JPH0348401Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a technique that is particularly effective when applied to a double-acting cylinder device whose reciprocating motion is controlled by pressure fluid, such as industrial robots, etc. The present invention relates to a technique that is effective for use in a cylinder device for remote control used as a drive unit in a remote control cylinder device.

[Conventional technology]

As for the operating mechanism of an industrial robot, it is known that in order to perform efficient work in a small space, an operating section that actually performs the work and a drive section that controls the operation of the operating section are separated. As a specific operating mechanism, for example, a cylinder device is used as the driving part, a tube body is attached to the cylinder device, the tip of the tube body is used as the actuating part, a wire is inserted into the tube body, and the cylinder device is actuated by this wire. It is conceivable to connect the rod of the actuator to the rod of the actuating part. That is, the wire is operated by the operation of the cylinder device, and the operation of the rod at the tip of this wire is controlled.

[Problem that the invention attempts to solve]

However, in the above-mentioned technique, both the push-out and pull-in operations of the rod of the actuating section are performed by moving the wire. Therefore, during the extrusion operation, the wire that is energized by the operation of the cylinder device bends inside the tube, making it impossible to accurately transmit the operating force of the cylinder device to the actuating part, and therefore, it is often impossible to properly control the rod in the actuating part.

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide a remote control technique with high operational reliability.

[Means for solving problems]

The present invention includes a first cylinder as an operating part,
A second cylinder serving as a driving part is connected to the rod through a pipe body, and the retracting operation of the rod of the actuating part is performed by a wire driven by the second cylinder, and the pushing action is performed from the second cylinder through the pipe body. This is done using fluid pressure supplied to the first cylinder.

[Effect]

According to the above-mentioned means, since the retracting operation is performed by the wire and the extruding action is performed by the fluid pressure, the wire does not bend inside the tube because the wire is in the pulling direction in both reciprocating movements, and reliable control is possible. Moreover, remote control with high operational reliability is possible in industrial robots, etc., without increasing the size of the first cylinder as an operating part.

〔Example〕

FIG. 1 is an enlarged sectional view showing a cylinder device according to an embodiment of the present invention, and FIG. 2 is a perspective view showing a state in which this cylinder device is mounted.

The cylinder device 1 of this embodiment is a cylinder device for remote control used as a hand of a robot, for example, and includes an actuation cylinder 2 (first cylinder) as an actuation part that performs a predetermined work, and Control cylinder 3 (second
cylinder), and a tube 4 (pipe body) that connects the operating cylinder 2 and the control cylinder 3.

The control cylinder 3 is composed of a retraction block 5 and an extrusion block 6, each of which controls the retraction and extrusion operations of the working cylinder 2.

The retraction block 5 has a cylinder body 8 in which a cylinder chamber 7 is formed, and a piston 9 slidable in the axial direction is mounted in the cylinder chamber 7. A piston packing serving as a sealing material 13a is fitted into the outer periphery of the piston 9 to prevent leakage of fluid from the cylinder chamber 7. A piston rod 10 is attached to the piston 9 facing toward the extrusion block 6, and the piston rod 10 is structured to be movable in the axial direction in conjunction with the piston 9.
A rod guide 11 and a rod cover 12, the interior of which is penetrated by the piston rod 10, are attached to the end face of the retraction block 5 on the side from which the piston rod 10 is protruded.
It has a structure that supports 0. A sealing material 13b is fitted into the sliding portion between the rod guide 11 and the rod cover 12 and the piston rod 10 to prevent leakage of fluid from the gap between the rod guide 11 and the piston rod 10. Further, a sealing material 13c is similarly fitted into the contact portion between the rod guide 11 and the inner surface of the cylinder of the cylinder body 8, so that leakage of fluid from the inside of the cylinder chamber 7 is prevented. Further, a pressure port 14a is provided on one side of the retraction block 5 to communicate the outside and the cylinder chamber 7. A pipe (not shown) is connected to this pressure port 14a, and when a predetermined pressure fluid is supplied to the cylinder chamber 7 through this pipe, the piston rod 10 is drawn into the drawing block 5 together with the piston 9.
The structure is such that it moves to the right as seen in the diagram.

