JPH0565907A - Cylinder with vacuum control device - Google Patents

Abstract

PURPOSE:To obviate individual air piping for a cylinder body part and a vacuum control part so as to simplify air piping and effectively utilize the working space by providing a cylinder with a built-in or added vacuum control part formed of an ejector, thereby forming a common air piping passage. CONSTITUTION:Compressed air led into an air supply port 54 from an air supply source is fed out to ports 26, 27 under the control of a five-port solenoid pilot valve 38 so as to drive a piston 12 into its rectilinear motion, and also led into an ejector 16. In this ejector 16, a vacuum state is formed and the compressed air is sucked from the air suction port 82 of a suction pad 22 through a fluid pipeline 35.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cylinder with a vacuum control device in which a cylinder, a vacuum generator and the like are combined and integrated.

[0002]

2. Description of the Related Art Conventionally, a cylinder and a vacuum generator are individually arranged in a fluid circuit. That is, the compressed air is introduced into the port of the cylinder to displace the piston, and the suction pad, which is the suction tool for gripping the workpiece and is connected to the tip of the piston rod, moves linearly with the displacement of the piston. To convey the work. On the other hand, the vacuum generator is arranged separately from the cylinder, and a pipe such as a tube is connected to the air suction port of the suction pad to communicate with the vacuum generator and generate a vacuum when the work is transferred. The work is sucked under the negative pressure of the container, and the work is conveyed to a desired position by the linear movement of the cylinder.

[0003]

However, in the above conventional technique, the compressed air from the air supply source must be individually supplied to both the cylinder side and the ejector side.
Piping work for that is required.

The tube connecting the vacuum generator and the suction pad also has to be long enough to reach the movement range of the work, because the suction pad moves as the work is conveyed. However, it also requires a space for the tube to move.

Therefore, according to the present invention, a passage for connecting a cylinder and a vacuum generator, and a passage for communicating with the air suction port of the suction pad are provided in the pipe of the cylinder rod so as to suction the workpiece through the vacuum generator. It is possible to simplify piping work by unifying
An object of the present invention is to provide a cylinder with a vacuum control device that can effectively use a work space.

[0006]

In order to achieve the above-mentioned object, the present invention has a tubular body which is linearly displaced by supplying a fluid from a port, and a hollow fluid tube inside the tubular body. And a vacuum control unit including at least a vacuum generator, a silencer, a filter, a cylinder drive valve and a control valve, and a pressure detector, and the vacuum control unit is built in the cylinder unit. Alternatively, it is additionally provided, and the fluid passage and the port are communicated with and connected to the fluid passage of the vacuum controller.

[0007]

In the above-described cylinder with vacuum controller according to the present invention, the compressed air supplied from the air supply source is supplied to the port on the cylinder side to linearly displace the tube body, and the compressed air on the vacuum controller side Introduced into the fluid passage. The compressed air introduced to the vacuum control unit side is vigorously ejected from the nozzle in the fluid passage arranged in the vacuum control unit to generate a negative pressure under the pressure reducing action. By this negative pressure action, the work can be sucked through the fluid pipe provided in the pipe and communicating with the fluid passage of the vacuum control unit, and the work can be conveyed through the linear displacement of the pipe.

[0008]

The preferred embodiments of the cylinder with a vacuum control device according to the present invention will now be described in detail with reference to the accompanying drawings.

FIG. 1 is a partially omitted vertical sectional view showing a cylinder with a vacuum control device according to the present invention, FIG. 2 is a plan view of the cylinder with a vacuum control device, and FIG. 3 is a circuit configuration diagram.

The cylinder 10 with a vacuum control device basically has a cylinder body 14 for accommodating a piston 12 therein.
And a vacuum controller 18 containing the ejector 16 and the like, and a workpiece gripper 24 in which a suction pad 22 is connected to a connector 20 as a connecting member.

