JPS6049104A - Hydraulic actuator driving method - Google Patents

Abstract

PURPOSE:To increase the operational stability of an actuator by providing a pneumatic-hydraulic converting means in a pressure transfer line to a hydraulic actuator and by using such as a synthetic rubber having a suitable fluidity as a pressure transfer medium between said converting means and the actuator. CONSTITUTION:When the invention is embodied in an arm driving actuator 13 of a hydraulic robot, two solenoid-controlled transfer valves 19, 20 are connected to the supply and discharge ports of the actuator 13 respectively, and in each pressure transfer line between the solenoid-controlled transfer valve 19, 20 and the supply and discharge ports, a pneumatic-hydraulic converting means 27 or 28 and a check valve 29 or 30 connected in parallel with a variable throttle valve 31 or 32, are connected in series. The solenoid-controlled transfer valves 19, 20 are arranged to be selectively connectable to the atmosphere through variable throttle valves 23, 24 and silencers 25, 26, or to an air source through a pressure adjusting valve 21 by using a common air line. As a pressure transfer medium, synthetic rubber such as silicone rubber or natural rubber 27a, 28a having a proper fluidity are used.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention consists of 1. The present invention relates to a method of driving a pneumatic actuator used in a pneumatically driven robot or the like.

Configuring a pneumatic servo system using a pneumatically actuated actuator has cost benefits, but the stability of operation is poor.
It is inferior to Ya's servo system. In order to obtain stability in this operation, a pneumatic-hydraulic conversion means is usually used (converting air pressure into hydraulic pressure, and using this hydraulic pressure to operate the actuator. ,
Since a hydraulically actuated actuator, which is more expensive than a pneumatically actuated actuator with the necessary sealing function, must be used, the cost advantage is lost and the effectiveness is halved. It is an object of the present invention to solve these problems in the conventional method of driving a pneumatic actuator.

Hereinafter, explanation will be given based on illustrative drawings. In Fig. 1 and Fig. Number 6 is a first arm that connects the rotary table 2 and the intermediate member 5, and 6 is a second arm that connects the intermediate member 5 and the tip member 1. The first arm 4 is made up of a pair of front and rear parallel swing links 8a and 8b, and is for moving the 11J 1141 member 5 in the front and back direction with respect to the rotary table 2 while maintaining a constant posture. 6 is a pair of upper and lower parallel single dispatch links? a
, 9b, which allows the distal end member 7 to be moved in the vertical direction relative to the intermediate member 5 while maintaining a constant posture. Although the robot hand is not shown in the drawings, it is taken up by the tip member 7 via a suitable actuator.

Reference numeral 10 denotes a pneumatically actuated actuator that rotates the rotary table 2 within a predetermined range with respect to the base 1, and is attached to the base 1. Reference numeral 11 denotes a first arm drive pneumatic actuator attached to the rotary table 2, which swings the link 8a within a predetermined range of °C via the drive vll112 of the two rotary tables. Reference numeral 1'5 denotes a pneumatic actuator for driving the second arm attached to the intermediate member 5, which swings the link 9b within a predetermined range via the drive shaft 14 on the intermediate member 5 side. , 15 is a balancer pneumatically actuated actuator that acts on the second near irregularity, and is attached to the intermediate member 5 on the opposite side to the side where the second arm drive pneumatically actuated actuator 15 is located. The link ?b of the nearer position is urged upward through the drive shaft 14 shown in Th1l. 16 is a pulse encoder that is linked to the rotation of the rotary table 2. 17 is a pulse encoder that is linked to the rotation of the first arm 4. An interlocking pulse encoder is interlocked with the link drive shaft 12. Reference numeral 18 denotes a pulse encoder that moves in the oscillation of the near-to-second direction. connected.

According to the pneumatically driven robot described above, each actuator 10. IL 1i5 is activated, and from the combination of the rotation of the rotary table 2 with respect to the base 1, the 61 backward swing of the first arm 4 with respect to the rotary table 2, and the 61st vertical swing of the first arm 4 with respect to the intermediate member 5. By causing the tip member 7 to perform a predetermined movement, it is possible to move the robot hand attached to the tip member 7 along a preset movement trajectory and perform the intended work. However, the main part of the embodiment of the present invention will be explained based on FIG. 3.

