rod 22 that is protruded by driving the cylinder 3. As described above, the output device 1 of the present embodiment has the cylinder 3 operated in reverse to that of the conventional example, and when the piston rod 22 protrudes and extends (FIG. 1). On the contrary, when it contracts, it becomes an output state in which the buffer function is exhibited (FIG. 2).
[0021]
First, in the state shown in FIG. 2, the cylinder 3 is contracted and the stroke is zero, and the magnets 33 and 34 are overlapped, and as shown in FIG. 3B, the N pole bands 33N and 34N and the S pole bands 34S and 33S are formed. They face each other and suck together. Therefore, when air is sent from the port 13 formed in the body 2, the air that has flowed into the air groove 25 a enters through the intake / exhaust hole 23 and is supplied into the cylinder 3. And a piston is pressurized with air and the piston rod 22 protrudes as shown in FIG. When the cylinder 3 is extended in this way, the output rod 31 is pulled up to the piston rod 22 through the stopper 32 pressed against the hook block 27. At this time, the magnets 33 and 34 are attracted to pull back downward when the output rod 31 is moved upward and displaced, so the cylinder 3 is pulled up with a larger force.
[0022]
Subsequently, if air is sent from the port 14 formed in the body 2 and exhausted from the port 13, the air flowing into the air groove 26a enters from the intake / exhaust hole 24 and pressurizes the piston in the cylinder 3. Then, the piston rod 22 is returned as shown in FIG. When the cylinder 3 is contracted, the output rod 31 becomes free, so that it is projected downward by the attractive force of the magnets 33 and 34 as shown in FIG.
The output device 1 of the present embodiment uses the movement when the output rod 31 is protruded by the attractive force generated by the magnetic force of the magnets 33 and 34 as an output.
[0023]
Thus, for example, consider a case where the suction pad 40 is attached to the tip of the output rod 31 and an object (not shown) placed in the middle of the stroke is sucked and held. In this output device 1, the force that presses the suction pad 40 against the object is only the attractive force of the magnets 33 and 34 that tries to pull the output rod 31 back to the state shown in FIG. 2. That is, if the magnets 33 and 34 are applied to the object before the magnets 33 and 34 overlap each other as shown in FIG. 2, the magnets 33 and 34 constituting the magnetic spring exhibit a so-called spring force in the same manner as the coil spring. A force for pressing the suction pad 40 against the object can be obtained. At the same time, the magnets 33 and 34 output a constant force even when the suction pad 40 hits the object at an arbitrary stroke position (the magnetic force of the magnets 33 and 34 has a constant attractive force regardless of the amount of axial displacement). It also functions as a buffer.
[0024]
Here, FIG. 4 is a graph of the measurement results of the stroke-static force characteristics of the magnets 33 and 34, and the state where the magnets 33 and 34 as shown in FIG. . As a result, in the magnetic spring, the attractive force (thrust force) acting on the magnets 33 and 34 that are displaced in the axial direction has almost the same value during a predetermined stroke as shown in FIG. That is, the thrust by the magnets 33 and 34 rises rapidly in a slight stroke range at the initial stage of movement as shown in the figure, but thereafter becomes substantially constant over a wide stroke range. And, it was almost the same value when pulling the axial displacement amount of the magnets 33 and 34 and when pressing the object when returning. Therefore, in the output device 1 of the present embodiment, the attractive force generated by the magnetic force of the magnetic spring is used as an output, and the buffer device functions as a buffer by taking advantage of a characteristic that exerts a substantially constant force in a wide stroke range.
[0025]
By the way, such a stroke-thrust static characteristic is shown when the magnets 33 and 34 for generating a thrust (axial force) are displaced in the axial direction, as shown by an arrow 33A in FIG. This is because it is considered that a constant thrust is generated by the axial component of the magnetic force lines generated obliquely at 34A. That is, when the magnets 33 and 34 are displaced, oblique magnetic lines of force as shown in the figure are generated in the end portions 33A and 34A in a substantially constant direction (substantially constant inclination). It is thought that magnetic field lines only in the vertical direction that do not affect the axial force are generated. Therefore, it is considered that the axial force acts on the magnets 33 and 34 only by the axial component of the oblique magnetic lines of force generated at the end regardless of the overlapping width.