More specifically, the cylinder body 14 is formed in a rectangular parallelepiped shape, and the piston 12 for displacing the fluid through the ports 26 and 27 to linearly displace the tubular cylinder chamber 28 is disposed inside the cylinder body 14. Has been done. This piston 12
The piston 1 is attached to the outer periphery of the piston 1 by a position detection mechanism (not shown).
A ring-shaped magnet 30 for detecting the position of No. 2 and a coil 32 are provided. A piston rod (tubular body) 34 that connects the piston 12 and transmits the output and displacement of the piston 12 to the work grip 24 is connected to the inner circumference of the piston 12. In the pipe of the piston rod 34, a fluid pipe 35 that defines a hollow through hole in the displacement direction is provided. One end of the piston rod 34 communicates with an ejector 16 described below, and the other end of the work gripping portion 24 is connected. It communicates with the connector 20. The fluid conduit 35 defines a suction passage for adsorbing the work under the negative pressure generated by the ejector 16. The cylinder chamber 28 defines a set of ports 26 and 27 for introducing and discharging a fluid. The ports 26 and 27 are five-port solenoid pilot valves for driving a cylinder, which will be described later, via passages 36 and 37. It communicates with 38. A detent member 40 for preventing rotation of the piston rod 34 is connected to the cylinder body 14 at one end of the cylinder body 14, and the linear movement of the piston rod 34 is ensured in the vicinity of the detent member 40. And a rod cover 42 is provided to form the cylinder chamber 28. As shown in FIG. 2, two holes 44 are defined as through holes for fixing the cylinder 10 with a vacuum controller to a mounting plate or the like (not shown). In addition, by inserting a pin or the like, the rotation stopping member 40
An anti-rotation pin 46 is attached so as not to rotate.

The vacuum control unit 18 forms a rectangular parallelepiped, and on the upper surface thereof, a cylinder driving 5-port solenoid pilot valve 3 is provided.
8, 3 for operating the opening and closing of the pilot operated valve 48
A vacuum pressure switch 52 for detecting a negative pressure state in the port solenoid valve 50 and the vacuum controller 18 is mounted. A one-touch pipe joint 56 having an air supply port 54 and an exhaust silencer 58 formed in a cylindrical shape are attached to both side faces of the piston rod 34 in the displacement direction. The one-touch fitting 56 is a vacuum control unit 18.
It may be formed integrally with. Inside the vacuum controller 18, a flow rate control valve 60 (see FIG. 3) for controlling the flow rate of the compressed air used for breaking the vacuum is arranged.
Below the vacuum control unit 18, an ejector 16 including a nozzle 62 and a diffuser 64, a filter 66 for removing dust and the like, and a silencer 68 located on a side surface of the ejector 16 are arranged.

As shown in FIG. 2, when the cylinders 10 with a vacuum control device are connected in series and used as a manifold (branch pipe), even if the vacuum supply port and the exhaust port are penetrated and shared. Good. Further, the main body of the exhaust port portion may be provided with a notch for exhausting.

Next, the operation of the cylinder 10 with a vacuum controller constructed as above will be described with reference to the circuit diagram of FIG.

First, a pipe line such as a tube is connected to the air supply port 54 of the one-touch pipe joint 56, and compressed air is introduced from an air supply source (not shown). The compressed air introduced from the air supply port 54 is introduced into the 5-port solenoid pilot valve 38 communicating with the port 26 of the cylinder chamber 28 via the passage 36 and the 3-port solenoid valve 50.
It is introduced into the pilot operated valve 48 whose valve opening and closing is controlled via. As described above, the compressed air introduced from the air supply port 54 at one location causes the vacuum control unit 18 to generate a negative pressure state on the side of the 5-port electromagnetic pilot valve 38 for driving the linear motion of the piston 12 and the work. Pilot operation valve 48 for sucking the work in the grip portion 24
Supplied to both sides.