Figure 3 shows the pneumatic actuator 1 for driving the second arm.
In the same figure, 19.20 is an electromagnetic switching valve, 21 is a pressure regulating valve, 22.29.60 is a check throat, 25.24, 51.52 is a variable throttle valve, 25.26
is a silencer, 27.28 is a pneumatic-hydraulic conversion means, 27a, 2
8a is a pressure transmitting medium filled between the pneumatic-hydraulic conversion means 27 and 28 and the actuator 1, and is made of synthetic rubber such as Nrihoon rubber or natural raw rubber having appropriate fluidity. It's true.

According to this J-thread driven, by turning on the electromagnetic switching valve 19 or 20, air pressure adjusted to a constant pressure by the pressure &1III valve 21 is supplied to the pneumatic-hydraulic conversion means 27 or 28. The supplied air pressure is supplied to the forward rotation drive side ball 1 or the reverse rotation drive side boat of the actuator 15 via the pressure transmission medium 27a or 28a, and the actuator 16 rotates in the forward rotation direction or reverse rotation direction. Due to this rotation of the actuator 15, the nearer roller moves upward or downward relative to the intermediate member 5. Then, when the tri-near-muro reaches the target position, both the electromagnetic switching valves 19 and 20 are turned on and the same air pressure is applied to both the actuators 1i5 and the boat via the pressure transmission medium 27a or 28a. By supplying the brake means (not shown) that locks the nearer unevenness to the intermediate member 5 in a state in which the nearer unevenness is positioned at the target position, the brake means (not shown) is actuated, and The other actuators, namely the pneumatic actuator 10 for driving the rotary table and the pneumatic actuator 11 for driving the first arm, are also fixed at the target position.
The rotary table 2 and the first arm 4 are driven by a drive system similar to that of 6 via the pneumatic-hydraulic conversion means, and are fixed by the brake means as described above when they reach the target position.

6; The pulse signals of the S-signed pulse enhancers 16 to 18 are used and detected by a conventionally known method to detect the current positions of the rotary table 2, the first arm 4, and the second nearer arm. Ail note @ when the current position value is less than the set value
Magnetic switching valves 19.20 and other actuators 10.
As described above, the method for driving a pneumatically operated actuator of the present invention involves switching between the pneumatically operated actuator and the pneumatically operated switching valve used in the pneumatically operated actuator. A pneumatic-hydraulic conversion means is interposed in the pressure transmission system of the pneumatic-hydraulic converter, and the pressure is transmitted between the pneumatic-hydraulic converting means and the pneumatic actuator.
1! It is characterized in that it is filled with synthetic rubber such as silicone rubber or natural raw rubber having appropriate fluidity, and the pneumatic actuator described in Ii:I is operated through this synthetic rubber or natural raw rubber. (According to the method of the present invention, although it is a pneumatic servo system, the actuator is not operated directly by pneumatic pressure, but by using the pressure of synthetic rubber or natural raw rubber with appropriate fluidity as described in 1). Since it is possible to operate more than Since the actuator is used as is, synthetic rubber or natural raw rubber as mentioned above is used as the pressure medium to operate this actuator, even though it can provide cost benefits as a pneumatic servo system as a whole. Furthermore, there is no risk of inconveniences such as leakage of the pressure medium, unlike when using a pneumatic actuator as a two-pressure actuator.

[Brief explanation of drawings]

FIG. 1 is a side view showing the entire robot, FIG. 2 is a 1y side view of the same, and FIG. 3 is a view explaining the main parts of the embodiment of the present invention.

Claims (1)

[Claims] A pneumatic-hydraulic conversion means is interposed in the pressure transmission system between the pneumatic actuator and the pneumatic switching valve that operates the actuator,
Synthetic rubber such as silicone rubber or natural raw rubber having appropriate fluidity is filled as a pressure transmission medium between this pneumatic-hydraulic conversion means and the pneumatic actuator, and the pressure is transmitted through the synthetic rubber or natural raw rubber. A method for driving a pneumatically actuated actuator, characterized in that n:1 operates a pneumatically actuated γ actuator.