[0026]
Thereby, in the output device 1 using the buffer 4 of the magnetic spring, the suction pad 40 can always be pressed against the symmetrical object with a constant force when the object is sucked and held. That is, since the stroke range in which the thrust is constant is wide, even if the stroke position at which the suction pad 40 is pressed against the object varies, the pressing pad 40 is always pressed with an appropriate pressing force by eliminating insufficient pressing or conversely excessive pressing. It can be pressed against the object.
[0027]
Next, the magnitude of the thrust showing such a substantially constant value is adjusted by changing the materials of the magnets 33 and 34 themselves, changing the magnetizing conditions (for example, voltage, etc.), or adopting the following structure. Can do. FIG. 6 is a partial cross-sectional view showing a pair of magnets. Both FIGS. (A) and (b) use magnets of the same length in the axial direction. That is, the illustrated magnets 45N, 45N / 46S, 46S are magnetized so that the opposing surfaces are respectively N-pole or S-pole, and the lengths in the axial direction (lateral direction in the drawing) are equal. Although omitted, it has a cylindrical shape.
[0028]
The magnets 45N, 45N / 46S and 46S are, on the one hand, a structure A directly connected in the axial direction as shown in FIG. 6 (a), and on the other hand, a nonmagnetic material 47 as shown in FIG. 6 (b). It was set as the structure B inserted | pinched between and connected. Then, the structure B obtained by dividing the magnets 45N, 45N / 46S, 46S in the axial direction by the nonmagnetic material 47 was able to obtain twice the thrust as compared to the structure A that was directly connected and integrated. This is because the number of the oblique magnetic field lines generated at the end of the structure B is double that of the structure A by dividing the magnet into two.
[0029]
That is, the adjustment of the output by the buffer 4 is an adjustment of the number of lines of magnetic force that generate thrust by the magnetic screw. If the magnet is divided as shown in FIG. 6B, the axial length of the magnet is adjusted. The thrust can be adjusted by the number of magnet ends without being affected. Moreover, since this is also adjustment of the total area of a magnet edge part, you may just enlarge the diameter of a magnet.
[0030]
Further, the magnets 33 and 34 are divided into four in the circumferential direction by the N pole bands 33N and 34N and the S pole bands 33S and 34S (see FIG. 3B), thereby preventing the magnets 33 and 34 from rotating. It is functioning. In the output device 1, the output rod 31 may receive a force in the rotational direction when contacting the object. At this time, in the magnets 33 and 34, for example, magnetic lines of force are generated as shown by arrows in FIG. Magnetic lines of force are generated radially between the N-pole band 33N and the S-pole band 34S, and when they are shifted in the rotational direction, magnetic lines of force that are inclined at the circumferential end are generated. Therefore, the inclined magnetic field line acts as a detent that prevents the rotation of the output rod 31 by applying an attractive force that pulls back the magnet 33 in the direction opposite to the rotation direction.
[0031]
As described above, in the output device 1 of the present embodiment, the cylinder 3 is separated from the operation at the time of output, and the output can be obtained only by the buffer 4 using the magnetic spring (magnets 33 and 34). Since the magnets 33 and 34 can always output a constant force from the output rod 31 regardless of the stroke, the processing accuracy of the parts, the assembly centering, etc. can be roughened.
Further, since the cylinder 3 and the buffer 4 can be assembled compactly with respect to the body 2 by using the magnetic spring, the output device 1 can be miniaturized.
[0032]
In addition, since a constant output can be obtained with a wide stroke, even if a hand is accidentally pinched, it will not be pinched with a force exceeding its output, so it is small in that it does not require a separate safety device. The cost can be reduced accordingly.
On the other hand, since the magnets 33 and 34 also function as detents, it is not necessary to use a separate detent pin or the like, and the magnets 33 and 34 themselves are not in contact with each other. The effect that enabled movement was obtained.
[0033]
Next, a second embodiment of the output device with a buffer function according to the present invention will be described. FIG. 7 is a plan sectional view showing the output device with a buffer function of the second embodiment. This output device with a buffer function (hereinafter simply referred to as “output device”) 51 uses a magnetic spring as a buffer as in the first embodiment, but uses a stepping motor instead of a cylinder. .