The extrusion block 6 is located on the protruding side of the piston rod 10 of the retraction block 5, that is, the rod cover 12.
It is attached to the side and has a fluid circulation space 15 inside.
It has a block body 16 formed with. A pressure port 14b is provided on one side of the block body 16.
is the outside of the block body 16 and the fluid circulation space 1.
5, and a predetermined pressure fluid is supplied to the fluid circulation space 15 through a pipe (not shown) to the pressure port 14b. In the fluid circulation space 15, a wire joint 17a is attached to the tip of the piston rod 10 protruding from the retraction block 5 by a threaded structure. means) are latched. On the other hand, there is a joint member 2 on the tip side of this extrusion block 6.
0a is attached to the block body 16 in a screwed state, and one end of the tube 4 extending in the axial direction is fitted into the inside of the joint member 20a, and the tube 4 is supported by this structure. It is in a state of

Inside the tube 4 is the wire joint 1.
The wire 19 hooked to the protective tube 21
It is inserted inside the tube. Moreover, the inside and outside of this protective tube 21 substantially function as a fluid flow passage 22 for supplying the pressure fluid inflowed from the pressure port 14b of the extrusion block 6 to the working cylinder 2 side, and this fluid flow The passage 22 is the fluid circulation space 1 of the extrusion block 6.
It is in communication with 5.

The actuation cylinder 2 is attached to the end of the tube 4 on the opposite side from the joint member 20a with another joint member 20b interposed therebetween. A cylinder chamber 23 is provided inside the working cylinder 2.
A piston 24 is capable of sliding in the axial direction inside the cylinder chamber 23. This cylinder chamber 23
is the fluid flow path 2 formed by the tube 4
2, so that the pressure fluid supplied to the pressure port 14b of the extrusion block 6 is communicated with the cylinder chamber 23 of the working cylinder 2. Further, a wire joint 17b having the same structure as the wire joint 17a is connected to one end of the piston 24, and one end of a wire 19 having a spherical stopper 18b at the end is hooked. Note that a sealing material 13d is fitted on the outer periphery of the piston 24, and the cylinder chamber 2
Leakage of pressure fluid from 3 is prevented. On the other hand, a piston rod 25 extends in the axial direction at the other end of the piston 24, and the piston rod 25 has a structure that allows it to move in the axial direction in conjunction with the piston 24 while being supported by a rod cover 26 and a rod guide 27. It's summery.

Although the cylinder device 1 of this embodiment has the structure described above, when mounting this cylinder device 1, the following mounting format is possible.

That is, as shown in FIG. 2, for example, a solenoid valve 28 is attached to the side surface of the control cylinder 3 in which the pressure ports 14a and 14b of the cylinder device 1 are opened.
The supply of pressure fluid to 4a and 14b is controlled by switching. In the example shown in FIG. 2, the cylinder device 1 and the solenoid valve 28 are connected to the manifold 2.
A plurality of them are arranged in parallel on 9. However, it is also possible to use only one set of the cylinder device 1 and the solenoid valve 28.

Next, the operation of this embodiment will be explained.

In FIG. 1, the piston 24 and piston rod 25 of the working cylinder 2 are in the retracted state. In this state, when a predetermined pressure fluid is supplied to the pressure port 14b of the control cylinder 3 on the extrusion block 6 side, the pressure fluid passes through the fluid circulation space 15 in the extrusion block 6 and into the tube 4 and the protection tube 21. It is press-fitted into the fluid flow passage 22 . The pressure fluid pressurized into the fluid flow passage 22
2 to the cylinder chamber 23 of the working cylinder 2. As a result, when the internal pressure of the cylinder chamber 23 increases, the piston 24 of the working cylinder 2 is energized, so that the piston rod 25 is actuated to the outside of the working cylinder 2, that is, to the left in FIG. do.

On the other hand, when pressure fluid is supplied to the pressure port 14a of the control cylinder 3 on the retraction block 5 side, the internal pressure in the cylinder chamber 7 of the retraction block 5 increases, and the piston rod 10 is pulled into the retraction block 5 together with the piston 9. That is, it operates in the right direction in FIG. As the piston rod 10 operates, the wire 19 connected through the wire joint 17a moves inside the protective tube 21 so as to be drawn toward the control cylinder 3, that is, to the right in FIG. As the wire 19 moves, the piston 24 on the working cylinder 2 side, which is connected to the wire 19, is moved, and the piston rod 25 of the working cylinder 2 moves in the direction of being drawn into the working cylinder 2.

By injecting pressure fluid into either of the two pressure ports 14a or 14b of the control cylinder 3, the piston rod 25 of the remote working cylinder 2 is caused to perform a predetermined reciprocating motion. A load (not shown) connected to is driven.

As described above, according to this embodiment, the following effects can be obtained.

(1) The protruding movement (returning movement) of the piston rod 25 of the working cylinder 2 is performed by the pressure fluid supplied to the working cylinder 2 through the fluid flow passage 22 in the protective tube 21 in the tube 4, and the retracting movement is performed by the control cylinder 3. By using the pressure supplied to the cylinder 3 through the wire 19 connected to the control cylinder, the wire 19 does not bend even during the ejection operation (return operation), and both the reciprocating movement of the piston rod 25 of the working cylinder 2 and the control cylinder Reliable control is possible using the pressure fluid supplied to the third side.

(2) According to (1) above, it is possible to provide a double-acting cylinder device that can be remotely controlled without increasing the size of the operating cylinder 2.

(3) According to (1) above, by simply supplying pressure fluid to the control cylinder 3 side, the operating cylinder 2
It can be operated remotely for remote control.

Although the present invention has been specifically explained based on the examples above, the present invention is not limited to the above-mentioned examples, and various changes can be made without departing from the gist thereof.

For example, although the tubes 4 and 21 are shown as being straight, the tubes 4 and 21 may be flexible or may be deformed into a predetermined curved shape depending on the purpose. good.

[Effect of idea]

According to the present invention, the first cylinder portion performs a predetermined work by the axial movement of the piston rod;
and a second cylinder part which is connected by a pipe body and controls the operation of the first cylinder part. The movement of the piston rod in the first cylinder section in the retraction direction is performed by the pressure fluid supplied to the first cylinder section through the passageway of the piston rod, and the piston rod of the first cylinder section is actuated in the retraction direction by the pressure fluid supplied to the first cylinder section through the passageway of the piston rod. 2
By using a remote-controlled double-acting cylinder device structure, the retraction operation is performed by a wire,
And since the extrusion operation is performed by fluid pressure,
Reliable control of both reciprocating motion is possible. In addition, since there is no need to connect pressure fluid piping to the first cylinder section as the operating section, remote control with high operational reliability can be performed without increasing the size of the first cylinder section. .

[Brief explanation of drawings]

FIG. 1 is a sectional view showing a cylinder device according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing a state in which the cylinder device of this embodiment is mounted. 1... Cylinder device, 2... Working cylinder, 3
... Control cylinder, 4 ... Tube, 5 ... Retraction block, 6 ... Extrusion block, 7 ... Cylinder chamber, 8 ... Cylinder body, 9 ... Piston, 10
... Piston rod, 11 ... Rod guide, 1
2... Rod cover, 13a, 13b, 13c,
13d... Seal material, 14a, 14b... Pressure port, 15... Fluid circulation space, 16... Block body, 17a, 17b... Wire joint, 1
8a, 18b... Stopper, 19... Wire, 2
0a, 20b...Joint member, 21...Protection tube, 22...Fluid flow path, 23...Cylinder chamber,
24... Piston, 25... Piston rod, 2
6... Rod cover, 27... Rod guide, 2
8... Solenoid valve, 29... Manifold.

Claims (1)

[Scope of utility model registration request] It consists of a first cylinder part that performs a predetermined work by the axial movement of the piston rod, and a second cylinder part that is connected to this first cylinder part by a pipe body and controls the operation of the first cylinder part. The piston rod of the first cylinder section is actuated in the pushing direction by pressure fluid supplied from the second cylinder section to the first cylinder section through the passage in the tube, and the piston rod of the first cylinder section is operated in the pushing direction. A remote-controlled double-acting cylinder device, characterized in that the movement of the piston rod in the retracting direction is performed by the actuation of the piston rod of a second cylinder portion connected via a transmission means extending within the tube.