First, the former case, that is, the case of driving the linear movement of the piston 12 will be described. The 5-port electromagnetic pilot valve 38 communicates with the ports 26 and 27 via the passages 36 and 37, and is also connected to the exhaust silencer 58. The compressed air introduced from the air supply port 54 is introduced into the 5-port electromagnetic pilot valve 38 via the passage 70. At this time, one port 26
The passage 36 leading to the port is used for introduction, and the other port 2
The passage 37 leading to 7 is used for exhaust and is discharged from the exhaust silencer 58 to the outside. In this way, the piston 12 is linearly displaced from the introduction port 26 direction toward the exhaust port 27 direction. Subsequently, the solenoid valve (not shown) inside the 5-port electromagnetic pilot valve 38 excites the pilot valve, and the main valve is operated by the pilot pressure to switch the 5-port electromagnetic pilot valve 38. By switching the 5-port electromagnetic pilot valve 38, the introduction of the compressed air to the ports 26 and 27 and the exhaust are reversed, and the piston 12 is linearly displaced in the direction opposite to the above direction. As described above, by switching the 5-port electromagnetic pilot valve 38 intermittently and repeating the introduction and exhaust of compressed air, the linear motion of the piston 12 can be repeatedly continued.

Next, the latter case, that is, the case where the vacuum controller 18 generates a negative pressure state will be described. A three-port solenoid valve 50 for controlling valve switching is connected to the pilot operation valve 48, and the three-port solenoid valve 50 is operated to bring the pilot operation valve 48 into the open state. That is, the compressed air introduced from the air supply port 54 is supplied to the one-side supply port 74 and the three-port solenoid valve 50 on one side of the pilot operated valve 48 via the passage 72. At this time, the pilot operated valve 48 is in the closed state, and the 3-port solenoid valve 50 is also in the closed state due to the operation of the spring. Therefore, the 3-port solenoid valve 50 is switched under the excitation of a solenoid (not shown). By this switching, the pilot operated valve 48 has
Compressed air is introduced into both the one-side supply port 74 and the other-side supply port 76. In this case, depending on the size of the cross-sectional area of the supply ports 74 and 76 into which the compressed air is introduced (the cross-sectional area of the supply port 76 is larger), the valve body (not shown) is displaced to form the valve open state. .. Therefore, the introduced compressed air is introduced into the ejector 16 via the passage 78. As shown in FIG. 1, the compressed air introduced into the ejector 16 is delivered to the nozzle 62 and is vigorously ejected at the tip of the nozzle 62 to generate a pressure drop action around the tip. Therefore, air is sucked through the fluid conduit 35 provided inside the piston rod 34 through the filter 66. By this suction action, the work is sucked from the air suction port 82 of the suction pad 22 connected to the connector 20 through the inner tube 80 of the connector 20 connected to the tip end portion of the piston rod 34. Inside the connector 20, there is provided a cushion 84 (see FIG. 1) for cushioning the piston rod 34 when a work is attracted.

In this way, the work sucked by the suction pad 22 can be moved by the stroke distance under the linear displacement of the piston rod 34 and conveyed. The compressed air injected from the tip of the nozzle 62 is passed through the diffuser 64 and the silencer 68.
Is discharged from the outside. Filter 66 and fluid line 35
A vacuum pressure switch 52 for detecting a negative pressure state generated by the pressure drop action is connected between and.

Next, a description will be given of a case where the negative pressure state is released and the vacuum is broken when such a negative pressure state is formed. The compressed air introduced from the air supply port 54 is sent to the vacuum breaking pilot valve 88 via the passage 86, and the three-port solenoid valve 50 is controlled to switch the vacuum breaking pilot valve 88 as described above. be able to. By this switching, the vacuum breaking pilot valve 88 is in the state when the valve is opened, and the introduced compressed air is
It is led to a passage 90 between the filter 66 and the vacuum pressure switch 52. Therefore, by mixing the positive pressure compressed air with the negative pressure air generated in the ejector 16, the negative pressure state is released and the vacuum can be broken.

