JPS6267310A - Cylinder device - Google Patents

Abstract

PURPOSE:To enable the stroke volume of a cylinder to be regulated with ease by changing the distance between the cylinder and a stopper block, which is supported in such a manner that it is spread over a rigid shaft and a movable shaft, by way of moving the movable shaft. CONSTITUTION:When fluid is fed by means of a solenoid opening and closing valve 11E to the rear chamber of the cylinder 91 of a lock/unlock mechanism 9, the front chamber of the cylinder 91 is opened so that a piston rod 92 is immersed in the fluid introduced therein, and a lever 94 is caused to slide clockwise around a pin 93 by using the pin as its fulcrum. Hereby, a movable shaft 4 and a stopper block 7 are blocked, however, when a solenoid opening and closing valve 11B is changed over in such a state as it is, the fluid is fed through a solenoid valve 11C and a passage 19 to the front chamber of a cylinder 10B so that the movable shaft 4 moves through a piston 10A. Hereby, the stopper block 7 moves through the lock/unlock mechanism 9 so that the stroke volume of a cylinder 1 can be regulated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a cylinder device, for example, a cylinder device that can adjust the stroke amount of a slide block on which a robot hand is mounted.

(Prior Art) Conventionally, as shown in FIGS. 3 and 4, a cylinder 50
The piston rod 51 is sent outward from both the front and rear sides of the
The cylinder 50 is provided to be able to reciprocate along the axis, and a slide block 53 is slidably disposed on a guide shaft 52 having an axis parallel to the axis of the piston rod 51. is a pair of pulleys 54.54 attached to the cylinder 50, and a pair of pulleys 54.54 are connected to the pulleys 54.54, and one end is connected to the slide block 53 and the other end is connected to the fixed frame 55. A cylinder device is known which is movably connected in the same direction via an interlocking mechanism 57 consisting of a cable body (for example a chain) 56,56.

In this cylinder device, by supplying fluid (for example, air) into the cylinder 50 from a passage 51a formed in the piston rod 51, the cylinder 50 moves back and forth (in the horizontal direction in the drawing) guided by the piston rod 51. This movement is transmitted to the slide block 53 via the interlocking mechanism 57, and the slide block 53 moves in the same direction as the cylinder 50 guided by the guide shaft 52.

That is, when the cylinder 50 moves, the movement amount (stroke amount) is converted into a double stroke amount by the interlocking mechanism 57, and the slide block 53 is moved. Move the device a predetermined stroke amount.

However, the conventional cylinder device described above has a problem in that the stroke amount is constant and cannot be adjusted.

(Object of the Invention) This invention was made to solve the above-mentioned conventional problems, and an object thereof is to provide a cylinder device that can adjust the stroke amount of the cylinder, that is, the stroke amount of the slide block. .

(Structure of the Invention) In order to achieve the above object, the cylinder device according to the present invention is provided such that the cylinder extends outward from both the front and rear sides of the cylinder so that the cylinder can reciprocate along the piston rod. A fixed shaft and a movable shaft are provided, each having an axis parallel to that of the other, and spaced apart from each other in the width direction.

A slide block is slidably disposed astride the fixed shaft and the movable shaft, and the slide block and the cylinder are coupled via an interlocking mechanism so as to be movable in the same direction.

Also, a stopper block is slidably disposed across the fixed shaft and the movable shaft, facing the slide block! is,
A pair of locking/unlocking mechanisms are provided for respectively engaging and disengaging the stopper block from the fixed shaft and the movable shaft.

Further, one end of the movable shaft is connected to a reciprocating mechanism that reciprocates the movable shaft, and a control mechanism is provided that controls the operation of the cylinder, the locking/unlocking mechanism, and the reciprocating mechanism.

Therefore, by operating the locking/unlocking mechanism and the reciprocating mechanism in a predetermined order through the controlled operation of the control mechanism, the stopper block moves reciprocally along the guide shaft, thereby adjusting the distance between the stopper block and the slide block. The stroke amount of the cylinder and stopper block can be adjusted.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic plan view of a cylinder device according to the present invention. In FIG. 1, 1 is a cylinder, 2 is a piston rod, 3 is a fixed shaft, 4 is a movable shaft, 5 is a slide block, and 6
7 is an interlocking mechanism, 7 is a stopper block, 8 and 9 are a pair of locking/unlocking mechanisms, 10 is a reciprocating mechanism, and 11 is a control mechanism.

