JPH11287344A - Automatic speed controller of air driving means and air driving device using automatic speed controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control variably the operating speed. SOLUTION: An automatic speed controller for an air driving means to operate a working body of different sort through the air drive made by an air cylinder is equipped with a throttle valve 15 to control the rate of flow of the working air passing through each air passage, wherein one throttle valve 15 is installed on each of the air passages, and the degrees of opening of the throttle valves are set simultaneously using a single motor 16. One throttle valve 15 is furnished on each of the suction path and exhaust path of the cylinder of the working body equipped with air cylinder, and the degrees of opening of the throttle valves are set simultaneously by the same motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic speed controller for an air driving means used for a mechanism doll and the like, and an air driving apparatus using the same. The present invention relates to a speed controller and an air drive device using the same.

[0002]

2. Description of the Related Art In general, an air driving means for operating an operating body using air pressure is simple in structure and easy to handle, and can be operated at a low operating noise by using air pressure as a driving source. Since it does not stain, it is frequently used for various drive mechanisms,
It is used for various purposes.

[0003] In this type of air driving means, when simple linear and reciprocating operation is enough, an air driving means using an air cylinder is generally used. Even in the case of complicated operation, a link mechanism is used. Are converted into other rotational motions and the like.

For example, a doll body driving mechanism used in a mechanism is roughly classified into a motor driven mechanism and an air driven mechanism. That is, in the case of a mechanism doll body, separate heads, arms, legs, etc. are often operably attached to the body of the doll, and these parts are driven by a driving mechanism housed in the body. , A predetermined mechanism is performed. In general, one operation mechanism is required corresponding to one operation of the doll, so to perform multiple operations, a plurality of mechanisms are provided in the body, and a composite mechanism operation is performed on the doll body. Has been realized.

[0005] The motor drive mechanism of the doll body includes a motor, an eccentric cam rotated and driven by the motor, an operating rod connected to the eccentric cam, a link mechanism and an operating cam body connected to the operating rod, and And the respective parts of the doll body that are driven in a dynamic manner. However, storing such a motor mechanism in the limited internal space of the doll body cannot use a large and complicated drive mechanism,
The operation of each part is limited to a monotonous one, or the number of drive mechanisms that can be incorporated is reduced, so that only a small number of parts can be operated. In particular, in the case of equipment clocks, such as equipment clocks, which are often installed at high places, it is not preferable to increase the weight because of the ease of installation and replacement work and the need to reinforce the entire structure.

In order to make the doll perform various operations and to reduce the weight, many dolls use an air drive mechanism. That is, the air drive mechanism is composed of a light and small air cylinder provided in the doll body and a link mechanism, and the working air for operating the air cylinder is supplied from an external air compressor. And the reciprocating motion obtained by this cylinder is
The movement is converted into a necessary movement by a link mechanism, and each part such as an arm is operated by a mechanism.

That is, conventionally, the cylinder operating speed is controlled by performing meter-out control of the cylinder. The solenoid valve sets the electromagnetic actuation force of the solenoid and the spring force of the spring in such a way that the valve position is previously balanced so that the valve position is at the neutral position, and the solenoid actuation force is increased or decreased by electric control. Thus, the valve position is selected as an air supply or exhaust path, and the opening degree of the path is set.

[0008]

However, in such an air driving means, a manual speed controller is provided to automatically control the operation speed even if the operation speed can be appropriately controlled manually. Is not known.

[0009] Even if the operation speed can be set in advance, there is no known device that changes the operation speed during actual operation.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic speed controller for air driving means capable of variably controlling an operation speed and an air driving device using the same.

[0011]

The invention described in the first aspect of the present invention is a speed controller of an air driving means for operating various operating bodies by air driving of an air cylinder, which passes through an air passage. In a device provided with a throttle valve for controlling the flow rate of working air, a plurality of the air passage paths are provided, and a throttle valve is provided in each air passage path, and the opening degree of each of the throttle valves is controlled by a single motor. Is an automatic speed controller of the air driving means that is set simultaneously by driving.

According to a second aspect of the present invention, in the first aspect of the invention, there is provided an automatic speed controller of an air driving means provided with an opening detecting means for detecting an operating position of the throttle valve.

According to a third aspect of the present invention, in the first aspect of the present invention, the motor is an automatic speed controller of an air driving means, wherein the motor is a linear step motor.

According to a fourth aspect of the present invention, in an operating body having an air cylinder, a throttle valve is provided in each of an intake path and an exhaust path of the one cylinder, and the opening of each of the throttle valves is performed. This is an air drive device using an automatic speed controller configured to simultaneously set the degree by driving a single motor.