[0034]
In the output device 51, a stepping motor 52 is fixed to the back side of one end of the body 60, and a pulley 54 is attached to the motor shaft 53. A wire 55 is wound around the pulley 54 with one end connected thereto, and the wire 55 is coaxially fed from the tangential direction of the pulley 54 to the output rod 71 and connected thereto. A wire end 56 is caulked at the tip of the wire 55, which is inserted into a connecting hole 71 a at the rear end (upper drawing) of the output rod 71 and fixed by a set screw 57.
[0035]
The output rod 71 constituting the buffer is slidably loaded in a through hole 61 formed in the body 60, and a cylindrical magnet 72 is fitted to a reduced diameter portion in the upper part of the drawing. A cylindrical magnet 73 sandwiched between bushes 75 and 75 at both ends is fixed to the through hole 61, and an output rod 71 penetrating therethrough is slidably fitted. The magnets (permanent magnets) 72 and 73 are magnetic springs constituting a buffer as in the first embodiment (see FIG. 3), and both are formed with the same length in the axial direction, as shown in the axial direction. When they deviate from each other, an attractive force due to magnetic force acts in the direction in which they overlap (downward in the drawing).
[0036]
Also in the output device 51 of this embodiment, the movement when the output rod 71 is protruded by the attractive force of the magnetic force of the magnets 72 and 73 is used as an output, and is fixed to the tip of the output rod 71 in particular. A suction pad 80 is attached to the suction block 78 for use.
A suction hole 62 is formed in the body 60 in parallel with the through hole 61, and an opening portion of the body 60 is closed by being fitted with a holder 64 through which a pipe 63 is slidable. Therefore, the suction hole 62 that is airtight is configured to communicate with the outside only through the pipe 63. The suction hole 62 communicates with a suction port 65 formed in the body 60. Further, the tip of the pipe 63 protruding outward is inserted into the suction block 78 and opened coaxially with the output rod 71 to which the pad is attached. Communicated with the flow path 79.
[0037]
Therefore, according to the output device 51 of the present embodiment, when a predetermined amount of rotation is applied to the stepping motor 52 in the clockwise direction in the drawing, the wire 55 is rewound around the pulley 54 and at the same time, the output rod 71 is moved to the magnets 72 and 73. It is pulled against the suction force. Pipe 63 also holder 64 is slid into the suction hole 62.
On the other hand, when the driving of the stepping motor 52 is released, the output rod 71 rotates the pulley 54 so as to unwind the wire 55, and protrudes from the body 60 by the attractive force of the magnets 72 and 73 (downward in the drawing). Moving. And the output rod from the state shown in the figure 71 Is protruded, the suction pad 80 at the tip thereof comes into contact with the object. The pipe 63 is pulled out from the suction hole 62 according to the suction block 78. So suction port 65 When the air is sucked from, the contact portion between the suction pad 80 and an object (not shown) through the pipe 63 and the flow path 79 becomes negative pressure and can be sucked and held.
[0038]
Therefore, according to the output device 51 of the present embodiment, the output can be obtained only by the magnets 72 and 73 as in the first embodiment. Since the magnets 72 and 73 always exhibit a substantially constant attractive force during a predetermined stroke, it is possible to roughen the processing accuracy of the parts, the assembly centering, and the like.
Further, since a guide member such as a slider is unnecessary, the output device 51 can be reduced in size. And since a constant output can be obtained with a wide stroke, even if you accidentally pinch your hand, it will not be pinched with a force greater than that output, so it is compact in that you do not need to use a separate safety device The cost can be reduced accordingly.
[0039]
In addition, this invention is not limited to the thing of the said embodiment, A various change is possible in the range which does not deviate from the meaning.
[0040]
【The invention's effect】
In the present invention, since the output of the output rod is obtained by the movable side permanent magnet and the fixed side permanent magnet, even if it hits the object at an arbitrary position during a predetermined stroke, it is not pressed down with any more force. It has become possible to provide a compact output device with a buffer function that has an improved buffer function in the event of a collision.
[Brief description of the drawings]
FIG. 1 is a shock absorber according to a first embodiment of the present invention. With ability It is sectional drawing at the time of the non-output which shows an output device.
FIG. 2 is a shock absorber according to a first embodiment of the present invention. With ability It is sectional drawing at the time of the output which shows an output device.
[Fig.3] Shock absorber With ability It is a figure which shows the magnet part of an output device.
FIG. 4 is a graph showing the measurement results of the stroke-static force characteristics of the magnets constituting the magnetic spring.
FIG. 5 conceptually illustrates the principle of thrust generated by a magnet constituting a magnetic spring.
FIG. 6 conceptually illustrates a principle for adjusting a thrust generated by a magnet constituting a magnetic spring.
FIG. 7 is a shock absorber according to a second embodiment of the present invention. With ability It is sectional drawing which shows an output device.
FIG. 8 is a non-output diagram showing a conventional output device with a buffer function.
FIG. 9 is a diagram at the time of output showing a conventional output device with a buffer function.
FIG. 10 is a view showing a suction pad buffer constituting a conventional output device with a buffer function.
[Explanation of symbols]
1 Output device with buffer function
2 Body
3 cylinders
4 buffers
21 Cylinder tube
22 Piston rod
31 Output rod
33, 34 magnet

Claims (4)

An output rod inserted and inserted in a state in which reciprocating linear movement is possible in the axial direction, retreat means for returning the output rod moved in the output direction, and a cylindrical movable-side permanent magnet fitted in the output rod; A cylindrical fixed-side permanent magnet that is disposed coaxially with the output rod and is provided corresponding to the movable-side permanent magnet of the output rod that is penetrated;
The outer peripheral surface of the movable side permanent magnet and the inner peripheral surface of the fixed side permanent magnet are magnetized with different magnetic poles, and the movable side permanent magnet and the fixed side permanent magnet are magnetized by the retreating means. Creating a retracted state in which the magnet is displaced in the axial direction, and moving the output rod in the axial direction by attracting the movable permanent magnet to the fixed permanent magnet to obtain an output;
The movable-side permanent magnet and the fixed-side permanent magnet have a structure divided in the axial direction by a non-magnetic material,
The movable-side permanent magnet and the fixed-side permanent magnet are both equal in axial length, the non-magnetic body that divides the movable-side permanent magnet, and the fixed that is disposed to face the non-magnetic body. The non-magnetic material that divides the side permanent magnet is disposed so as to have an equal length in the axial direction .
The output device with a buffer function, wherein the movable permanent magnet and the fixed permanent magnet are divided in the circumferential direction by an N-pole band and an S-pole band. The output device with a buffer function according to claim 1,
The retreating means is a cylinder arranged in parallel with the output rod, and its piston rod is projected opposite to the output direction and engaged so as to move the output rod only in the retreat direction. An output device with a buffer function. An output rod inserted and inserted in a state in which reciprocating linear movement is possible in the axial direction, retreat means for returning the output rod moved in the output direction, and a cylindrical movable-side permanent magnet fitted in the output rod; A cylindrical fixed-side permanent magnet that is disposed coaxially with the output rod and is provided corresponding to the movable-side permanent magnet of the output rod that is penetrated;
The outer peripheral surface of the movable side permanent magnet and the inner peripheral surface of the fixed side permanent magnet are magnetized with different magnetic poles, and the movable side permanent magnet and the fixed side permanent magnet are magnetized by the retreating means. Creating a retracted state in which the magnet is displaced in the axial direction, and moving the output rod in the axial direction by attracting the movable permanent magnet to the fixed permanent magnet to obtain an output;
The retracting means is a motor disposed on the retracting side of the output rod, and a connecting string wound with one end connected to a pulley fixed to the motor shaft is fed out from a tangential direction of the pulley. An output device with a buffering function, wherein the output device is connected to a rear end portion of the output rod and is driven only in a rotational direction in which the output rod is moved only in the backward direction. In the output device with a buffer function according to claim 3,
The output device with a buffer function, wherein the movable permanent magnet and the fixed permanent magnet are divided in the circumferential direction by an N-pole band and an S-pole band.

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