The cylinder 1 has a piston 2 formed on the piston rod 2.
1 is fitted, the interior is divided into a front chamber (left side chamber) and a rear chamber (right side chamber), and the piston rod 2 is provided so as to be movable back and forth along a piston rod 2 extending outward from both the front and rear sides. ing.

The piston rod 2 has fixed frames 12.1 at both front and rear ends.
2, and forms a front passage 22 opening into the front chamber of the cylinder 1 and a rear passage 23 opening into the rear chamber of the cylinder 1 along the axis. In addition, in FIG. 1, the rear passage 23
A state in which fluid (for example, air) is supplied to the rear chamber of the cylinder through the cylinder 1 and the cylinder 1 is located at the rear end of the stroke is shown.

The fixed shaft 3 and the movable shaft 4 have axes parallel to the axis of the piston rod 2, and are provided with an interval in the width direction between them.

Both ends of the fixed shaft 3 are supported by the fixed frame 12.12, and the movable shaft 4 is supported by the fixed frame 12.12 so as to be slidable in the axial direction.
One end protruding rearward from 2 (in this example, the rear end)
A piston IOA formed in 1 is fitted into a cylinder IOB attached to a fixed frame 12, and the piston IOA and cylinder 10B constitute a reciprocating mechanism 10. Also,
The other end (front end) protruding forward from the fixed frame 12
A dog 41 is formed at.

The slide block 5 straddles the fixed shaft 3 and the movable shaft 4,
It is arranged so as to be slidable with the shafts 3 and 4 as guides, and is provided so as to be movable in the same direction as the cylinder l via an interlocking mechanism 6.

That is, the interlocking mechanism 6 includes pulleys 6A and 6B attached to both sides of the cylinder 1, and these pulleys 6A.

The hook is passed to 6B, and one end is attached to slide block 5,
1 whose other ends are respectively connected to a fixed frame 12.12.
It is composed of a pair of cords (for example, chains) 6C and 6D.

Therefore, by supplying fluid, which will be described later, the cylinder 1
When the slide block 5 moves back and forth along the piston rod 2, the slide block 5 moves back and forth in the same direction using both shafts 3 and 4 as a guide with a stroke amount twice that of the cylinder 1.

The stopper block 7 straddles the fixed shaft 3 and the movable shaft 4, and is disposed opposite to the slide block 5 so as to be slidable with both shafts 3°4 as a guide. Locking/unlocking mechanisms 8 and 9 are provided to engage and disengage.

The lock/unlock mechanism 8 consists of a cylinder 81 and a lever 84 that is connected to a piston rod 82 of the cylinder 81 and swings about a pin 83. 81 is fixed to the stopper block 7.

The lock/unlock mechanism 9 consists of a cylinder 91 and a lever 94 that is connected to a piston rod 92 of the cylinder 91 and slides around a pin 93. 91 is fixed to the stopper block 7.

In this embodiment, the cylinder 1 is attached to one end of the lever 94.
A protrusion 13 is formed opposite to (see FIG. 2).

Control g! The J mechanism 11 is for supplying fluid from a fluid supply source 14 (for example, an air compressor) to the cylinder 1, the lock ψ/unlock mechanism 8.9, and the reciprocating mechanism 10 to control their operation. Solenoid on-off valve 11
A. IIB.

It is composed of 11C, IID, and IIE.

The electromagnetic on-off valve 11A is connected to the piston rod 2 via the passage 15.
The piston rod 2 is connected to the inlet of the front passage 22 of the piston rod 2 and to the inlet of the rear passage 23 of the piston rod 2 via the passage 16, respectively.

One port of the electromagnetic on-off valve 11B communicates with the electromagnetic on-off valve 11C via a passage 17, and the other port communicates with the rear chamber of the cylinder IOB in the reciprocating mechanism 1o via a passage 18. Further, the electromagnetic on-off valve 11C communicates with the front chamber of the cylinder 10B via a passage 19.