According to a fifth aspect of the present invention, a plurality of operating bodies having air cylinders are provided, and throttle valves are provided in the air passages of the cylinders of the operating bodies. Is an air drive device using an automatic speed controller configured to set simultaneously by driving a single motor.

According to the present invention, since the throttle valve moves in and out by the operation of the motor, by controlling this motor, the operation speed of the throttle valve can be flexibly changed according to the use situation and conditions.

In particular, since the openings of the throttle valves arranged in the respective air passages are simultaneously set by driving a single motor, control of a plurality of moving bodies at a time is simplified.

Further, when an opening detecting means for detecting the operating position of the throttle valve is provided, the operating speed of the throttle valve can be flexibly changed according to the use conditions and conditions, and the control accuracy is improved. be able to.

Further, the use of a stepping motor as a drive source for the throttle valve simplifies the structure, improves the reliability and economy, and always maintains the reliability irrespective of the temperature change during operation. A stable operation amount can be secured, and control stability and accuracy can be improved.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to FIGS.
A description will be given based on the specific example shown in FIG.

The automatic speed controller of this embodiment is
As shown in FIG. 1, it is incorporated and used in an air driving means 1 configured in the same manner as the conventional one, so that the operating speed at the time of its operation can be flexibly and automatically changed.

That is, the air driving means 1 includes an air pressure source block 2 for generating a predetermined compressed air, a pressure control block 3 for adjusting the air pressure supplied from the air pressure source block 2, and an electromagnetic switch for switching and distributing the air. The air control block 4 includes a switching valve 5, an air cylinder S that is operated by air that is switched and distributed, and an electric control circuit block 6. The electric control circuit block 6 electrically controls the electromagnetic switching valve 5 for performing air switching distribution and the automatic speed controller 11, and also controls the operation timing of the cylinder S and, if necessary, the operation speed.

Although not shown in FIG. 1,
When a plurality of movable parts are provided, the cylinder S is provided with a number of cylinders corresponding to the plurality of movable parts, and an electromagnetic switching valve 5 is provided for each of the cylinders S. Further, an automatic speed controller 11, which will be described later, is provided in the cylinder S that requires a variable speed operation.

In the present embodiment, the air pressure source block 2 includes a compressor driven by an electric motor, a relatively large capacity air pressure tank for accumulating air generated by the compressor and stabilizing the supply air pressure, and An air filter that removes lubricant and foreign matter for the compressor contained in the air is provided so as to continuously generate a predetermined amount and a predetermined pressure of compressed air.

In this embodiment, the pressure control block 3
It is composed of an air filter and a pressure reducing valve, and adjusts and maintains a predetermined air pressure irrespective of fluctuations in the outside air temperature and the like.

Further, in this example, the air control block 4
It mainly comprises electromagnetic switching valves 5 and 5 provided for each cylinder S, S, and these electromagnetic switching valves 5 include:
The pressure control block 3 generated from the air pressure source block 2
The working air adjusted to a predetermined pressure is distributed and supplied.

The operation of switching the air supply path by the respective electromagnetic switching valves 5 and 5 causes the piston rod r of the air cylinder S to expand and contract, and the linear sliding movement of the piston rod r can be directly used. Using various mechanisms, they are converted into other movements and used.

That is, the air tubes 5a and 5b connected to each port of the electromagnetic switching valve 5 are connected to one end and the vicinity of the other end of the air cylinder S, respectively, regardless of the piston position in the cylinder S. The working air can be supplied / discharged to two chambers separated by the piston.

In the air driving means 1 constructed as described above, the air pressure source block 2 generates a predetermined amount and a predetermined pressure of compressed air, and the working air adjusted to a predetermined pressure by the pressure control block 3 is supplied to the 5 port 3 position. Is distributed to the electromagnetic switching valve 5 and is not supplied to the air tubes 5a and 5b or is supplied to one of the air tubes 5a and 5b by the switching operation of the electromagnetic switching valve 5.

The electromagnetic switching valve 5 has a built-in electromagnetic coil for selecting and switching any one of these three positions. This electromagnetic coil is electrically connected to the electric control circuit block 6, The switching operation is controlled by a switching signal from the electric control circuit block 6. Therefore, the air supply path to the cylinder is appropriately switched by the electromagnetic switching valve 5, and the piston rod r is caused to perform a predetermined retracting operation.