Next, FIG. 4 shows a circuit diagram of a cylinder with a vacuum controller according to another embodiment of the present invention. The same components as those in the above embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

In the cylinder 92 with the vacuum control device in this embodiment, a semiconductor resistance type or capacitance type sensor A96 or sensor B9 is provided inside the switch 94 on the vacuum control unit 18 side.
Two sensors 8 are arranged in combination, and the sensors A96 and B98 are formed by filters 100 and 102 or a hydrophobic element (for example, a polytetrafluoroethylene film) so as to protect them from dust and water.

Therefore, the pilot operation valve 48 functioning as a vacuum generating valve, the vacuum breaking pilot valve 88, the 5-port electromagnetic pilot valve 38, and the controller of the work operation actuator (not shown) in advance during steady operation or during operation. Is operated to judge whether the workpiece is properly adsorbed or not adsorbed, or the adsorption failure state is detected from the pressure state, and a signal related to the operation data is sent to the switch circuit 1.
It is transmitted to the control unit 106 and the local sequencer (or local controller) 108 via 04. further,
This signal is led to the sequencer 110 provided outside. Signals can be transmitted / received to / from the sequencer 110 and the like by serial transmission including an operation signal of the solenoid valve, an output signal of the switch 94, and an analog signal.

Further, the sensor A96 is changed so as to change the pass / fail judgment value by the sensor B98 as timely as possible according to the pressure fluctuation of the vacuum generator. For example, it is preferable to adopt an automatic shift method in which the pressure of the adsorbed and non-adsorbed sensor B98 is calculated and predicted from the pressure of the sensor A96 so as to determine pass / fail by a value of 50%.

Further, when the cylinders 10 and 92 with a vacuum controller are attached to another robot or the like, it is preferable to provide a T slot. The same applies to the case where a plurality of cylinders 10 and 92 with a vacuum control device are connected in series by forming a manifold.

[0025]

According to the cylinder with a vacuum controller according to the present invention, the following effects can be obtained.

That is, the fluid passage of the vacuum control unit is connected to the fluid pipe leading to the suction port of the suction pad, and the compressed air introduction port is connected to the cylinder unit. It is not necessary to individually introduce compressed air from the air supply source to both of the control units, and only one shared compressed air supply path may be provided for both.

Further, since the vacuum control section is built in or attached to the cylinder section, it is not necessary to provide a tube as a passage for connecting the vacuum control section and the air suction port of the suction pad. Therefore, it is possible to effectively utilize the space required for tube piping.

[Brief description of drawings]

FIG. 1 is a partially omitted vertical sectional view of a cylinder with a vacuum control device according to an embodiment of the present invention.

FIG. 2 is a plan view of a cylinder with a vacuum control device according to an embodiment of the present invention.

FIG. 3 is a circuit configuration diagram of a cylinder with a vacuum control device according to an embodiment of the present invention.

FIG. 4 is a circuit configuration diagram of a cylinder with a vacuum control device according to another embodiment of the present invention.

[Explanation of symbols]

 10, 92 ... Cylinder with vacuum controller 12 ... Piston 14 ... Cylinder body 16 ... Ejector 18 ... Vacuum controller 26, 27 ... Port 35 ... Fluid conduit 38 ... 5-port solenoid pilot valve 48 ... Pilot operated valve 50 ... 3-port solenoid valve

Claims (1)

[Claims] 1. A cylinder part having a tubular body which is linearly displaced by supplying a fluid from a port, and a hollow fluid conduit is provided in the tubular body, and at least a vacuum generator, a silencer and a filter. A vacuum control unit including a cylinder drive valve, a control valve, and a pressure detector, wherein the vacuum control unit is built in or attached to the cylinder unit, and a fluid passage is provided in the vacuum control unit for the fluid. A cylinder with a vacuum control device, characterized in that a pipe and the port are connected in communication with each other.