? ! ! The on-off valve 110 communicates with the front chamber of the cylinder 81 in the lock/unlock mechanism 8 through a passage 31 and the rear chamber of the cylinder 81 through a passage 32, and the electromagnetic on-off valve 11E communicates with the lock/unlock mechanism 8 through a passage 33. The front chamber of the cylinder 91 in the unlocking mechanism 9 communicates with the rear chamber of the cylinder 91 via the passage 34, respectively.

In the illustrated state, the control mechanism 11 is in a reset state. In FIG. 2, SW4 indicates a limit switch for position detection.

In the above configuration, when the electromagnetic on-off valve 11A is switched, the fluid from the fluid supply source 14 passes through the passage 15 to the cylinder l.
Since the rear chamber of the cylinder 1 is opened via the passage 16 and the magnetic on-off valve 11A, the cylinder 1 moves forward by the maximum stroke ml guided by the piston rod 2.

The forward movement of the cylinder 1 is carried out by the pulleys 6A, 6B and the rope body 6.
It is transmitted to the slide block 5 via the interlocking mechanism 6 consisting of C and 6D, and the slide block 5 is guided by the fixed shaft 3 and the movable shaft 4 with a stroke amount of 2 strokes, which is twice that of the cylinder 1. Advance.

Further, when the electromagnetic on-off valve 11A is returned to the reset state, both the cylinder 1 and the slide block 5 move back and return to the illustrated positions.

That is, by controlling the switching of the electromagnetic on-off valve 11A, the cylinder 1 and the slide block 5 simultaneously reciprocate and return in the same direction with a stroke amount of 25L.

On the other hand, when the electromagnetic on-off valve 11E is switched, fluid is supplied to the rear chamber of the cylinder 91 in the unlocking mechanism 9 through the passage 34, and the front chamber of the cylinder 91 is opened via the passage 33 and the electromagnetic on-off valve 11E. As a result, the piston rod 92 retracts, and the lever 94 slides clockwise around the pin 93 to lock the movable shaft 4 on the inner surface of its annular portion, as shown in FIG.

Next, when the electromagnetic on-off valve 11B shown in FIG. 18 and electromagnetic on-off valve l
Since it is released via IB, the piston IOA moves to the right by a stroke amount of one minute, and the movable shaft 4 moves in the same way.

In this case, the lock/unlock mechanism 9 is locked to the movable shaft 4, and the lock/unlock mechanism 8 is unlocked to the fixed shaft 3, so the slide block 5 moves to the right by the above stroke amount 21. Moving.

When the movable shaft 4 moves to the right with a stroke amount of JlI, the dog 41 comes into contact with the limit switch SWa and this position is detected. As a result, the electromagnetic on-off valve 11c is switched, the supply of fluid to the front chamber of the cylinder IOH is cut off, and the rear chamber of the cylinder IOH is kept open, so that the movable shaft 4 is moved by the above-mentioned stroke amount of 21 minutes. It will stop at the position it moved to the right.

At the same time, when the cylinder 1 moves forward by switching the electromagnetic on-off valve 11A as described above, the cylinder 1 collides with the stopper block 7 at a position before reaching the stroke ml.

At the time of this collision, the hard protrusion IA (FIG. 2) provided at the front end of the cylinder 1 collides with the protrusion 13 of the lever 94, making the inner surface of the annular portion of the lever 94 more firmly against the movable shaft 4. Lock it.

Therefore, even if the cylinder 1 collides with the stopper block 7, the stopper block 7 will not move to the left in the drawing, that is, to the front, so that the stroke amount of the cylinder 1 can be appropriately controlled. In other words, by moving the stopper block 7 to the right, the cylinder 1 becomes smaller.
The stroke amount is maintained appropriately.

By moving and positioning the stopper block 7 rightward in this manner, the stroke amount of the cylinder 1 and the stroke amount of the slide block 5 can be reduced.