In the vicinity of the air tubes 5a, 5b connecting the cylinder and the electromagnetic switching valve 5, manual speed controllers 7, 7 capable of precise setting by meter-out control are provided. Automatic speed controllers 11, 11 by meter-in control are provided on the side of the electromagnetic switching valves 5a, 5b.

Next, an automatic speed controller capable of simultaneously controlling a plurality of air paths will be described.

The automatic speed controller of this embodiment is integrally formed as a single unit, and can be handled at the same level as a manual flow control valve, and can be easily installed.

During the operation of the cylinder, the movement speed of the piston rod can be smoothly adjusted by increasing or decreasing the air supply rate to the air cylinder and the discharge rate from the air cylinder.

That is, basically, this speed controller is a check valve that allows free discharge from the cylinder and prevents free inflow on each of two paths branched in parallel in an air circuit. And a throttle valve which is a flow control valve. The opening degree of the throttle valve can be controlled by electric motor drive so that the operating speed of the cylinder can be changed.

That is, the forward air supplied from the compressor to the cylinder is blocked by the check valve, and is always supplied through the throttle valve. On the other hand, the air in the opposite direction discharged from the cylinder is discharged through the check valve. Thus, the air supply flow rate to the cylinder is increased or decreased according to the opening degree of the throttle valve, and the movement speed of the piston is adjusted, so that the operation speed of the cylinder can be adjusted.

Referring to FIG. 2, the automatic speed controller 11 of the present embodiment has two air passages, and a threaded needle type throttle valve is provided in the middle of each air passage. Driven by a motor, it is moved forward and backward in its axial direction, and the moving needle portion changes the passage cross-sectional area of the passage through which the working air passes, sets the opening of the throttle valve, and reduces the flow rate of the working air. To adjust.

That is, the automatic speed controller 11 comprises a tubular main body 12 having two air passages having a predetermined inner diameter, and a tubular needle guide 13 arranged perpendicular to the longitudinal direction of each air passage. 13, a check valve 14 disposed on an air adjustment path formed by the outer periphery of the needle guides 13, 13 and the tubular body 12, and a throttle valve 15 disposed on the inner peripheral side of the needle guide 13.
And a stepping motor 16 for driving these throttle valves 15 at the same time. The motor 16 has a motor shaft 16 a which is connected via a slide coupling 17.
It is connected to a detection plate 22 of a predetermined shape, and the upper end of each throttle valve 15 is mounted on the detection plate 22 so as to be adjustable.

The tubular body 12 is made of a metal material,
It is formed in a tubular shape with a predetermined inner and outer diameter to ensure a predetermined pressure resistance. The opening at the left end in the figure is a connection port for connecting a tube connected to the electromagnetic switching valve side, and the opening on the right end is a connection port for connecting a tube connected to the cylinder side. I have.

The needle guide 13 has a predetermined inner and outer diameter, is disposed orthogonal to the longitudinal direction of the tube of the tubular body 12, and is provided with a threaded portion provided on the base end above the tubular body 12. Is directly screwed and fixed.

Further, the check valve 14 is formed by using an elastic member such as rubber as a raw material, and has a mounting portion disposed around the needle guide 13 and a umbrella-shaped shape with respect to the air supply side. And a formed valve body.

The throttle valve 15 is connected to the needle guide 13.
The contact portion with the needle guide 13 in the axial direction is slidably movable but closely adhered and hermetically sealed.

The throttle valve 15 has a lower distal end formed in a tapered needle shape, and an upper proximal end connected to a detection plate 22 in an adjustable manner.

That is, the upper base end of the throttle valve 15 is
The detection plate 22 is penetrated, the upper side of the detection plate 22 is fixed to the upper side with a nut, and a spring for supplying a pressing force is disposed below the detection plate 22.

Therefore, with such a configuration, the throttle valve 1
By preventing rattling in the connection between the sensor plate 5 and the detection plate 22, accurate slide movement is enabled, and accurate flow rate control is ensured. Fifteen strokes can be set, and adjustment work becomes easy.

Incidentally, nuts may be provided on the upper and lower surfaces of the detection plate 22 and connected instead of the springs as in this embodiment.

The detection plate 22 is connected to the coupling 1
The throttle valve 15 is connected to the motor shaft 16a of the stepping motor 16 via the switch 7 so that the throttle valve 15 can be slid up and down in a predetermined manner by the operation of the stepping motor 16.

That is, the motor shaft 16a of the motor 16
And the coupling 17 are screw-groove-coupled to convert the rotation operation of the motor 16 into a vertical movement.

The automatic speed controller 1 of this embodiment
1 is provided with an opening detection means for detecting the operating position of the throttle valve 15 to enhance control accuracy.

That is, as the opening degree detecting means 21,
A detection plate 22 having a detection surface portion 22a protruding is fixed directly to an extension shaft of the motor shaft 16, and the detection surface portion
A sensor 23 for detecting the movement position of 2a is provided.

Therefore, since the slide position of the throttle valve 15 is directly measured, high measurement accuracy can be obtained, control accuracy can be improved, and operating conditions and malfunctions can be monitored, and reliability can be improved. be able to.

As described above, using the step motor 16,
Since the opening of the throttle valve 15 is set, the opening can be accurately set without being affected by the temperature change, so that the air flow rate can be controlled stably and the accuracy of the operation control is improved. can do.

That is, since the opening degree is set by a conventional solenoid or a rotary motor using electromagnetic induction as an operation principle, an electric resistance value changes due to a temperature change during operation, and an electric operation The balance is reduced, and the amount of operation changes. Therefore, a circuit means for reading this temperature change and correcting a current value or a voltage value for operating a solenoid or a rotary motor is required, which is disadvantageous in cost and lowers reliability and adjustment workability. was there.

On the other hand, the opening degree setting by the step motor 16 as in the present embodiment is always performed at a constant amount regardless of the temperature change because the step operation amount of the motor is mechanically determined. Since the operation is stable, such correction means is not required, and cost reduction, reliability, maintenance workability, and control accuracy can be improved.

An opening slit 13a of a predetermined shape is provided at a predetermined position corresponding to the moving range of the needle portion of the throttle valve 15 of the needle guide 13 so as to communicate the inner peripheral portion and the outer peripheral portion of the needle guide 13. The opening area of the opening slit 13a can be adjusted by the sliding movement of the throttle valve 15.

The stepping motor 16 is electrically connected to the electric control circuit block 6 and is driven and controlled by the electric control circuit block 6.

Therefore, according to the automatic speed controller 11 configured as described above, the step motor 16
The throttle valve 15 is slid by a predetermined amount by driving the throttle valve 15 to a predetermined rotation with a rotation amount of the number of steps corresponding to the motor command signal, and the needle portion of the throttle valve 15 causes the opening slit 13 a of the needle guide 13 to move. Is increased or decreased, and the flow rate of working air supplied to the cylinder S can be increased or decreased.

As shown in FIG. 3A, when the throttle valve is in the closed position and the air is supplied from the electromagnetic switching valve side, the automatic speed controller 11 of the present embodiment configured as described above has the following features. Since the valve body of the check valve 14 tends to spread more like an umbrella, the needle guide 13 and the tubular body 12
The passage between them is closed. At this time, the opening slit 13a of the needle guide 13 is
Is blocked by

On the other hand, since the exhaust air from the cylinder in the opposite direction is pushed inward by the air pressure, a gap is formed between the valve body and the passage so as to allow the exhaust air to pass therethrough. (See FIG. 3 (2)).

When the throttle valve 15 is in the initial position (FIG. 3 (1)
), A slight opening area is formed between the opening slit 13a of the needle guide 13 and the throttle valve 15, and a correspondingly small amount of working air passes therethrough (see FIG. 3 (3)), the cylinder operation is performed at a low operation speed. When the throttle valve 15 moves upward, a large opening area is formed, and a large amount of working air corresponding to the large opening area passes (see FIG. 3 (4)).
A cylinder operation with a high operation speed is performed.

In the above-described specific example, two air passages are provided for supply and exhaust to the cylinder. However, the present invention is not limited to this. Similarly, a throttle valve driven by a single motor may be provided.

In particular, in the case where the operation body composed of a plurality of drive cylinders is simultaneously operated in conjunction with each other to control the operation, the structure makes it possible to improve the adjustment workability, the reliability of the operation, and the like. .

In this embodiment, it is assumed that the diameter of the air passage, that is, the flow rate of the passing air is basically the same. However, the present invention is not limited to this. Is also good.

It should be noted that the above air control methods can be combined as appropriate. That is, it is also possible to use a controller having an air passage path corresponding to each of a plurality of operating bodies, and to simultaneously perform meter-in / out control of the plurality of operating bodies.

Next, another specific example of the automatic speed controller of the present invention will be described.

The automatic speed controller of this embodiment is
The structure is simplified by using a linear step motor instead of a step motor as a motor for driving the throttle valve.

That is, a straight-ahead stepping motor is used as the motor for driving the throttle valve 15.

This linear step motor has a motor output shaft (not shown) provided with a screw portion and meshed with a female screw portion of the rotor so that the motor shaft itself moves in the axial direction as the rotor rotates. It is configured.

Therefore, since the screw connection structure of the coupling part for converting the rotation operation of the motor into the slide operation is not required, the structure is simplified and the reliability can be improved.

As described above, according to the automatic speed controller of this embodiment, the structure is simpler than that of each of the preceding embodiments, and the reliability can be further improved.

[0071]

As described above, the invention described in the first aspect of the present invention is a speed controller of air driving means for operating various operating bodies by air driving of an air cylinder, wherein an air passage path is provided. In a device provided with a throttle valve for controlling the flow rate of the working air passing therethrough, a plurality of the air passage routes are provided, and a throttle valve is disposed in each air passage route, and the opening degree of each of the throttle valves is simply set. This is an automatic speed controller for air driving means that is set simultaneously by driving one motor.

According to a second aspect of the present invention, in the first aspect of the invention, there is provided an automatic speed controller of an air driving means provided with an opening detecting means for detecting an operating position of the throttle valve.

According to a third aspect of the present invention, in the first aspect of the present invention, the motor is an automatic speed controller of air driving means, wherein the motor is a linear step motor.

According to a fourth aspect of the present invention, in an operating body having an air cylinder, a throttle valve is provided in each of an intake path and an exhaust path of the one cylinder, and each of the throttle valves is opened. This is an air drive device using an automatic speed controller configured to simultaneously set the degree by driving a single motor.

According to a fifth aspect of the present invention, a plurality of operating bodies each having an air cylinder are provided, and a throttle valve is provided in an air passage of a cylinder of each operating body. Is an air drive device using an automatic speed controller configured to set simultaneously by driving a single motor.

In the present invention, since the throttle valve moves in and out by the operation of the motor, the operation speed of the throttle valve can be flexibly changed according to the use situation and conditions by controlling this motor.

In particular, since the openings of the throttle valves arranged in the respective air passages are simultaneously set by driving a single motor, the control of a plurality of operating bodies at a time is simplified.

Further, when the opening detecting means for detecting the operating position of the throttle valve is provided, the operating speed of the throttle valve can be flexibly changed according to the use conditions and conditions, and the control accuracy is improved. be able to.

Further, since a stepping motor is used as a motor as a drive source of the throttle valve, the structure is simplified, reliability and economy can be improved, and the operation is always performed irrespective of the temperature change during operation. A stable operation amount can be secured, and control stability and accuracy can be improved.

[Brief description of the drawings]

FIG. 1 is an air circuit diagram showing an air drive unit incorporating an automatic speed controller according to a specific embodiment of the present invention.

FIG. 2 is a vertical side view of an automatic speed controller according to a specific example of the present invention.

FIG. 3 is a diagram for explaining the operation of the automatic speed controller according to a specific example of the present invention, where (1) shows an initial state,
(2) shows a discharge operation state, (3) shows a low-speed operation (low flow rate) state, and (4) is an enlarged vertical sectional side view of a main part showing a high-speed operation (high flow rate) state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Air drive means 2 Air pressure source block 3 Pressure control block 4 Air control block 5 Electromagnetic switching valve 6 Electric control circuit block 7 Manual speed controller 11 Automatic speed controller 12 Tubular body 13 Needle guide 13a Opening slit 14 Check valve 15 Throttle valve 16 Stepping motor 16a Motor shaft 17 Slide coupling 21 Opening detecting means 22 Detecting plate 22a Detecting surface part 23 Sensor S Air cylinder r Piston rod

Claims (5)

[Claims] 1. A speed controller of air driving means for operating various operating bodies by air driving of an air cylinder, comprising a throttle valve for controlling a flow rate of working air passing through an air passage path. A plurality of air passage paths are provided, and a throttle valve is disposed in each air passage path, and the opening degree of each of the throttle valves is simultaneously set by driving a single motor. Automatic speed controller. 2. An automatic speed controller for air driving means according to claim 1, further comprising an opening detecting means for detecting an operating position of said throttle valve. 3. The automatic speed controller according to claim 1, wherein the motor is a linear step motor. 4. An operating body having an air cylinder, wherein throttle valves are provided in each of an intake path and an exhaust path of the one cylinder, and the opening degree of each of the throttle valves is adjusted by driving a single motor. An air drive device using an automatic speed controller, which is set simultaneously. 5. A plurality of operating bodies having air cylinders are provided, and throttle valves are provided in an air passage path of the cylinder of each operating body, and the opening degree of each of the throttle valves is adjusted by driving a single motor.
An air drive device using an automatic speed controller, which is set simultaneously.