In order to further reduce the stroke amount of the cylinder l, when the electromagnetic on-off valve 11D of the control mechanism 11 is switched, fluid is supplied to the rear chamber of the cylinder 81 in the locking/unlocking mechanism 8 through the passage 32. Since the front chamber of is opened via the passage 31 and the electromagnetic on-off valve 11D,
The piston rod 82 is retracted, and the lever 84 slides clockwise around the pin 83 to lock the fixed shaft 3 on the inner surface of its annular portion.

On the other hand, the switched electromagnetic on-off valve 11E is returned to the reset state to unlock the movable shaft 5 of the lock/unlock mechanism 8, and then the electrode on-off valve 11B is returned to the reset state to release the lock on the movable shaft 5. Move to the left in the drawing and return.

As a result, only the movable shaft 4 moves back by the stroke amount 4Q of the reciprocating mechanism IO for 1 minute, and the stopper block 7
remains at the one-pitch advanced position described above.

Furthermore, return the electromagnetic on-off valve 11D to the reset state,
By switching the electromagnetic on-off valve 11E, the lock/unlock mechanism 8 is unlocked and the lock/unlock mechanism 9 is in the locked state as described above.

Therefore, the same on-off valve 11B as above.

11C activates the reciprocating mechanism IO and moves the movable shaft 4 to the right, so that the stopper block 7 further approaches the cylinder 1 side by a stroke amount of 21 minutes, increasing the stroke amount of the cylinder 1! ;Make it even smaller by L1.

In this way, by moving the stopper block 7 to the right by a stroke amount of 21 minutes, the stroke amount of the cylinder 1 can be reduced in stages.

Note that the stroke amount of the cylinder 1 can be reduced for each cycle of the cylinder 1 and for each cycle of the cylinder 1 by the control mechanism 11 using a well-known counter.
This can be easily selected by operating the locking/unlocking mechanism 8.9.

On the other hand, when the stopper block 7 is separated from the cylinder 1 to increase the stroke amount of the cylinder 1, when the movable shaft 4 moves to the left due to the operation of the reciprocating mechanism 10, the locking and unlocking mechanism This is done by switching and controlling the electromagnetic on-off valves 110 and lIE of the control mechanism 11 so as to lock the locking mechanism 9 and unlocking the locking/unlocking mechanism 8.

(Effects of the Invention) As described above, according to the present invention, by moving the stopper block toward or away from the cylinder, the stroke amount of the cylinder, that is, the stroke amount of the slide block can be adjusted.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of a cylinder device according to the present invention;
FIG. 2 is a sectional view showing the locked state of one of the locking/unlocking mechanisms, FIG. 3 is a schematic plan view of the conventional example, and FIG. 4 is a side view of the same. ■...Cylinder, 2...Piston Rondo, 3...
[1st axis, 4...movable axis 15...slide block,
6... Interlocking mechanism, 7... Stopper block, 8, 9
... Lock/unlock mechanism, lO... Reciprocating mechanism, 11... Control mechanism. Patent applicant Nakamura Kiki Nijiben Co., Ltd.? ') ng −
, 1 out 11 Agent Patent attorney Kunihide Namba (1 other person) (, 1!
:,,'” Figure 2

Claims (1)

[Claims] (1) The cylinder is provided so as to be able to reciprocate along a piston rod extending outward from both the front and rear sides of the cylinder, has an axis parallel to the axis of the piston rod, and is spaced apart in the width direction. A fixed shaft and a movable shaft are provided, and a slide block is placed astride these shafts so as to be able to slide freely using both shafts as a guide, and the slide block and the above-mentioned cylinder are moved in the same direction through an interlocking mechanism. A stopper block is movably connected to the shafts, and a stopper block is slidably disposed straddling the shafts and facing the slide block, guiding both shafts, and the stopper blocks are connected to and disengaged from the shafts, respectively. A pair of locking/unlocking mechanisms are provided, one end of the movable shaft is connected to a reciprocating mechanism that reciprocates the movable shaft, and the locking/unlocking mechanism and the reciprocating mechanism are connected to the cylinder. A control mechanism is provided for controlling the stopper block, and the stopper block is reciprocated along the guide shaft by the operation of the locking/unlocking mechanism and the reciprocating mechanism, and the distance between the stopper block and the slide block is adjusted. A cylinder device featuring: