KR100299702B1 - Multi-rotation type actuator control apparatus - Google Patents

Abstract

The built-in hydraulic pressure generating circuit 20 is supplied with electric power and control information from the contactless power supply device 30, and hydraulic pressure driven by the hydraulic pump driving motor 61 based on the electric power and control information therefrom. Of the pump 62, the hydraulic tank 63, the solenoid valve 64, the relief valve 65, the hydraulic pressure gauge 66, the solenoid valve 64, and each of the hydraulic cylinders 41a to 41d. Clamp pressure interposed in a pipe communicating between a pilot pilot valve 67 and an unclamp pilot pilot valve 68 provided between the clamp pilot pilot valve 67 and the hydraulic cylinders 41a to 41d. Composed of a switch 69, an unclamped pilot check valve 68, and a pipe connecting the hydraulic cylinders 41a to 41d to each other. It is usable and can be used to process, assemble and inspect the workpieces on the moving object. A multidose type actuator control device to facilitate the screen.

Description

Multi-rotation type actuator control apparatus

The present invention relates to a multi-turn actuator control device.

Background Art Conventionally, power generation sources used in the field of machinery that expresses a great force, such as in the field of machine tools and unloading machines, have been changed from hydraulic to electric with the times from the viewpoint of speeding up and greening the response. However, in applications where the focus is on the development of force and the maintenance of force rather than responsiveness, hydraulic sources are still used despite the problems of pipe and power interruptions. This is because the electric power source is superior to the hydraulic power source in terms of ease of wiring and power interruption. However, the large-scale direct actuator and the large-capacity accumulation function are required for power generation and liberalization. This is because it is inferior in size and safety to the power generation source.

It is also possible to combine the advantages of the hydraulic power generation source and the advantages of the electric power generation source well, but such a power generation source has not been reported yet.

For example, in the machine tool field, as a method of fixing a workpiece (hereinafter referred to as a work) to a jig on a table of the machine tool, a method of tightening with a screw or a cam by a human hand (hereinafter referred to as clamping) is common. In some cases, however, a clamping method using a hydraulic cylinder has been adopted for the purpose of automation of fixing.

43 is a schematic configuration diagram showing a first conventional example of a machine tool with a hydraulic clamping device clamped by a hydraulic cylinder.

The machine tool 100 includes a first hydraulic cylinder 103a for clamping the right end of the work 120 and a second hydraulic cylinder for clamping the left end of the work 120 mounted on the pallet 101. 103b), the hydraulic pump 104a, the hydraulic tank 104b, the solenoid valve 104c, the hydraulic pump driving motor 104d for driving the hydraulic pump 104a installed below the pallet 101, and the hydraulic switch. (Not shown), the hydraulic pressure generating unit 104, the first hydraulic cylinder 103a and the hydraulic pressure generating unit 104 communicate with the hydraulic generating unit 104, and the second hydraulic cylinder ( 103b), and the 2nd hydraulic cylinder 106b which communicates with the 2nd hydraulic cylinder 103b and the hydraulic generator 104 is included.

In the machine tool 100, hydraulic pressure is generated by driving the hydraulic driving motor 104a, and the generated hydraulic force is transmitted to the first and second hydraulic pipes 106a and 106b, respectively, to thereby generate the first and second hydraulic pressures. The rods of the second hydraulic cylinders 103a and 103b are respectively moved downwards to clamp the work 120.

However, in the machine tool 100 described above, the first and second hydraulic pipes 106a for transmitting the hydraulic force from the hydraulic generator 104 to the first and second hydraulic cylinders 103a and 103b, respectively. Since 106b is indispensable, there is a problem as shown below.

(1) As for the jig of pallet machine of horizontal machining center and jig of transfer machine, the jig moves freely regardless of machine tool. Therefore, it is very difficult to install hydraulic pipe of each hydraulic cylinder branch from hydraulic generator. Therefore, in these cases, it is almost impossible to clamp the work using a hydraulic cylinder.

(2) As some special examples, there is a method of disconnecting a hydraulic shock valve and a hydraulic generator by a hydraulic coupler using a hydraulic shock valve. However, a large device is required for automatic operation of the hydraulic coupler. Not.

On the other hand, a method of automatically clamping a work using only electric energy without using hydraulic pressure is also conceivable. However, as described above, development of a large-capacity actuator of an active type and a power storage device as an output device that maintains its generating force has not been progressed yet. It is not attained.

It is an object of the first to third inventions of the present invention to provide a hydraulic generator and a working machine provided with the apparatus which can be used even in applications in which the jig is free to move.

In recent years, most of the workplaces dealing with machine tools have been steadily proceeding with the automation of the preparation process of machine tools under the social background of the shortage of workers due to poor working environment and the form of production for small quantity production of various kinds. However, hydraulic actuators are still the driving source of actuators that need to generate a large force, such as automation tools or industrial robot tip tools.

The hydraulic actuator is generally driven by pressurizing the hydraulic pump with an electric motor, but hydraulic piping and electrical wiring are necessarily required for this purpose. This may cause problems of hydraulic piping and electrical wiring when autonomous movement of the automated jig is used, that is, when the autonomous movement of the driving means of the hydraulic actuator is considered or when the replacement of the tip tool of the industrial robot is considered. Recently, the practical use of the automatic coupler, etc. has been progressed, and the solution is going to be planned.

However, even when a hydraulic coupler is used, there is a necessity of hydraulic piping or electric wiring between the hydraulic actuator and the driving means, and the oil leakage problem is not completely solved, and the hydraulic coupler operation state is easy to automate. Rather, in consideration of autonomous movement of the hydraulic actuator to the drive means and replacement of the tip tool of the industrial robot, anxiety of reliability remains. In addition, if information signal transmission is not performed in parallel, the number of jig actuators to be operated increases, leading to an increase in the number of couplers, leading to a decrease in reliability and an increase in size of the device.

The fourth to tenth inventions of the present invention do not cause a problem of hydraulic piping or electrical wiring between the hydraulic actuator and its driving means, and the material hydraulic apparatus for autonomous movement or replacement of the hydraulic actuator with a simple configuration, that is, An object of the present invention is to provide a hydraulic generator or unit type of the first to third inventions of the present invention.

In the fields of machine tools and unloading machinery, power generation sources have been replaced from fluid to electricity with the times, in view of the high speed response and greening of actuators. However, in the areas of direct handling of workpieces such as grippers, clampers, and chucks, the application of pneumatics is still common from the viewpoint of the simplicity of the mechanism, the torque, or the ease of pressure control, regardless of the problems of piping and power interruption. .

This is because electric actuators are excellent in terms of ease of wiring and power interruption, and are basically rotary blades, and the mechanisms attached to their ends for gripping or tightening are complicated and large. For example, when a workpiece (hereinafter referred to as a work) is fixed to a jig on a table of a machine tool and processed, clamping of a screw or a cam by a human hand is common as the fixing method. Pneumatic clamping and vacuum chucking are employed. In this case, a compressor unit is usually mounted on a fixed side, and the compressor is driven to compress air, and then a vacuum is generated in the water level vacuum generator that controls the pneumatic actuator by moving the cylinder through a regulator and an electromagnetic valve. The suction is fixed to the pallet by the differential pressure, and the like.

Thus, in either case, piping from the compressor to the clamp or adsorption unit is indispensable. However, in the case of a pallet jig of a horizontal machining center or a jig of a transfer machine, such a pipe cannot be carried out because the pallet (jig) moves, and as a result, almost no pneumatic pressure can be used to fix the work. In addition, when the gripper grips and moves the work in an operating loader or the like, the gripper pneumatic actuator or the vacuum pad and the air source on the fixed side must be carried out by the piping in the cable bear which is parallel to the movement of the linear motion unit. Such a structure leads to an increase in the initial investment in auxiliary equipment such as ducts and a decrease in long-term reliability of long-term operation.

In addition, even if the clamping fixtures for machining centers are to be pneumatically operated, it is not necessary to operate the pressure outside of a specific place. Therefore, it is not necessary to drive the compressor to maintain the pressure after the workpiece is fixed. If the feeder is installed at a specific place and can be automatically fed, it can automate the work fixture (pallet) of the jig and make it simple.

Herein, the eleventh to fourteenth inventions of the present invention provide a simple method of transmitting electric power and information without using an electrode, thereby making it possible to lengthen pipes or to operate pneumatic couplers and valves depending on human hands. It is based on the idea of replacing the groundbreaking pneumatic drive system, and it aims at providing the autonomous pneumatic generator which horizontally expanded the hydraulic generating apparatus of 1st thru | or 3rd invention of the present invention to pneumatic.

And, in the rotation cable, especially in the inflection table (rotating stroke) used in the machine tool processing or assembly process, the transmission of the electric force and information until now, in many cases is limited by the wiring between the fixed part and the rotating part to limit the operating range come. Therefore, even if the reciprocating rotation of a certain range is possible, unlimited multi-rotation driving and high-speed rotation are impossible, and the problem of disconnection of wiring also arises. In order to solve these problems and to enable the multi-rotation of any information, a contact method using a slip ring has also been adopted, but in practice, the contact part may be damaged due to long-term use, or oil, moisture, or intercalation materials. Problems such as deterioration of the characteristics of the contact portion easily occur due to a poor environment, and the rotational speed of the table cannot be increased to 10 to 50 rpm or more. In addition, contact noise is also generated in signal transmission, and there has been a need for improvement of characteristics by inserting a filter and carefully selecting the contact member. In addition, in the case of using the rotational coupling as described in the 44th section described later, in particular, when controlling a plurality of actuators (a jig, a motor, or a nozzle) individually, it is necessary to fit the fluid circuits within the limited dimensions in the rotational coupling by the number of actuators. Because of the necessity, the coupling is not only large in size and high in price, but also difficult in fluid sealing, making practical use difficult.

Thus, the fifteenth and sixteenth inventions of the present invention solve the above problems of power and information transmission, and secure long-term reliability and stability and improve the rotation speed of the table by a transmission method that does not use electrical contacts. In addition, the hydraulic generators of the first to third inventions of the present invention are rotated by eliminating the troublesomeness of the multi-circuit configuration of the rotary coupling by replacing the vision automatic force control with the electric force control (electron variable control). The purpose is to provide what is mounted on the table.

45 is a perspective view of a linear loader as a second conventional example.

As shown in FIG. 45, the moving unit 112, which is the main body of the linear loader, is supported by two traveling rails 111 temporarily arranged in the X-axis direction, and is installed inside the moving unit 112. An axial servo motor (not shown) is driven to reciprocate in the X-axis direction.

At the lower end of the mobile unit 112, a gripper 118 driven by fluid pressure such as hydraulic pressure or pneumatic and gripping a workpiece is Z-shaped servo motor 113 and θ rotating servo motor 116, respectively. It is provided as a moving material in the axial direction and a rotating material in the θ direction.

A power source for supplying power to the servo motors 113 and 116, a fluid pressure source for supplying a fluid pressure to the gripper 118, and each servo motor 113, 116 or gripper 118 The controlling device for controlling is installed outside the mobile unit 112.

On the other hand, the cable duct 151 is hypothesized in parallel with the running rails 111, and various electrical wirings 155 electrically connected to a power supply and a control device for driving the servo motors 113 and 116. ) Or the fluid pipe 156 connected to the fluid pressure source for driving the gripper 118 are placed on the cable duct 151 in a state of being housed in the cable bearing 152 collectively, and each servo motor ( 113 and 116 are supplied with power and information transmission, and fluid pressure is supplied to the gripper 118. However, this second conventional example has the following problems since it is driven through various electrical wirings connected to a power source or a control device external to the mobile unit, and a fluid pipe connected to a fluid pressure source external to the mobile unit. .

That is, since the mobile unit moves along with various electric wirings and fluid pipes, when the outer length is long, the weight of the cable bears is heavy, and in order to support and move it, the mobile unit becomes large because sufficient strength and driving force are required. In addition, bending stress is applied when various electrical wirings and fluid lines reciprocate, and various electrical wires and fluid lines are easily damaged by this. In particular, high speed driving of the loader, which is required in recent years, Increasing the frequency of breakage, and the occurrence of loss due to maintenance or operation stop at the time of breakage is causing problems.

In order to solve these problems, some attempts have been made to use electrode contact feeding such as ducts and trolleys. However, stable feeding and information transmission are not possible in an environment where oil or cutting powder is not prevented. There is a problem of abrasion and stability at the contact portion, and in particular, a structure in which the mobile unit is moved by using the rack and the pinion mechanism is provided such that a plurality of mobile units are installed on the same running rail and do not interfere with each other. In principle, emphasis control by each mobile unit is possible in principle, but in practice, this has not been possible due to the problem of wiring and piping to each mobile unit, and the problem of arrangement of cable bearings.

Therefore, an object of the seventeenth and eighteenth inventions of the present invention is to provide a linear loader which does not draw electric wiring or fluid piping between the mobile unit and the outside thereof, does not require a large-scale facility, and improves reliability. It is to provide, further to enable the emphasis control by a plurality of mobile units. That is, it is the invention which applied the hydraulic generating apparatus of the 1st thru | or 3rd invention to a linear loader.

In addition, in the conventional machine tools, there is a problem in the centering means of the workpiece. That is, in machine tools such as vertical lathes, boring lathes, turning centers, etc., the workpiece is fixed on the table of the machine tool, and the workpiece is processed by pressing the bite while turning the table. It was necessary to fix the machining center to a high degree at the table center position of the machine tool.

In the conventional positioning fixation, the workpiece is temporarily fixed on the table, the machining center position is measured using a measuring instrument mounted on a machine tool spindle while turning the table of the machine tool, and the center piece of the turning table center is Calculate the vehicle. Next, empirical means by human hands have been performed for a long time by repeating the operation of reducing the center deviation amount by manual operation of an operator.

However, the need for automating such preparation as much as possible is gradually increasing due to the demands of the reduction of the number of skilled workers and the aging of society, and the improvement of the machine tool operation rate.

Even in the same machine tool, machining centers are widely used in combination with pallet changers made of pallet changers, pallet pools, etc. for automation of preparation. By the way, in machine tools such as vertical lathes, hobbing machines, turning centers, it is necessary to precisely and precisely adjust the machining center position to the pivot center position of the turning table. Even if each part of the machine and the pallet changer raise the process drawing extremely, there was a limit in the degree of alignment between the two centers.

Herein, the nineteenth and twentieth inventions of the present invention clamp the periphery of the workpiece with a plurality of actuators, and induce high frequency electromagnetic induction by contacting these actuators from an external fixing part by hydraulic coupling or from the outer periphery of the swing table. Positioning clamping device for driving and controlling fluid pressure such as hydraulic pressure or pneumatic pressure by power supply and information transmission, and positioning the workpiece while being fixed and mounted on a pallet, that is, the first to third An object of the present invention is to provide a use invention relating to a hydraulic generator.

The present invention is to enable the jig to move freely, the hydraulic generating circuit is a hydraulic pump driving motor supplied with power from a contactless power supply device, a hydraulic pump driven by a hydraulic pump driving motor, Clamp check valve and unclamp pilot check valve installed between the hydraulic tank, solenoid valve, relief valve, hydraulic pressure gauge, solenoid valve, and each hydraulic cylinder, pilot check valve for clamp, and each hydraulic cylinder A pressure generating device including a clamp pressure switch interposed in a pipe communicating with the pipe, an unclamp pilot check valve, and an unclamp pressure switch shown in a pipe communicating the hydraulic cylinders with each other, and a working machine having the device. to be.

In addition, the present invention does not cause a problem of hydraulic piping or electrical wiring between the hydraulic actuator and the drive thereof, and the power supply unit is a high frequency inverter and a power supply side so that the hydraulic actuator can be autonomously moved or replaced with a simple configuration. In addition to having a primary side power transmission unit and a primary side information transmission unit to which a high frequency voltage is applied from the control unit, the hydraulic pressure generating unit has a closed structure, and includes a hydraulic pressure generating circuit made from a hydraulic pump, a solenoid and a check valve, and a hydraulic pressure generating circuit. A hydraulic generator having a controlled hydraulic cylinder, a secondary side power transmitter to which electric power is supplied from a primary side power transmitter, and a secondary side information signal transmitter to which information signals are transmitted, without contact by high frequency electromagnetic induction.

The present invention is an autonomous pneumatic generator in which a hydraulic generator driven by contactless feeding is developed by pneumatic pressure.

The present invention provides a series of operations using air pressure such as vacuum adsorption, air actuator, etc. in a rotating body or moving object. It is a self-acting pneumatic generator that uses a contactless power and an information transmission device using high frequency electromagnetic induction to transmit power and information continuously, and generates and controls pneumatic pressure on a table or a moving object.

In addition, the present invention is a rotary table mounted on a rotary table for driving the hydraulic generator by the above contactless power supply.

Moreover, this invention is an operation type loader which applied the drive of the hydraulic generating apparatus by the contactless power supply mentioned above.

Moreover, this invention is the positioning clamp apparatus which drives a hydraulic generating apparatus by the contactless power supply mentioned above, and centers the unit type thing.

1 is a side view in which a part of the work clamping device according to the first embodiment of the present invention is cut away;

2 is a schematic configuration diagram showing the mechanical configuration of a hydraulic generator circuit incorporated in the subpalette shown in FIG.

3 is a block diagram showing the electrical circuit configuration of the oil pressure generating circuit shown in FIG.

4 shows the configuration of the power supply side transformer and the power receiver side transformer of the contactless power supply device shown in FIG. 1, (A) is a side view of a part cut away, and (B) is a fitting of the power supply side core to the power receiving side core. State diagram,

FIG. 5 is a schematic configuration diagram of a slide apparatus for fitting and detaching the power feeding side core to the power receiving side core shown in FIG. 3;

6 is a view in which part (A) of the first clamping arm shown in FIG. 1 is a side of the clamping state, (B) is a part of the back surface showing the unclamping state,

7 is an electrical block diagram for explaining the clamping operation and the unclamping operation of the work clamping device shown in FIG.

8 is a block diagram showing the circuit configuration of the power feeding device shown in FIG.

9 is a side sectional view and a front view showing the construction of another embodiment of the contactless power supply device;

10 is a schematic circuit diagram of a material hydraulic pressure generating device according to a second embodiment of the present invention;

FIG. 11 is a schematic circuit diagram showing an example of a simplified material hydraulic generator shown in FIG. 10;

12 is a main block diagram in the case of superposing an information signal on transmission power in the material hydraulic generator shown in FIG. 10;

13 is a schematic circuit configuration diagram of a material hydraulic pressure generating device according to a third embodiment of the present invention;

14 is a schematic circuit configuration diagram of a material hydraulic pressure generating device according to a fourth embodiment of the present invention;

FIG. 15 is a schematic plan view of an application example of a material hydraulic pressure generating device shown in FIG. 14;

16 is a schematic perspective view of a moving mechanism of a unitized hydraulic pressure generating circuit shown in FIGS. 14 and 15;

17 is a schematic circuit configuration diagram of a material hydraulic pressure generating device showing a fifth embodiment of the present invention;

18 is a schematic circuit diagram of a material hydraulic pressure generating device according to a sixth embodiment of the present invention;

19 is a view showing an example of a state of use of the unitized oil pressure generating circuit shown in FIG. 18;

20 is a schematic circuit diagram of a pneumatic generating autonomous apparatus according to a seventh embodiment of the present invention;

21 (A) is a perspective view of a split / coupled split transformer from a self-opening high frequency core, and (21) is an explanatory diagram of automatic clamping on a jig pallet for machining center processing;

22 is an explanatory diagram of the configuration of automatic clamping using pneumatic and spring force in FIG.

23 is an explanatory diagram of the configuration of an automated system for clamping and unclamping in FIG. 20;

24 is a diagram illustrating the configuration of clamping a workpiece on a pallet by vacuum suction in FIG. 20;

25 is a partial side cross-sectional view of a multi-turn table showing an eighth embodiment of the present invention;

FIG. 26 shows an example of the arrangement of the light emitting element group and the light receiving element of the optical coupling signal transmitter autonomous in FIG. 25, (A) is a layout diagram when an electric signal is transmitted from the table onto the fixed part, and (B) Is a layout view when transmitting an electric signal from a fixed part onto a table,

27 is a waveform circuit for shaping an output waveform of a light receiving element;

28 is a side view showing an example of independently controlling a plurality of non-magnetic actuators on a multiturn table;

29 is a view showing an example of application to the control of non-magnetic force on a multi-turn table, FIG. 30 is a schematic trial view of a linear loader as a ninth embodiment of the present invention.

FIG. 31 shows the X-axis moving mechanism of the linear drive unit of the linear loader shown in FIG. 30, (A) is a schematic perspective view in the case of the ball screw mechanism, and (B) is a schematic perspective view in the case of the rack and pinion mechanism. ,

32 is an electrical circuit diagram of the linear loader shown in FIG. 30;

33 is a schematic perspective view of the first power feeding device of the linear loader shown in FIG. 30, FIG. 34 is a schematic perspective view of a second power feeding device of the linear loader shown in FIG. 30, and FIG. 35 is a linear movement shown in FIG. Configuration diagram of the hydraulic generator circuit of the mold loader,

FIG. 36 shows an example of the operation when a plurality of moving units are installed as the linear loader shown in FIG. 30. FIG. 36A shows manual work, and FIG. 36B shows minute work. 36 (C) is an explanatory diagram when collaborating,

37 is a principal part perspective view for explaining the first information transmitting apparatus of the linear loader according to the tenth embodiment of the present invention;

38 is a front view showing the main constitution of the linear low road as the eleventh embodiment of the present invention;

39 is a configuration of a turning table of a machine tool mounting in a positioning clamp device according to a twelfth embodiment of the present invention, (A) is a side view thereof, (B) is a plan view of a part cut away,

40 is a perspective view for explaining a workpiece machining center position measurement to which the pivot table of FIG. 39 is applied;

41 is a perspective view for explaining the power and information transmission scheme in the outer periphery of the swing table of FIGS. 39 and 40;

42 is a conceptual explanatory diagram of a configuration of an electric circuit and a hydraulic circuit mounted on a swing table;

43 is a side view of a part of a first conventional example of a machine tool equipped with a hydraulic work clamping device clamped by a hydraulic cylinder,

44 is a sectional view showing one example of a coaxial coupler for non-electronic power transmission;

45 is a schematic perspective view of the linear loader of the second conventional example.

DETAILED DESCRIPTION OF THE INVENTION The present invention will now be described with reference to the accompanying drawings in more detail.

In the drawings, the same reference numerals denote the same or equivalent members.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side view showing partly the configuration of a work clamping device showing one embodiment of a hydraulic pressure generating device according to the first to third inventions of the present invention.

The work clamping device 10 comprises a working pallet 11, a sub-palette 12, a hydraulic generator comprising an autonomous hydraulic circuit (see FIG. 2) and a contactless power supply device 30, The first clamping arm mechanism 40a in which the hydraulic cylinder 41a is incorporated, the second clamping arm mechanism 40b in which the second hydraulic cylinder 41b is incorporated, and the third hydraulic cylinder 41c are A built-in third clamping arm mechanism 40c (see FIG. 2) and a fourth clamping arm mechanism 40d (see FIG. 2) in which the fourth hydraulic cylinder 41d is incorporated.

Here, the hydraulic pressure generating device of the work clamping device 10 has the characteristics as shown below.

In jig, such as machining center, if the hydraulic power can be maintained after clamping or unclamping the work, it is not necessary to drive the dairy pump. Therefore, the power supply device for the hydraulic pump driving motor is always electrically connected to the hydraulic circuit. It doesn't have to be.

Therefore, the autonomous hydraulic generating circuit 20 that can maintain the hydraulic force after clamping the work is embedded in the jig, and the hydraulic generating circuit 20 without contacting the electrode using the contactless power supply device 30. By supplying electric power to the contactless power supply device 30 close to the hydraulic pressure generating circuit 20 only at the start of clamping or unclamping of the work, the contactless power supply device 30 is supplied from the contactless power supply device 30 to the hydraulic pressure generating circuit 20. The electric power is supplied, and the contactless power supply device 30 can be detached from the oil pressure generating circuit 20, thereby enabling the jig to be used freely.

It is also conceivable to combine a power feeding device for supplying electric power to the hydraulic generating circuit 20 by contacting the electrode with the autonomous hydraulic generating circuit 20, but for example, when it is used in a machining site of a machine tool, It is easy to cause a short circuit due to the short circuit and the interruption of cutting oil, and there is a problem in the stability of power feeding. On the other hand, for example, by using the contactless power supply device 30 using high frequency electromagnetic induction as shown in FIG. Not only is the problem solved, but also the speed of feeding caused by the misfit at the time of feeding which becomes a problem in the contactless power feeding device is solved. Of course, when the contactless power supply device is used, there is a problem of lowering the power transmission efficiency. However, since the motor for driving the hydraulic pump as a load is a short-time operation load, the lowering of the power transmission rate is not a problem.

Hereinafter, each component of the work clamping device 10 will be described in detail.

① First, the work pallet 11 and the sub pallet 12 are as follows.

The work pallet 11 is mounted on the upper surface of the sub-palette 12, the first clamp arm 40a is mounted on the upper right side of the upper surface of the work pallet 11, and the top surface of the work pallet 11 is installed. The second clamp arm 40b is mounted at the left end of the city. Although not shown in FIG. 1, a third clamping arm 40c is attached to an end portion on the front side of the work pallet 11 at the front side of the work pallet 11, and is provided at an end on the rear side of the top of the work pallet 11 at the top of the work pallet 11. A fourth clamp arm 40d is mounted. Although not shown in FIG. 1, the subpalette 12 has a hydraulic generation circuit 20 incorporated therein. Further, the power receiving side transformer 30c of the contactless power feeding device 30 described later is attached to the right side surface of the subpalette 12.

② hydraulic circuit 20 is as follows.

In the mechanical configuration of the hydraulic circuit 20, as shown in FIG. 2, electric power and control information are supplied from the contactless power supply device 30, and a hydraulic pump driving motor 61 driven and controlled based thereon, Interposed between the hydraulic pump 62 driven by the hydraulic pump driving motor 61, the hydraulic tank 63, the solenoid valve 64, and the pipe communicating with the hydraulic pump 62 and the solenoid valve 64. Pilot check valve 67 and unclamp pilot check valve 68 and each hydraulic cylinder provided between the relief valve 65 and the hydraulic pressure gauge 66 that have been fitted, and the respective hydraulic cylinders 41a to 41d. The pressure switch 69 for clamp interposed in the pipe communicating 41a to 41d, the pilot valve valve 68 for unclamping, and the pipe communicated between the hydraulic cylinders 41a to 41d. It is to include a pressure switch 70 for unclamping.

As shown in FIG. 3, the electrical circuit configuration of the hydraulic pressure generating circuit 20 includes a rectifying smoothing circuit 82, a DC / DC converter 83, a clamp valve on signal receiving circuit 84, and an unclamp-on. And a signal receiving circuit 85, a clamp pressure switch on confirmation signal transmission circuit 86, and an unclamp pressure switch on confirmation signal transmission circuit 87.

The rectification smoothing circuit 82 receives the high frequency power HP sent from the power supply device 30a of the contactless power supply device 30 via the power supply side power supply transformer 37a and the power supply side power supply transformer 81a which will be described later. It converts into DC and outputs to the hydraulic pump drive motor 61 and the DC / DC converter 83.

The DC / DC converter 83 converts the current value of the DC voltage sent from the rectification smoothing circuit 82 to a predetermined value. The clamp valve on signal receiving circuit 84 is sent from the contactless power supply device 30 via the feed side clamp valve on signal transmission transformer 37b and the power receiving side clamp valve on signal transmission transformer 81b to be described later. The clamp valve on-signal transmission CO is received to drive the clamp shaft exciting coil 88 of the solenoid valve 64.

The solenoid is received by receiving the unclamp valve on signal AO sent from the contactless power supply device 30 via the unclamp valve on signal transmission transformer 37c and the power receiving shaft unclamp valve on signal transmission transformer 81c. The unclamp shaft exciting coil 89 of the valve 64 is driven.

Clamp pressure switch on confirmation signal transmission circuit 86 receives the clamp pressure switch on confirmation signal PC sent from the clamp pressure switch 69. And the pressure switch on confirmation signal transmission transformer 37d for the power supply side clamp, are output to the contactless power supply device 30. The unclamping pressure switch on confirmation signal transmitting circuit 87 receives the unclamping pressure switch on confirmation signal PA sent from the unclamping pressure switch 70, and the receiving side unclamping pressure described later. The contactless power supply device receives the switch-on confirmation signal PA and interposes the pressure switch on confirmation signal transformer 81e for the power receiving side unclamp and the pressure switch on confirmation signal transformer 37e for the power supply side unclamp which will be described later. 30).

③ The contactless power supply device 30 is as follows.

The contactless power supply device 30 uses a high frequency electromagnetic induction proposed by one of the inventors in Japanese Patent Application Laid-open No. 4-345008, as shown in FIGS. 4A and 4B. The feed side transformer 30b of the apparatus 30 includes a support member 31, a feed side core 32 having four differences protruding from the end face side of the support member 31, and a feed side core 32. And a power feeding side winding (33) wound around each tooth, and the power receiving side transformer (30c) of the contactless power feeding device (30) is a frame (34) and a power receiving side core provided on an inner surface of the frame (34). And a power receiving side winding 36 wound around each tooth of the power receiving side core 35.

In the contactless power supply device 30, at the time of power feeding, the gap between the feed side core 32 and the power receiving side core 35 of each tooth has a gap 30g which can be fitted and detached as shown in FIG. The power feeding side core 32 is fitted to the power receiving side core 35 so as to face each other on the circumference. Moreover, two air provided on the opposite side to the power supply side core 32 of the support member 31 of the power supply side transformer 30b like the 5th degree | time of the fitting and separation of the power supply side core 32 to the power receiving side core 35 are also carried out. The slide device 39 has cylinders 39a and 39b.

Although not illustrated, the contactless power supply device 30 is provided with a spring mechanism and an alignment mechanism for securing the degree of fitting of the power feeding side core 32 to the power receiving side core 35, respectively.

The feed side transformer 30b of the contactless power supply device 30 includes a feed side feed transformer 37a, a feed side clamp valve on signal transfer transformer 37b, and a feed side side clamp valve on signal transfer transformer 37c shown in FIG. ), The pressure switch on confirmation signal transmission transformer 37d for the power supply side clamp, and the pressure switch on confirmation signal transmission transformer 37e for the power supply side clamp are assembled, respectively.

In the power receiving side transformer 30c of the contactless power feeding device 30, the power receiving side power supply transformer 81a, the power receiving side clamp valve-on signal transmission transformer 81b, and the water receiving side unclamping water position temperature shown in FIG. The confirmation signal transmission transformer 81d, the power receiving side unclamp valve on signal transmission transformer 89c, and the pressure switch on confirmation signal transmission transformer 81e for the power receiving side clamp are assembled, respectively.

(4) The first to fourth clamping arm mechanisms 40a to 40d are as follows.

The first clamping arm mechanism 40a includes a first hydraulic cylinder 41a, a clamping arm 42a, a connecting member 43a, and a link 44a as shown in FIG. 6A. do.

The first hydraulic cylinder 41a includes a piston 45a, a rod 46a, a hole 48a formed below the body 47a and a hole 48b installed above the body 47a. ). Here, the hole 48a laid below the main body 47a is used for communicating the pilot pilot valve 67a of the hydraulic circuit 20 shown in FIG. 2 with the inside of the main body 47a via a pipe. The hole 48b laid above the main body 47a is for communicating with the unclamped pilot check valve 68 of the hydraulic circuit 20 via a pipe inside the main body 47a. The connecting member 43a is fixed to the upper end of the rod 46a by a fixing screw. In the clamping arm 42a, the right end portion of the clamping arm 42a is rotatably coupled to the connecting member 43a. It is connected through. Therefore, in the first clamping arm mechanism 40a, the clamping arm 42a is raised by raising the piston 45a of the first hydraulic cylinder 41a by the hydraulic pressure generating circuit 20, as shown in FIG. The work 1 can be clamped by the tip 42a1 of the c), and the piston 45a of the first hydraulic cylinder 41a is lowered by the hydraulic pressure generating circuit 20 to FIG. 6B. As shown, the workpiece 1 can be unclamped.

The same applies to the remaining second to fourth clamping arm mechanisms of the clamping arm mechanisms 40b to 40d.

Next, the work clamping device 10 shown in FIG. 1 will be described with reference to FIG. 7 by dividing the clamping operation and the unclamping operation.

(a) First, the clamping operation is as follows. Before the clamping of the work 1 by the work clamping device 10, the extraction work of the work 1 by an operator is performed. Further, the swing positioning operation of the work pallet 11 and the sub pallet 12 by an operator for positioning the power feeding side transformer 30b and the power receiving side transformer 30c is performed.

Thereafter, the clanping start signal CS is sent to the contactless power supply device 30 from the sequencer 90, which is the upper controller shown in FIG. 7, and the transcoupling command signal TC is the slide device 39. Are sent). The slide device 39 fits the power supply side transformer 30b to the power receiving side transformer 30c using two air cylinders 39a and 39b (see FIG. 5) when the transcoupling command signal TC is transmitted. Let's do it. At this time, the fitting of the power supply side transformer 30b is confirmed by a limit switch or an optical detection device, and the trans coupling signal TF is transmitted from the slide device 39 to the sequencer 90 and the power supply device 30a. Is sent. In the power supply device 30a, when the clamp start signal CS and the transcoupling completion signal TF are sent, supply of the high frequency power HP to the power supply side feed transformer 37a is started.

The high frequency power HP is supplied from the power supply side feed transformer 37a to the rectification smoothing circuit 82 of the hydraulic generation circuit 20 via the power supply side feed transformer 81a, and is supplied with a direct current by the rectifying smoothing circuit 82. Converted to power DP. Since the DC power DP is supplied from the rectifying smoothing circuit 82 to the hydraulic pump driving motor 61, the hydraulic pump driving motor 61 rotates to operate the hydraulic pump 62.

When a predetermined time has elapsed since the hydraulic pump driving motor 61 started to rotate, the hydraulic pressure started to rise, but by turning on the clamp side valve of the solenoid valve 64 (see FIG. 2), the respective hydraulic cylinders ( Hydraulic force is applied to 41a-41d, respectively, and the raising operation of each hydraulic cylinder 41a-41d is started. Here, the clamp valve on signal CO for turning on the clamp side valve of the solenoid valve 64 is generated after the predetermined time elapses after the power supply is started by a timer (not shown) installed in the power supply device 30a. It is sent to the clamp valve on signal receiving circuit 84 of the hydraulic pressure generating circuit 20 via the feed side clamp valve on signal transmission transformer 37b and the power receiving side clamp valve on signal transmission transformer 81b.

The operation of turning on the clamp side valve of the solenoid valve 64 is transmitted from the DC power transmitted from the rectifying smoothing circuit 82 through the DC / DC converter 83 and from the clamp valve on signal receiving circuit 84. The current is supplied to the clamping coil 88 for the clamp side of the solenoid valve 64 by the compact valve on signal CO.

As shown in Fig. 6, when the hydraulic cylinders 41a to 41d continue to rise, the work 1 is clamped by the clamping arm mechanisms 40a to 40d, but the hydraulic cylinders 41a to 41d are Confirmation of the rising end is performed using the clamp pressure switch 69 of the hydraulic pressure generating circuit 20. The clamp pressure switch confirmation signal PC indicating that the clamp pressure switch 69 (see FIGS. 2 and 3) is closed is a pressure switch for the receiving side clamp from the clamp pressure switch on confirmation signal transmission circuit 86. The signal is transmitted to the power supply device 30a via the ON confirmation signal transmission transformer 81d and the pressure switch on confirmation transmission transformer 37d.

The power supply device 30a turns off the clamp side valve of the solenoid valve 64 when the clamp pressure switch on confirmation signal PC is sent, but the rising pressure of each of the hydraulic cylinders 41a to 41d is used for clamping. Since it is held by the pilot check valve 67, the clamping state can be maintained even if the hydraulic pump 62 is stopped. Therefore, since the workpiece | work 1 can be clamped continuously even if the power supply side transformer 30b and the power reception side transformer 30c are removed, the work pallet 11 and the sub pallet 12 are contactless power supply apparatus 30 at this time. ), And it can be carried into a processing step as it is by a conveyer (not shown). That is, the autonomous movement to the oil pressure generating circuit 20 is possible.

(b) Next, the unclamping operation will be described below.

After the processing of the work 1 is finished, the work pallet 11 and the sub pallet 12 are conveyed to the predetermined position by the said conveying apparatus. Subsequently, the swing positioning operation of the work pallet 11 and the sub pallet 12 by an operator for positioning the power feeding side transformer 30b and the power receiving side transformer 30c is performed.

Thereafter, the unclamped start signal AS is sent from the sequencer 90 to the power supply device 30a, and the transformer coupling command signal TC is sent to the slide device 39. When the transformer coupling command signal TC is transmitted, the slide device 39 fits the power supply transformer 30b to the power receiving side transformer 30c using two air cylinders 39a and 39b. At this time, the fitting of the power supply transformer 30b to the power receiving side transformer 30c is confirmed by a limit switch or an optical detection device, and the trans coupling completion signal TF is transmitted to the slide device 39 and the power supply device 30a. Is sent. In the power supply device 30a, when the unclamp start signal AS and the transformer coupling completion signal TF are sent, supply of the high frequency power HP to the power supply transformer 37a is started. The high frequency power HP is supplied from the power supply side feed transformer 37a to the rectification smoothing circuit 82 via the power supply side feed transformer 81a, and the DC power DP is rectified by the rectifying smoothing circuit 82. By supplying the hydraulic pump driving motor 61 from the smoothing circuit 82, the hydraulic pump driving motor 61 is rotated to operate the hydraulic pump 62.

After a predetermined time has elapsed since the hydraulic pump driving motor 61 started to rotate, the unclamp valve on signal AO for turning on the unclamped valve of the solenoid valve 64 was supplied to the feed side unclamp valve on. The signal is sent to the unclamp-on signal receiving circuit 85 via the signal transmission transformer 37c and the receiving side unclamp-on signal transmission transformer 81c. The operation of turning on the unclamp side valve of the solenoid valve 64 is sent from the DC power and unclamp-on signal receiving circuit 85 which is sent from the rectifying smoothing circuit 82 via the DC / DC converter 83. The current is supplied to the unclamp-side valve excitation coil 88 of the solenoid valve 64 by the unclamp valve on signal AO. As a result, the hydraulic cylinders 41a to 41d start to drop. Confirmation of the completion of the lowering of each of the hydraulic cylinders 41a to 41d at this time is performed using the unclamping pressure switch 70 of the hydraulic pressure generating circuit 20. The unclamp pressure switch on confirmation signal PA indicating that the unclamp pressure switch 70 is closed is received from the unclamp pressure switch on confirmation signal transmission circuit 87 on the receiving side of the unclamp pressure switch on confirmation signal. It is transmitted to the power feeding device 30a via the transmission transformer 81e and the pressure switch-on confirmation signal transmission transformer 37e for the power supply side unclamp. The power supply device 30a turns off the unclamp side of the solenoid valve 64 when the unclamp pressure switch on confirmation signal PA is sent. However, the lowering pressure of each hydraulic cylinder 41a to 41d is unclamped. It is held by a pilot pilot valve 68 (see FIG. 2). Thereafter, the hydraulic pump driving motor 61 is stopped, and the power supply side transformer 30b and the power receiving side transformer 30c are removed, and the work pallet 11 and the sub pallet 12 are connected to a non-contact power supply device ( 30), the unclamping operation ends.

In addition, one structural example of the electric power feeding device 30d is shown in FIG.

The power feeding device 30a shown in FIG. 8 is a high frequency power generating unit and a signal processing unit.

Here, the high frequency power generator includes a circuit protector 301, a rectifier smoothing circuit 302, an inverter circuit 303, an overcurrent detection resistor 304, a control power supply 305, a relay drive circuit 306, and the like. And an overcurrent detection circuit 307, a gate drive circuit 308, a protection circuit 309, and a pulse width modulation circuit 310. In addition, the signal processing unit may include a power supply start command circuit 311, a soft start circuit 312, an interface circuit 313, a first delay circuit 314, a selection circuit 315, and a second delay. The circuit 316, the unclamp valve on signal transmission circuit 317, the clamp valve on signal transmission circuit 318, the unclamp pressure switch on confirmation signal receiving circuit 319, and the clamp pressure switch on confirmation And a signal receiving circuit 320, a first switch circuit 321, and a second switch circuit 322.

In the above description, the contactless power supply device 30 including the power supply side transformer 30b and the power supply side transformer 30c shown in FIG. 4 is used. It is not limited to this, For example, the well-known axial gap tip contactless feeding device which has the power supply side transformer 30b and the power receiver side transformer 30c as shown in FIG. 9 may be sufficient.

In addition, the power supply device 30a and hydraulic pressure generation of the clamp valve on signal CO, the unclamp valve on signal AO, the clamp pressure switch on confirmation signal PC, and the unclamp pressure switch on confirmation signal PA are generated. Although contactless transmission with the circuit 20 was performed through magnetism, it may be via light.

In addition, although the slide apparatus 39 shown in FIG. 5 has two air cylinders 39a and 39b, it is needless to say that the number of air cylinders may be other than two.

Confirmation of the rising and lowering completion of each hydraulic cylinder 41a to 41d was performed using the clamp pressure switch 69 and the unclamp pressure switch 70, but the position of the clamping arm 42a (see FIG. 6). May be performed by using a limit switch or the like.

As a working machine provided with the hydraulic generator according to the present invention, in addition to the machine tool having the clamping device 10 shown in FIG. 1, there are, for example, a mobile working machine such as a hydraulic lift. That is, when the hydraulic lift is stopped, the load dropping arm of the cargo is operated by the hydraulic generator according to the present invention, and during the movement of the hydraulic lift, the arm force for conveying the cargo is maintained by the hydraulic generator according to the present invention. The effect of is obtained.

The fourth to tenth inventions of the present invention will be described with reference to the drawings.

10 is a schematic structural diagram of a second embodiment of the present invention relating to a material hydraulic apparatus.

As shown in FIG. 10, this material hydraulic apparatus is roughly divided into a hydraulic generating unit 20 having a closed structure and a power feeding unit 30 that is separable from the hydraulic generating unit 20. As shown in FIG.

First, the hydraulic generating unit 20 will be described, and the outline thereof corresponds to that of FIG. However, an accumulator 21 is provided for absorbing the change in the flow rate caused by the temperature change when the hydraulic circuit is put in the sealed structure so that the change in the hydraulic generation characteristics does not occur. Here, the forward (clamp) pressure switch 69 and the backward (unclamp) pressure switch 70 can be used as a proximity switch using a micro switch or the like, respectively. In addition, the power supply unit 30a rectifies and smoothes the power supply side controller 30d to which a signal from the sequencer 90 which is an upper controller is input, and the AC voltage from the AC power supply 91 to smooth. 302 and a high frequency inverter 303 for converting the DC voltages from the power supply side controller 30d and the rectifying smoothing circuit 302 into high frequency voltages, respectively. The information signal transmitted through the secondary side information signal transmission units 81a to 81e for converting the high frequency voltage induced from the primary side to the secondary side into the DC voltage is provided to the power receiving side control unit 88 to handle the reception of the signal. The controller 88 controls the solenoid valve 64 via the I / O (input / output) interface 88b based on this information signal, or inputs to the central processing unit 88a. The confirmation signals of 69 and 70 are fed back to the power supply unit 30 via the secondary side information signal transmission units 81a to 81e. When the number of information signal transmissions is small, parallel communication without using the CPU 88a can be performed by providing a high frequency electronic coupling for the signal points, rather than serial communication by the CPU 88a of the control unit 88. have.

Meanwhile, the high frequency voltage transmitted through the secondary power transmission unit 88a is supplied to the power supply circuit 88c of the power receiving side control unit 88 and rectified and smoothed in the rectification smoothing circuit 82 to be converted into a DC voltage. Then, it is supplied to the hydraulic pump driving motor (61). In addition, a part of the DC voltage generated by the rectification smoothing circuit 82 is supplied to the power supply circuit 88c of the power receiving side control unit 88 as necessary.

However, the solenoid valve 64 is turned off after confirming the completion of movement to the forward end of the rods 40a to 40d of the hydraulic cylinders 41a to 41d, and the hydraulic cylinders 41a to 41d are moved by the movement of the check valve 67. The hydraulic pressure of is maintained, and releasing the hydraulic pressure as necessary is as described in the first embodiment. Therefore, the hydraulic unit 20 can continue to function as a strong member such as a support or a jack, or as a chuck, vise, or clamp device, so that an autonomous jig without hydraulic piping or electric wiring is formed. By such a structure, it can also move integrally with a workpiece | work and a to-be-supported object, and a free and effective support body is comprised.

11, a single solenoid valve 64a is provided instead of the solenoid valve 64, so that the solenoid operation can be controlled solely by the reaction force of the spring, thereby simplifying the control and accumulating 21 (see FIG. 10). ) Can also be omitted.

In the present embodiment, for the rotational control of the hydraulic pump drive motor 61 and the control of the solenoid valve 64 (or the single solenoid valve 64a), the high frequency electromagnetic induction is performed in the same manner as the power supply. For the sake of simplicity, a method of superposing an information signal on a power supply is effective.

Hereinafter, a method of superposing an information signal on a power supply will be described with reference to FIG. 12 is a main block diagram in the case where the information signal is superimposed on the power supply in the material hydraulic apparatus shown in FIG. 10, and the hydraulic circuit is omitted.

In FIG. 12, the power supply unit 30a includes a sequencer switch panel 30d, a high frequency inverter 303 that generates a high frequency voltage of a predetermined frequency based on instructions from the sequencer switch panel 30d, and the power supply unit 30a. It has a primary side transmission part 37a. On the other hand, the oil pressure generating unit 20 rectifies and smoothes the high frequency voltage generated in the secondary transmission unit 81a, the secondary transmission unit 81a to a DC voltage, and smoothing circuit 82 and rectification smoothing. And a frequency measuring circuit 89a driven by a signal power supply obtained from the circuit 82, and a decoder 89b.

Based on the detailed configuration, the superposition of the information signal on the supply power can be easily performed in the range where the transmission characteristics do not change. That is, the sequencer switch panel 30d specifies the value of n (n = 0, ± 1, ± 2, ... ± k), and based on the value of n, the high frequency inverter 303 A pulse waveform is generated in which the frequency becomes fo + nΔf (where fo = inverter center frequency, and Δf is a small frequency sufficiently smaller than fo). For example, in this embodiment, since the sequencer instruction is enough to be about 3 bits (8), the high frequency excitation frequency is changed to 8 within the range in which the supply power after DC voltage conversion in the rectification smoothing circuit 82 does not change. . Then, the frequency measuring circuit 89a measures the frequency of the high frequency excitation voltage after voltage dividing, so that the command sequencer signals 84 and 85 corresponding to the frequency are applied to the clamp valve on signal receiving circuit and the unclamp valve on signal receiving circuit. Signal] is generated by the decoder 89b so that the information signal can be superimposed on the power supply for transmission.

On the other hand, the power supply is surely performed, but the hydraulic pressure is normally generated by the hydraulic pump drive motor 61, and the sequencer feed back check such as whether the hydraulic cylinders 41a to 41d perform a predetermined operation is performed. According to the same principle as that described above, it may be performed by a separate contactless transmission unit. However, when it is sufficient to confirm the human eye, an indication such as an LED visible from the outside is sufficient.

In the present embodiment, as shown in FIG. 10, an example in which the check valve 67 is provided between the solenoid valve 64 and the hydraulic cylinders 41a to 41d is shown. In particular, the hydraulic cylinders 41a to 41d are grippers. For example, when the valve is used for applications that do not require the maintenance of the hydraulic force during the deactivation operation, a pressure holding function such as the check valve 67 is unnecessary.

13 is a schematic configuration diagram of a material hydraulic pressure generating device which is a third embodiment of the present invention.

The material hydraulic pressure generating device of this embodiment is an example considering the application to the ATC (automatic tool change) corresponding tool or AHC (automatic head change) of the robot tip, and the hydraulic pressure generation unit 20 is connected to the secondary power transmission unit 81a. A hydraulic cylinder 41a incorporating a rectification smoothing circuit 82, a hydraulic pump driving motor 61, a spring 41a2 biased in a direction in which the rod 41a1 is retracted (illustrated right), and a hydraulic cylinder A relief valve 65 provided between the 41a and the hydraulic pump 62, and a reservoir tank 65a for adjusting the flow rate. Therefore, the oil is circulated between the hydraulic pump 62 and the hydraulic cylinder 41a, and is used in a structure that does not use an oil tank. Unlike clamping devices and grippers for use as described in the foregoing second embodiment, the hydraulic pressure may be generated only while the hydraulic cylinder 41a, such as crimping or cutting, is moved, and the hydraulic cylinder 41a is fixed. It is structured to be used without needing to maintain force in position.

In addition, the hydraulic generating unit 20 and the power supply unit (30a) has a structure that is detachably coupled to each other by a full stud type chuck, the stud portion (49b) integrally to the secondary power transmission unit (81a). On the other hand, the socket portion 49a to which the stud portion 49b is detachably fitted is integrally provided in the primary power transmission portion 37a of the power supply unit 30a. Then, the stud portion 49b is fitted into the socket portion 49a so that the secondary power transfer portion 81a is disposed to face each other with the primary power transfer portion 37a disposed therebetween through a gap.

Although the rod 41a1 of the hydraulic cylinder 41a is located at the retreat end (right side of the figure) by the force of the spring 41a2 at the start of operation of the material hydraulic generator, the stud portion 49b and the socket portion 49a are provided. Is confirmed, the high frequency voltage generated from the power supply unit 30a is supplied to the power supply unit 30a by the high frequency electromagnetic induction generated between the primary side power transmission unit 37a and the secondary power transmission unit 81a. do. The high frequency voltage supplied to the hydraulic generating unit 20 is converted into a DC voltage in the rectifying smoothing circuit 82, and then drives the hydraulic pump driving motor 61. As a result, the oil in the hydraulic pump 62 is compressed and fed into the hydraulic cylinder 41a.

When oil is superimposed in the hydraulic cylinder 41a, the rod 41a1 starts to move forward in the direction of the arrow shown against the force of the spring 41a2 and moves to the forward stage. The forward movement of the rod 41a1 is used to perform work such as compression and cutting of the workpiece.

In addition, in this embodiment, since it does not have the hydraulic pressure holding function, in order to generate | occur | produce the hydraulic cylinder 41a continuously, it is necessary to continue to drive the hydraulic pump drive motor 61 even after the relief valve 65 is released. However, if the hydraulic pump drive motor 61 is likely to reach an excessive state, the state is detected by monitoring the magnitude of the current and the energization time on the power supply unit 30a side, and the primary power is supplied. The voltage supply to the transmission unit 37a is stopped. When the driving of the hydraulic pump driving motor 61 is stopped, the hydraulic pressure in the hydraulic cylinder 41a is released through the interval in the hydraulic pump 62, so that the generating force of the hydraulic actuator falls to zero.

14 is a schematic perspective view of a material hydraulic apparatus of a fourth embodiment of the present invention.

In the present embodiment, the power supply unit 30a is connected to the high frequency inverter 303 and the high frequency inverter 303 and has a primary side winding 37a1 wound in an elongated loop shape. The hydraulic generating unit 20a is formed with two hollow portions relieving the primary winding 37a1, and is provided with a secondary core provided on a table (not shown) so as to be linearly movable in the longitudinal direction of the primary winding 37a1. It is wound between two hollow portions of the 81a2) and has a secondary winding 81a1 facing the primary winding 37a1, and the secondary transmission portion is formed by the secondary core 81a2 and the secondary winding 81a1. Consists of. In addition, inside the oil pressure generating unit 20, oil pressure cylinders 41a to 41d (not shown) which operate with oil pressure from the oil pressure generating circuit 20 and the oil pressure generating circuit 20 shown in FIG. And a clamper 42a driven by the forward and backward movement of the rods 40a to 40d of the cylinder. And the control of the hydraulic circuit of the oil pressure generating unit 20 is a structure performed by superimposing the information signal for controlling a hydraulic circuit on the electric power supplied from the power supply unit 30a by the circuit shown in FIG. .

Therefore, if it is within the movable range of the oil pressure generating unit 20, the electric power and the information signal from the power supply unit 30a can be transmitted to the oil pressure generating unit 20 without contact at any position, and the size of a workpiece The self-supporting jig which can change the clamp position of a workpiece corresponding to a shape can be comprised.

In addition, in order to fix the oil pressure generating unit 20 on the table, a fixed actuator (rocker 42a3) by type of a wedge may be provided as necessary using the oil pressure generated in the oil pressure generating unit 20. Moreover, when the gripper 42a2 which performs opening / closing operation | movement in connection with the operation | movement of the rod 46a is mounted in the hydraulic generating unit 20, the apparatus which conveys, holding a workpiece can be comprised.

In addition, as shown in FIG. 15, three primary side windings 37a1 are electrically connected in parallel on the pallet 11 and arranged radially, and movable along each primary side winding 37a1. And three hydraulic pressure generating units 20 on which the clampers 42a and the rockers 42a3 are mounted. Then, the application of the high frequency voltage to each of the primary windings 37a1 is performed by the power supply unit 30a similar to that shown in FIG. 12, and furthermore, the primary transmitter 37a and the secondary transmitter ( Non-contacting is performed via 81a). Thereby, the pallet 11 can be moved in the state which fixed the workpiece | work 1 to the pallet 11, and the flexible fixture pallet corresponding to FMS (variable manufacturing system) can be comprised.

The moving mechanism of the hydraulic pressure generating unit 20 shown in FIGS. 14 and 15 will be described with reference to FIG.

16 is a schematic perspective view of the moving mechanism of the hydraulic pressure generating unit 20 shown in FIGS. 14 and 15. In FIG. 16, the servo screw 50 is connected with the bowl screw 53 through the coupling 51 and the support bearing 52 sequentially. On the other hand, the hydraulic generating unit 20 is mounted on the movable clamp stage 55 to which the bowl screw nut 56 is fixed, and the bowl screw 53 is screwed to the bowl screw nut 56. As a result, the servomotor 50 is driven to rotate the bowl screw 53, whereby the hydraulic generating unit 20 is configured to reciprocate in the arrow direction shown. In addition, although not shown in FIG. 14 and FIG. 15, the hydraulic generating unit 20 has the workpiece | work reference surface 54, and the workpiece | work 1 (not shown) is mounted on this workpiece | work reference surface 54. As shown in FIG.

14 and 15 show that the hydraulic generating unit 20 is fixed by the rocker 42a3. In FIG. 16, the T nut clamp 58 is used as a substitute for the high information bolt after positioning. An example of the case is shown, and this is demonstrated below. The T nut clamp cylinder 57 which uses a part of the hydraulic pressure which generate | occur | produced in the movable clamp stand 55 as a drive source is provided. A T nut clamping piece 58 is connected to the T nut clamp cylinder 57. The T nut system clamping piece 58 fits the pallet 11 (refer FIG. 15) by the sliding material to the sphere (not shown) formed according to the moving direction of the hydraulic generating unit 20. As shown in FIG. After precisely positioning the hydraulic pressure generating unit 20 with the servo motor 50, the T nut clamp piece 58 uses a part of the hydraulic pressure generated by the hydraulic pressure generating unit 20 to form a pallet 11. The pressure generating unit 20 is fixed. In this way, the hydraulic generator unit 20 can be more securely fixed by using the T nut clamp.

In FIG. 16, although the power supply method to the hydraulic generating unit 20 is not shown, as shown in FIG. 14 and FIG. 15, a direct contactless power supply is continuously performed in a moving stroke, or it is a fixed position. Contactless feeding may be possible. The same applies to the transmission of signals.

In addition, the hydraulic generating unit 20 is mounted on a rotating table (not shown), and is driven in combination with a rotary feeding device to rotate the external hydraulic generating device and conventionally used for supplying hydraulic pressure to the rotating body. It is also possible to control the actuator on the rotary table without using a coupler.

17 is a schematic perspective view of a material hydraulic apparatus as a fifth embodiment of the present invention, and is an example applied to a gripper corresponding to the robot tip ATC. In FIG. 17, the oil pressure generating unit 20 is configured with a hydraulic circuit similar to that shown in FIG. 13, and is gripper which grips the work 1 in conjunction with a built-in hydraulic cylinder (not shown). 42a2). On the other hand, the power supply unit also has a configuration similar to that shown in Fig. 13, and the primary side transmission portion 37a is provided at the tip of the robot arm 59.

In addition, the hydraulic generating unit 20 and the robot arm 59 has a structure that is coupled to each other by a detachable material by the chuck of the pull stud, and the stud portion 49b is integrally installed in the secondary transmission portion 81a. On the other hand, the socket part 49a to which the stud part 49b is fitted by detachable material is integrally provided in the primary side transmission part 37a of the robot arm 59. As shown in FIG. The stud portion 49b is fitted to the socket portion 49a so that the secondary side transfer portion 81a is disposed to face each other via an air gap on the inner circumferential surface of the primary side transfer portion 37a. By constructing as described above, no need for hydraulic piping or electrical wiring between the gripper 42a2 and the robot arm 59 can be achieved, and thus a tool (gripper) capable of coping with material replacement can be configured.

18 is a schematic configuration diagram of a power supply unit of a material hydraulic device according to a sixth embodiment of the present invention. The power supply unit 30a is a high frequency oscillation circuit 71 for oscillating a high frequency voltage of a predetermined frequency by a command from the sequencer command switch 90a, a high frequency inverter 72, and a primary side made of high frequency magnetic material. The primary side transmission part 37a used as the core 32 and the primary side winding 33 is provided. In addition, a battery 72 for supplying power to the high frequency oscillation circuit 71 and the high frequency inverter 303 is also built in and is free to carry.

Thereby, the hydraulic generating unit 20 as shown in FIG. 19 is used, and the workpiece | work 1 and 1a can be hold | maintained in the predetermined position of the base 200 by the hydraulic generating unit 30a. At the time of holding | maintenance, the primary side transmission part 37a of the power supply unit 30a and the secondary side transmission part 81 of the hydraulic pressure generation unit 20 are opposed, and it does not carry out hydraulic piping or electrical wiring, but to the hydraulic pressure generation unit 20. This is done by supplying electric power and transferring information signals to operate the hydraulic actuator 41a1. In addition, the oil pressure generating unit 20 has a frequency measuring circuit 89a and a decoder 89b as shown in FIG. 12, and the information signal is superimposed on the supply power. In addition, since the power supply unit 30a is freely transported, the power supply unit 30a can be supplied regardless of the position or direction of the hydraulic pressure generating unit 20, and can supply power or transmit an information signal to the hydraulic pressure generating unit 20. Therefore, in the process of preparing a machine tool or assembling or constructing a heavy product such as a vehicle or a ship, it is necessary to generate a strength member in a short time by generating a large torque in the absence of hydraulic piping or electrical wiring. Is very much available.

20 is a schematic configuration diagram of an autonomous pneumatic generator which shows the principle of pneumatic generating autonomy as a seventh embodiment of the present invention.

The compressor 62a of the pneumatic generator is miniaturized and lightened so as to be movable in a tower, and the electric motor and the electromagnetic solenoid controller 82a for driving thereof are driven by the contactless power and information transmission. In the compressed air 73 which has risen in pressure by the compression operation of the compressor 62a, the pressure is adjusted by the regulator 75 after water and dust are removed by the filter 74. Again, spray oil is introduced into the pipe through the lubricator 76 as necessary. The air pressure of the compressed air 73 passing through the lubricator 76 is changed by the electromagnetic solenoid 77, and the pneumatic cylinder 78 is driven and controlled by reciprocating motion, for example.

Here, depending on the environment, it is conceivable to perform the above-described transmission of power and information by means of a contact point. However, at the machining site, stable transmission is not possible due to generation of cutting powder or cutting oil. On the contrary, in principle, a high-frequency magnetic material core, such as a primary transmission unit and a secondary transmission unit, is formed by winding a winding around each center angle of two E-type high-frequency magnetic cores to face each other via a small attack. Employing a transmission means by high frequency electromagnetic induction using a split transformer solves problems such as short circuits due to cutting powder, poor conduction due to the intervention of cutting oil, and transmission interruption due to misfit. Thereafter, any core is applied with a high-frequency magnetic material to apply the high frequency magnetic material to the cut portions of the core corresponding to FIGS. 4 and 9, the linear correspondence type as shown in FIG. 14, and the type C core shown in FIG. One side of the secondary winding of the winding portion is inserted, one side is inserted, and the linear movement (moving back and forth (X) with respect to the insertion direction) as shown in Fig. 14, and the inside of the C-shaped core perpendicular to it in the longitudinal direction Vertical (Z) movement is also possible. It does not ask whether the core or winding is fixed or moving. ] It is possible to transmit power and information by high frequency electromagnetic induction using split transformer such as separate / coupled type.

By the way, in terms of power transmission, the transmission efficiency is lower than that of the contact type, but the compressor motor 61a as a load is short-term operation, and the inferior power transmission efficiency and transmission power density are practically not a problem. .

Corresponding to the above-mentioned contactless power and types of information transmission (rotational response, linear response, separate / coupled type), separate pneumatic drive control on a multi-rotation circle table, pneumatic drive control on a linear moving body such as a linear rotor, and pallet Pneumatic drive control on the moving body is realized. Among them, the transmission of rotational response and linear motion correspondence is possible for the physically continuous transmission, so that the generation of pneumatic pressure or vacuum suction is possible continuously within the range of the rating of the compressor 62a.

On the other hand, the separation / combination type requires an effort on how to operate or maintain the pneumatics because the transfer of power and information is interrupted by the moving object falling from the fixed part. For example, when pneumatic pressure is used for automatic clamping of the machining center tool jig pallet as shown in FIG. 21 (B), power supply to the compressor motor cannot be facilitated during movement. For example, when clamping the workpiece 1 by applying the clamps 40a, 40b, etc. to the pallet 11 of the automation object 93 with the workpiece loading and loading L, the fixed side clamp power source (for example, Pneumatic pressure) 95 is transmitted to the automation target 93 via ring couplings 97a and 97b via a pipe 96 or the like, but the ring coupling 97a is provided after the work clamp. , Tool (b) mounted on the machine tool spindle 26 in the machining center 92 based on the machining control command from the NC control panel 91 in the machining center 92 via the long distance movement 98. In the case where the workpiece 1 is cut into 94, the stationary side clamp power source 95 is fixed, and thus it is impossible to apply power or the like through the pipe 96 or the like from the clamping source 92 to the machining cent 92. As a result, electrical wiring, pneumatic piping and the like cannot be implemented at the supply point 99 such as power. The same is true when the workpiece 1 is unclamped from the pallet 11 through the reverse path after the workpiece is processed and then the workpiece unloading U is performed. On the other hand, it is conceived to maintain the pressure by using a check valve or the like, but in the case of pneumatic pressure, the pressure holding function cannot be expected as in the hydraulic control.

Therefore, the method of operation of pneumatic pressure is changed as in the twenty-second degree as a method for realizing automation.

That is, in the state in which the compressor 62a (see FIG. 20) is not in operation (when moving, during machining) in the automatic clamping means on the machining center machining pallet of FIG. 22, the workpiece 1 is driven by the force of the spring 69g. Is clamped to the pallet 11a. Work clamping, unclamping and clamping during removal are performed in the form of the up and down movement of the clamp arm 42a against the spring force.

Here, the free pneumatic generation circuit shown in FIG. 20 is mounted inside the pallet 11a, and the power and information transmission device of the separation / combination type of FIG. 21A is mounted on the outer wall of the pallet 11a. It is.

By the configuration of the automatic clamping using the pneumatic pressure and the spring reaction force shown in FIG. 22, the sequence of automated clamping and unclamping is as follows.

First, the positioning for feeding the pallet 11a is assumed to be completed. The clamping operation is automatically performed based on the instructions of the upper controller, for example, the sequencer 90, as shown in the automation system configuration of clamping and unclamping of FIG.

The transmission device 30a on the fixed side is supported by the compression mechanism 39 using the slider SL on the basis of the clamp start signal from the sequencer 90. Type power and information transmission device are combined. After confirming the completion of the fitting by the limit switch or the optical detection, the transmission device 30a starts the high frequency excitation of the primary windings 37a, 37b to 37e. This high frequency electric power is transmitted to the pallet side by high frequency electromagnetic induction, and is converted into direct current by the rectifying circuit 82 in FIG. 23, and then supplied to the compression motor 61a. As a result, when a certain time elapses after the compressor 62a is operated, the air pressure 73 starts to rise, but when the solenoid valve 77 is turned on by the transfer of information from the fixed side, the cylinder 78 springs. The clamp arms 40a to 40d are raised against each other. (L). In this state, the machining workpiece 1 is installed on the pallet 11a and the extraction work is performed. Here, part of the above-mentioned high frequency power after rectification is used for driving the solenoid valve 77.

After extraction, the work 1 by the force of the spring 69g (see FIG. 22) by changing the solenoid valve 77 and moving the cylinder 78a in the direction of lowering the clamp arm 42a (see FIG. 22). ) Clamping R is terminated. After the completion of the clamping is confirmed by the fixed side transmission device 30a by the sensor information on the pallet or the like, mechanical coupling for power and information transmission is released. In this way, the entire automatic pallet part 77 is detached from the stationary side device 30 while clamping the work 1 by the spring force, and the autonomous movement is possible. have.

On the other hand, the unclamping operation starts with the coupling of the power information transmission device to the pallet unit 77 which has finished the processing and returned to the home position as in the case of clamping. The operation is the same as the operation at the time of preparation for clamping prior to the extraction work of the work 1.

When the movement and the processing time are short, and the pressure (or vacuum suction) state can be maintained by the check valve, the work clamping device on the pallet part 11a using vacuum suction as in the 24th degree can be comprised. Here, a plurality of vacuum adsorption units (79c) connected to the pneumatic component engine (79b) is provided on the upper surface of the work pallet portion (11a), autonomous vacuum adsorption that enables automation of this clamping inside the work pallet portion (11a). A circuit "consisting of 62a 72,73, etc." is arranged, and the pneumatic pressure (A) is passed through the vacuum generator (79) via a solenoid valve (electromagnetic solenoid) 77 from the autonomous vacuum adsorption circuit. The workpiece 1 is clamped from the check valve 79a to the vacuum suction unit 79c via the pneumatic branch pipe 79b. That is, the main part of the autonomous vacuum adsorption circuit is almost the same as that of FIG. 20 except for the vacuum generator 79 and the vacuum holding device (return valve) 79a. In this configuration, the procedure enabling automation of the work clamping and the unclamping work on the work pallet part 11a is the same as in the case of FIG. 22 (B) 23 using spring reaction force.

Means described in this seventh embodiment of the present invention include a robot hand or a machine tool main end direct drive loader end, a pneumatic actuator vacuum pallet on a one table, a vacuum jack air blower, or a work clamp or jack on an autonomous pallet. It can be said to be an autonomous pneumatic generator which does not carry out external piping from the fixed part to the mounted moving object.

Next, FIG. 25 is a side view showing the first invention (see FIG. 2) of the present invention as a partial cross section of the multi-turn table as the eighth embodiment in which the first invention (see FIG. 2) is mounted on the turn table.

The table 2 is driven for positioning (indexing) by the position control of the electric motor (servo motor) 4 or the non-electric motor about the shaft center b of the rotating shaft 3a. The split transformer 5 and the signal transmission device 6 are disposed coaxially with respect to the rotary shaft 3a. Here, power transmission is performed by high frequency electromagnetic induction by the split transformer 5. That is, electric power transfer is performed from the fixed part (stop part) to the rotating part 2a (table 2) by primary and secondary coupling of the split port cores 202 and 205 arranged on the rotation index axis. The primary winding 203 of the fixed side side port core 202 is connected to the high frequency inverter 303 and is excited with high frequency, and the secondary winding 206 of the rotary side side core core 205 is connected to the voltage extraction wiring on the table. Connected. In this way, a magnetic path is formed in the split port cores 202 and 205 via narrow magnetic pole spacing of the tubes of the fixed and side port cores 202 and 205, and the secondary winding 206 is formed by high frequency electromagnetic induction. ) Voltage is generated. Thus, power can be transmitted without contact. These split port cores 202 and 205 are rotationally symmetrical with respect to any rotation about the axial center b on both the fixed side and the rotary side as shown in FIG.

Therefore, the power transmission characteristic does not change with rotation angle and position. In addition, the frequency of the high frequency excitation is also 10 KHZ or more, and the electromagnetic field is prevented from being disturbed by the rotational speed within the table use range. In this way, the high frequency electric power transmitted to the rotating part side includes the rectifying smoothing circuit 15 and the direct current output P via the stabilization circuit 16 provided in response to the need of the motor or electric load 17 of the rotating part. In addition to being used as driving power, it is also used as power of a control circuit or a detector as described later. On the other hand, the signal S is transmitted by digital transmission of an optical pulse or an electronic pulse by the signal transmission device 6 arranged coaxially with the rotation shaft 3a. In particular, high speed real-time transmission is required for command signals (position, speed, torque commands) for motor control and feed vaccines (for example, pulse signals of rotary encoders). Therefore, it is performed by the signal transmission device 6 by optical coupling using an electro-optical element such as a laser or a high-speed LED as a light emitting element, and a high-speed response as a light-receiving element, and a photoelectric conversion element such as a photodiode or a phototransistor. The signal transmission device 6 is configured such that the signal is not interrupted due to rotation or changes in phase or amplitude do not occur, that is, the transmission direction is not dependent on the rotation position.

Fig. 26 is a diagram showing an example of the arrangement of the light emitting element group and the light receiving element of the optical coupling signal transmission device 6 of the present invention, and (A) shows the arrangement in the case of transmitting an electric signal from the table onto the fixed portion. (B) shows the arrangement in the case of transmitting an electric signal on the table from the fixed portion. In any case, a group of electro-optic conversion elements for converting an electric signal into an optical signal is disposed on the transmitting side, and is fixed rotationally symmetrically about an axis B of the rotating shaft, and a photoelectric conversion element for converting an optical signal into an electrical signal is received. It is fixed to the side. In the embodiment of Fig. 26A, 16 LEDs are connected in series at equal intervals in the circumferential direction in the plane perpendicular to the axis center b, and 22 series LEDs are arranged in Fig. 26B. Both ends of the series LEDs are connected to signal sources of digital signals to be transmitted. As a photoelectric conversion element, a photodiode is disposed slightly away from the LED in a radial direction substantially in the same plane as the LED, and in FIG. 26, an optical signal emitted from three LEDs is received by the photodiode 8. Each element which comprises the electro-optical conversion element group 7 is used with a small variation in response characteristics.

27 is a waveform shaping circuit for forming the output waveform of the light conversion element. The output of the photodiode 8 is input to the comparator 9, and when the output is higher than the value of the comparator 9, the comparator outputs a logic '1', and when it is low, outputs a logic '0'.

+ Vc1 -Vc is a positive and negative voltage source of direct current. In this way, the signal transmission device 6 outputs a binary signal to the transmitting side in correspondence with the logic value of the digital signal input to the electrical and light conversion elements. On the other hand, a sequencer new signal such as a limit switch signal or a solenoid valve control signal does not require the same fast transmission as that of the control signal, and therefore the signal transmission device 6 having the configuration shown in FIGS. 26 and 27 is shown. It is practical to perform the transmission via the parallel, serial signal conversion circuit 13 on the table and the parallel, serial, and signal conversion circuit 14 on the fixed part using only one channel for transmitting and receiving each channel. The power of the parallel and series signal conversion circuits 13 on the table is supplied from the stabilization circuit 16. Further, non-electric power such as hydraulic pressure or pneumatic pressure is transferred from the fixing part 102 via the conventional rotary coupling 100 (see FIG. 25) coaxially disposed at the shaft center b as shown in FIG. It is supplied to the rotating part 101. In FIG. 44, 103 and 104 are fluids of the fixing part 102, 105 and 106 are fluids of the rotating part 101, and 105A and 106A are spheres, ( 107 is a seal which prevents the leakage of fluid in the contact surface of the rotating part 101 and the fixed part 102. FIG.

As described above, the multi-turn table of the present embodiment can supply electric power (hydraulic pneumatic) to a table that can be rotated in a contactless manner without using wiring or piping, and also a signal obtained by a detector or a switch on the table. All can be transferred to the fixed part. Therefore, by combining these powers and information, free driving and control that are not restrained at all on the condition of a multi-rotational body are possible.

The specific example is shown below.

FIG. 28 independently controls a plurality of non-automatic force (pneumatic and hydraulic) actuators by operating a solenoid valve on a multi-turn table using power and information transmitted via the rotating part (table 21) as described above. It is a side view which shows an example. The non-electric power generating fluid (for example, air oil) is supplied from the fixed portion onto the rotary table via the rotary coupling disposed in the hollow portion of the index (outflow) shaft. Conventionally, when independently controlling a plurality of actuators on a rotating body (for example, complicated work clamp fixture control), a rotary coupling having an independent flow path equal to or equal to the actuator or a multiple thereof is required. Since the manifold and the solenoid valve (the solenoid valve manifold 107) which distribute | distribute to each other are mounted on the table 2, and a flow path is distributed in the function table 2a, it is sufficient to have a maximum of two fluid paths 103 and 104 for rotary coupling. .

The control of the solenoid valve is performed by serially and parallelly converting the open / close control signal transmitted from the host device of the fixed part to the serial communication 18. The parallel sequencer signal from the actuator is converted into a serial signal and returned to the host device of the fixed part. do. Couplings usually lead to a decrease in reliability and an increase in cost when the number of fluid passages becomes difficult to manufacture.

On the other hand, the solenoid valve tends to be smaller and lighter, and the configuration of this application example is realistic and advantageous within the range in which the number of mounted valves is not limited by the table dimensions.

FIG. 29 is an application example to which the present invention is applied to the control of non-electronic power on a multi-rotation source table, and shows an apparatus in which the autonomous hydraulic pressure generating circuit 20 shown in FIG. 2 is mounted on a rotating body.

The autonomous hydraulic pressure generating circuit 500 is a hydraulic pressure generating circuit for supplying hydraulic pressure to an external actuator. Details thereof are described in the description of the hydraulic pressure generating circuit 20 in FIG. The transfer of information is directed to a contactless way by high frequency transmission, eliminating the need for external (fixed) hydraulic equipment and rotary coupling, and controlling the opening and closing of the solenoid and check valves in series and parallel conversion circuits (13) and (14). (14) is not shown, and the command and its return are performed by the control signal by serial communication.

In the above embodiment, an optical coupling signal transmission device composed of an electro-optical conversion element and a photoelectric conversion element is used as the signal transmission device. However, even if a split core type pulse transformer is used in the same configuration as in the case of power transmission, a result is obtained. Lose.

In this case, the winding in the port core on the transmitting side (transmission side winding) is connected to the signal source of the pulse signal, and the winding in the receiving port port (transmission side winding) is connected to the processing circuit which processes this pulse signal. .

Incidentally, in the above-described embodiment, one photoelectric conversion element is used for the optical coupling signal transmission device, but this is not limited to one, and a plurality of photoelectric conversion elements can be used for the purpose of signal processing. Furthermore, when forming a plurality of independent optical coupling signal transmission apparatuses, of course, light shielding is performed to each signal transmission apparatus as needed.

30 is a schematic perspective view of the linear loader as a ninth embodiment in which the first invention of the present invention (see FIG. 2) is applied to a linear loader.

As shown in FIG. 30, the moving unit 202, which is a main body of the linear loader, is supported by an active material on two traveling rails 201 hypothesized in parallel to the X-axis direction so as to support the Z-axis servo motor 203. A bowl nut (not shown) is mounted to which the bowl screw 205 rotated by) is driven, and the gripper support member 215 is driven by driving the Z-axis servo motor 203. Guided to 202a, it is moved in the Z-axis direction. The gripper support member 215 is fixed with a θ rotating servo motor 216, and a gripper 218 driven hydraulically is provided to rotate in the θ direction. The gripper 218 and the θ rotating servo motor 216 are connected to each other via a reduction gear, and the gripper 218 is rotated in the θ direction by driving the θ rotating servo motor 216. The hydraulic pressure acting on the gripper 218 is supplied from the hydraulic pressure generating device 20 provided in the moving unit 202 via the hydraulic pipe. As apparent from the above description, the gripper moving means is constituted by the Z-axis servo motor 203 and the θ rotary servo motor 216.

Here, the X-axis moving mechanism will be described with reference to FIG.

The X-axis moving mechanism moves the moving unit by the rotation of the X-axis servo motor as the moving unit moving means. FIG. 31 shows an example of the X-axis moving mechanism by a screw screw mechanism and a rack and pinion mechanism. Regarding two examples with the one shown.

In addition, in FIG. 31, the mobile unit was simplified and illustrated in order to make a structure clear.

Moreover, in the case of the ball screw mechanism, as shown in FIG. 31 (A), the ball screw 208 is arrange | positioned in parallel with each travel rail 201, and each running rail ( The X-axis servo motor 206 fixed between 201 is connected. On the other hand, the bowl nut 209 screwed to the bowl screw 208 is provided in the mobile unit 202. As a result, when the X-axis servo motor 206 is rotated, the moving unit 202 is moved in the X-axis direction. In the rack and pinion mechanism, the rack 210 is fixed in parallel with the traveling rails 201 as shown in FIG. 31 (B). On the other hand, the X-axis servo motor 206 for rotating the pinion gear 211 and the pinion gear 211 that engage with the rack 210 is provided in the moving unit 202. Thereby, when the X-axis servo motor 206 is driven and the pinion gear 211 is rotated, the movement unit 202 is moved in the X-axis direction.

In this embodiment, the rack and the pinion mechanism are adopted.

The above-mentioned power supply to the servo motors 203, 206, 216 and the hydraulic generating circuit 20 and the transmission of the information signal are performed without contact with the mobile unit 202 from the outside of the mobile unit 202. Lose. Hereinafter, the means will be mainly described with reference to FIGS. 30 to 32.

The electric power is supplied to the X-axis servo motor 206 via the first power feeding device 242 from the high frequency inverter 241 as a high frequency power source. As shown in FIG. 33, the first power feeding device 242 is connected to the high frequency inverter 241, and a winding wound in a loop shape along the horizontal direction (X-axis direction) is provided with a primary transmission unit 242a and a mobile unit. 202d fixed to 202 (see FIG. 30) and wound around the core 242c against the core 242c relieving the primary side transmitting portion 242a and the primary side transmitting portion (winding) 242a. And a secondary side transmission section 242b. As a result, when a high frequency voltage generated by the high frequency inverter 241 is applied to the primary transmission unit 242a of the first power feeding device 242 (see FIG. 32 to be described later), the secondary transmission unit winding 242d is used. Depending on the turns ratio, high frequency voltage is generated in the secondary side winding 242b by electromagnetic coupling. In other words, the high frequency voltage generated by the high frequency inverter 241 is supplied to the secondary transmission portion winding 242d without contact by high frequency electromagnetic induction. As shown in FIG. 32, which shows the electrical circuit configuration of the linear loader in a block diagram, the high frequency voltage supplied to the secondary side transmission section 242b is rectified smoothed in the rectifying smoothing circuit 246 and then X as a mobile unit means. It is supplied to the servo motor 206 via the axis controller 247.

A part of the DC voltage generated in the rectifying smoothing circuit 246 is supplied to the information transmitting circuit 248 for controlling the driving of the X-axis servo motor 206.

The information for controlling the drive of the X-axis servo motor 206 is transmitted via the information transmitting device 243 as the control information signal generating means. The first information transmission device 243 also includes a primary side transmission unit 243a and a secondary side transmission unit 243b similar to the first power supply unit 242, and the above-described first power supply unit 242 In the same principle as that of the power transmission in, the information signal generated by the information transmission unit 240 is transmitted to the information transmission circuit 248 without contact by high frequency electromagnetic induction. The information transmission circuit 248 detects the rotation of the X-axis servo motor 206 and the information signal transmitted from the information transmission unit 240 without contact via the first information transmission device 243. A signal is sent to the X-axis controller 247 based on the signal from the orderer 207 to drive the X-axis servo motor 206.

On the other hand, the hydraulic generator circuit 20 for driving the Z-axis servo motor 203, the θ rotary servo motor 216, and the gripper 218 is similar to the X-axis servo motor 206. Power is supplied contactlessly by the second power feeding device 20.

By the way, with respect to the z-axis servo motor 203, the θ rotary servo motor 216, and the gripper 218, no movement is performed during the movement of the moving unit 202, and thus the gripper 218 in the X-axis direction. It is sufficient to supply electric power only by the working point of (). Therefore, the primary side transmitter 244a of the second power feeder 244 is fixed to a predetermined 1 corresponding to the work point of the gripper 218 and the secondary side transmitter 244b of the second feeder 244. ) Is fixed to the mobile unit 202. The second power feeding device 244 opposes the winding 244d of the primary side transmission portion 244a, which is formed from the winding 244d connected to the core 244c and the high frequency inverter 241, as shown in FIG. Similarly, the secondary transmission portion 244b from the core 244e and the winding 244f is allowed to pass in the X-axis direction. That is, as shown in FIG. 34, the non-magnetic support member 244g is fixed to the side surface of the high frequency magnetic core 244e on which the secondary winding 244f is wound in front of the figure, and the support member 244g is fixed. While being supported, the secondary transmitter 244b moves in the X-axis direction.

The supply of power from the primary side transmitter 244a to the secondary side transmitter 244b is performed when the windings 244f of the primary side transmitter 244a and the secondary side transmitter 244b are in opposite positions. Similar to the first power feeding device 242 (see FIG. 32), the high frequency voltage generated by the high frequency inverter 241 is supplied to the secondary side transmission unit 244b without contact by high frequency electromagnetic induction. The high frequency voltage is supplied to the secondary transmission unit 244b and rectified and smoothed by the rectifying smoothing circuit 249, and then supplied to the Z axis servo motor 203 via the Z axis controller 250. It is supplied to the θ rotary servo motor 216 or the hydraulic generator 20. A part of the DC voltage generated by the rectifying smoothing circuit 249 is an information transmission circuit for controlling the driving of the Z-axis servo motor 203, the θ rotary servo motor 216, and the hydraulic pressure generating circuit 20 ( 251). As apparent from the above description, the gripper control means is constituted by the Z-axis controller 250 and the large controller 252.

The gripper 218 also has the same function as the power supply for the transmission of information for controlling the driving of the Z-axis servo motor 203, the θ rotary servo motor 216, and the hydraulic generating circuit 20. This may be done at the work point. The primary transmission unit 245a also transmits information to the Z-axis servo motor 203, the θ rotary servo motor 216, and the hydraulic pressure generating circuit 20, similarly to the second feeder 244. The second information transmitting device 245 is fixed at a predetermined position corresponding to the working point of the gripper 218 and the secondary transmitting unit 245 is fixed to the mobile unit. Information signal is transmitted without contact.

In the second information transmitting device 245, the information transmitting unit 240 is connected to the primary transmitting unit 245a, and the information transmitting circuit 251 is connected to the secondary transmitting unit 245b. Since it is the same structure as the power supply device 244 of 2, the description is abbreviate | omitted.

The information transmission circuit 251 detects the rotation of the Z-axis servo motor 203 and the information signal transmitted from the information transmission unit 240 without contact via the second information transmission apparatus 245. The Z-axis servo motor 203 is driven by sending a signal to the Z-axis controller 250 by signing the signal from the orderer 204. Similarly, the θ rotary servo motor 216 based on the information signal transmitted from the information transmission device 240 and the signal from the encoder 217 detecting the rotation of the θ rotary servo motor 216. And the hydraulic pressure generating circuit 20.

Here, the hydraulic generating circuit 20 will be described with reference to FIG. The hydraulic pressure generating circuit 20 sucks oil in the oil tank 222 with the hydraulic pump 226 by the driving force from the hydraulic driving motor 221 to generate hydraulic pressure, and the gripper 218 is generated by the hydraulic pressure. The rod 218b of the hydraulic cylinder 218a of the hydraulic cylinder 218a is retracted or advanced in the direction of the arrow to grasp or release the workpiece 1 and the solenoid valve 223 for switching the moving direction of the rod 218b. Have The oil tank 222 has a volume change type (or liquid level release type) for tracking the volume change due to the change in oil temperature and the volume change accompanying the movement of the rod 218b. In addition, the hydraulic pipe communicating between the solenoid valve 223 and the rod forward side oil chamber (oil chamber in the right side of the illustration) of the hydraulic cylinder 218a detects the completion of the forward movement of the check valve 224 and the rod 218b. Forward pressure switch 225 is provided for. On the other hand, in the hydraulic pipe communicating between the solenoid 223 and the rod retracting side oil chamber (oil chamber shown left) of the hydraulic cylinder 218a, a retraction pressure switch for detecting that the retraction movement of the rod 218b is completed ( 228 is installed.

In addition, a relief valve 227 is provided in the hydraulic pipe that communicates the hydraulic pump 226 and the solenoid valve 223. Here, the forward pressure switch 225 and the retracting pressure switch 228 can be used as a proximity switch using a micro switch or the like, respectively.

The information signal transmitted from the information transmission unit 240 without contact via the second information transmission apparatus 245 is input to the information transmission circuit 251. The information transmission circuit 251 uses the information signal based on the information signal. The solenoid valve 223 is controlled or the confirmation signal of each of the pressure switches 225 and 228 is fed back to the information transmission unit 240 via the second information transmission device 245. When the transmission score of the information signal is small, parallel communication can be performed by the high frequency electronic coupling for the signal score, not by serial communication by the information transmission circuit 251.

On the other hand, the high frequency voltage supplied from the high frequency inverter 241 through the second power feeding device 244 without contact is rectified and smoothed in the rectifying smoothing circuit 249 and converted into a DC voltage, and then the hydraulic pump driving mode It is supplied to the rotor 221.

Next, the operation of the linear loader of this embodiment will be described with reference to FIGS. 30 and 32. FIG.

First, a high frequency voltage produced by the high frequency inverter 241 is supplied to the X-axis servo motor 206 without contact via the first power feeding device 242 and corresponding to a working point of the gripper 218. When the secondary transmitter 244b of the second power feeder 244 faces the primary transmitter 244a, the secondary transmitter 245b of the second information transmitter 245 The mobile unit 202 is moved in the X-axis direction to a position opposite to the primary side transmission unit 245a. At this time, the amount of rotation of the X-axis servo motor 206 is based on the output from the encoder 207 that detects the rotation of the X-axis servo motor 206 and the information signal transmitted from the information transmission unit 240. On the basis of this, it is controlled by the information transmission circuit 248 and the X-axis controller 247.

When the mobile unit 202 arrives at the predetermined position, this time, the Z-axis servo motor 203, θ, is contacted with the high frequency voltage generated by the high frequency inverter 241 through the second power supply device 244 without contact. The rotary servo motor 216 is supplied, and the information signal is transmitted from the information transmitter 240 to each of the servo motors 206 and 216 without contact through the second information transmitter 245. By controlling the rotation of each servo motor 206, 216, and positioning the gripper 218 to a predetermined position. When the gripper 218 is positioned, the high frequency voltage generated by the high frequency inverter 241 is supplied to the hydraulic pressure generating circuit 20 without contact via the second power feeding device 244 and the information transmitting unit ( The information signal is transmitted from the 240 to the hydraulic pressure generating circuit 20 without contact via the second information transmission device 245 to drive the gripper 218 to hold the work 1.

When holding the workpiece | work 1, as shown in FIG. 35, the high frequency voltage produced by the high frequency inverter 241 is supplied to the rectification smoothing circuit 249 contactlessly through the 2nd power supply device 244, The rectified smoothing circuit 249 is converted into a DC voltage to drive the hydraulic pump driving motor 221. The oil in the oil tank 222 is sucked up by the hydraulic pump 226 by the driving of the hydraulic pump driving motor 221 to generate hydraulic pressure, and then a signal for turning on the rod retracting side pump of the solenoid valve 223 is generated. It is transmitted from the information transmission unit 240 to the information transmission circuit 251 without contact via the two information transmission device 245. Thereby, pressurized oil is supplied to the rod advance side oil chamber of the hydraulic cylinder 218a, the rod 218b advances, and the gripper 218 grips the workpiece | work 1. As shown in FIG. Completion of movement to the forward end of the rod 218b is performed by confirming the signal of the forward pressure switch 225, but this signal is fed back to the information transmitting unit 240.

After confirming the completion of movement to the forward end of the rod 218b, when the signal for turning off the solenoid valve 223 is transmitted from the information transmission part 240 to the information transmission circuit 251, the solenoid valve 223 will carry out. Although off, the hydraulic pressure in the hydraulic cylinder 218a is maintained by the operation of the check valve 224 at this time. Therefore, even if the moving unit 202 is moved in the state where the gripper 218 is gripped by the gripper 218, the workpiece 1 remains gripped by the gripper 218. The hydraulic pressure generated here can also be used for braking after positioning of the Z-axis servo motor 203 (see FIG. 30) and the rotary servo motor 216 (see FIG. 30).

On the other hand, when releasing the grip of the workpiece 1 by the gripper 218, the moving unit 202 is moved to a predetermined position, and the hydraulic pump drive motor 221 is driven again, and then the solenoid valve 223 ), The rod retracting side valve is turned on to retract the rod 218b of the hydraulic cylinder 281a. Confirmation of the completion of the retraction of the rod 218b transmits the signal from the retraction pressure switch 228 from the information transmission circuit 251 to the information transmission unit 240 via the second information transmission device 245. It is done by doing. The solenoid valve 223 is turned off at the time when this signal is sent to the information transmission part 240, the hydraulic pump drive motor 221 is stopped after that, and the gripping of the workpiece | work 1 is released.

As described above, since the hydraulic pressure generating circuit 20 is installed in the mobile unit 202, the hydraulic pipe ends with the pipe on the mobile unit 202. Then, the power supply devices 242 and 244 and the information transmission devices 243 and 245 provide contactless power supply or control transmission to the servo motors 203, 206 and 216 and the hydraulic generator circuit 20. This eliminates the need for electrical wiring for connecting the servo motors 203, 206, 216, the high frequency inverter 241 of the hydraulic generator 20, and the information transmission unit 240. As a result, there is no need to connect the hydraulic piping or the electric wiring to the outside of the mobile unit 202, and there is no need for a large-scale facility for supporting these hydraulic piping and the electric wiring. In addition, since the deflection of the hydraulic pipe or the electric wiring accompanying the movement of the mobile unit 202 does not occur, damage caused by the fatigue of the hydraulic pipe or the electric wiring can be prevented and reliability can be improved.

In particular, when the X-axis moving mechanism is constituted by the rack and pinion mechanism as shown in FIG. 31B, a plurality of moving units 202 are provided on the same traveling rail 201 to prevent mutual interference. Coordinated control by each mobile unit 202 can be performed within a range not to be achieved.

Some of the examples are shown in FIG. 36, and in FIG. 36A, two mobile units 202a and 202b are installed on the same running rail 201, and one mobile unit 202b is shown. The work 1 is gripped by the gripper 218b and placed on the work table 235, and the gripper 218b is gripped by the gripper 218a of the other mobile unit 202a and conveyed to the next place (water works).

FIG. 36B shows an example in which the large workpiece 1 is conveyed, and one workpiece 1 is simultaneously gripped by three mobile units 202a, 202b, and 202c for conveyance (sharing). work). In this case, since the position of the gripper 218a, 218b, 218c of each moving unit 202a, 202b, 202c in the Z-axis direction can be set freely, especially when the holding part of the workpiece | work 1 is an inclined surface. Valid. As shown in FIG. 36C, the gripper 218a of one mobile unit 202a grips one work 1a having a hole and the gripper 218b of the other mobile unit 202b. The other work 1b is fitted to the one work 1a by holding the other work 1b fitted into the hole of the work 1a and making the respective moving units 202a and 202b approach (joint). work). In this way, a plurality of moving units 202 are provided in the same traveling rail 201, thereby enabling various operations.

On the other hand, as shown in FIG. 31A, when the X-axis moving mechanism is constituted by the bowl screw mechanism, only one moving unit 202 can be installed on the same traveling rail 201, and the bowl screw is also provided. Although the length over which the processing limit of 208 is limited or the vibration at the time of high speed drive may generate | occur | produce, since the drive source of the mobile unit 202 is in a fixed side, the 1st power supply device 242 and the 1st The information transmission device 243 is not necessary.

In the present embodiment, an example in which the hydraulic generating circuit 20 is provided in the moving unit 202 has been described, but the hydraulic generating circuit 20 can also be provided in the gripper supporting member. In this case, electric power to the oil pressure generating circuit 20 using a third power feeding device and an information transmitting device (not shown) similar to the first power feeding device 242 or the first information transmitting device 243. The supply of control and the transmission of control information can be performed without contact.

That is, the primary side transmitter of the third power feeder connected to the secondary side transmitter 244b of the second power feeder 244 and the secondary side transmitter 245b of the second information transmitter 245. When the windings of the primary transmission part of the connected third information transmission device are wound in a loop shape in the Z-axis direction to support the mobile unit 202, respectively, and the secondary transmission parts are fixed to the gripper support member 215. , The oil pressure generating circuit 20 of the power supplied to the second power feeding device 244 and the information signal transmitted to the second information transmitting device 245 in the entire travel stroke of the gripper supporting member 215. Is transmitted without contact. By installing the hydraulic pressure generating circuit 20 in the gripper support member 215, the bending of the hydraulic pipe when the gripper 218 is moved in the Z-axis direction is eliminated, so that the life of the hydraulic pipe can be extended.

This is particularly effective when the gripper 218 has a large stroke.

In addition, the hydraulic generation circuit 20 may be integrally mounted with the gripper 218. By doing so, when the gripper 218 rotates, the hydraulic pressure generating circuit 20 also rotates integrally with the gripper 218, so that no distortion of the hydraulic pipe occurs and the life of the hydraulic pipe can be further improved. In this case, in addition to the above-mentioned third power supply device and information transmission device, and a fourth type power supply device and information transmission device of rotation type which transmits power and information signals without contact using high frequency electromagnetic induction (not shown). ) Is provided on the rotating shaft of the gripper 218, so that power and information signals can be transmitted to the hydraulic pressure generating circuit 20 without contact. The rotary feeder and the information signal device are provided with a secondary transmission portion made of a rotating material with respect to the primary transmission portion fixed to the gripper support member 215.

37 shows a principal perspective view of a linear loader in which information transmission is performed by an optical coupler as a tenth embodiment of the present invention.

In addition, in FIG. 37, the mobile unit was simplified and illustrated in order to make a structure clear.

37, the fixed side light emitting element 263 and the fixed side light receiving element 265 are fixed to the traveling rail 261, and both are connected to the information transmitting unit 268, respectively.

On the other hand, a moving side light receiving element 264 into which the light emitted from the fixed side light emitting element 263 is incident is fixed to the moving unit 262. Each of these mobile side light-receiving elements 264 and mobile side light-emitting elements 266 transmits signals for controlling the driving of the X-axis servo motor (not shown) via an X-axis controller (not shown). 30 is connected to an information transmission circuit (not shown) similar to the " ninth embodiment ". The high frequency voltage generated by the high frequency inverter 269 is supplied from the rectifying smoothing circuit 267 without contact via the first power feeding device 270, and the rectified smoothing DC voltage is moved to the rectifying smoothing circuit 267. The side light receiving element 264 and the mobile side light emitting element 266 are supplied. Here, the light emitting element is an electric and light conversion element for converting an electrical signal into an optical signal, and the light receiving element is a conversion element for converting an optical signal into an electrical signal.

As the fixed side light emitting element 263 and the moving side light emitting element 266, an infrared light emitting diode, a laser diode, or the like can be used.

Other configurations may be the same as those in FIG. 30 [ninth embodiment], and description thereof will be omitted.

Based on the above configuration, the command information and sequencer information to the X-axis servo motor are converted into an optical pulse signal by the electric / light conversion of the fixed side light emitting element 263 from the information transmission unit 268 to the fixed side. It is emitted from the light emitting element 263. The optical pulse signal emitted from the fixed side light emitting element 263 is incident on the mobile side light receiving element 264, where it is converted into an electrical signal and sent to the information transmission circuit. On the other hand, the feedback information of the X-axis servo motor is sent from the information transmission circuit to the moving side light emitting element 266, and is converted into an optical pulse signal by the electric / light conversion of the moving side light emitting element 266 to the moving side. It is emitted from the light emitting element 266. The optical pulse signal emitted from the moving side light emitting element 266 enters the fixed side light receiving element 265 and is converted into an electrical signal and sent to the information transmitting unit 268. That is, the transmission between the information transmission unit 268 and the information transmission circuit is performed in a contactless manner by the optical pulse signal.

Next, FIG. 38 is a front view which shows the main part structure of the linear loader which comprises 11th Embodiment of this invention.

In the above ninth and tenth embodiments (see thirty and thirty-seventh embodiments), an example in which a gripper driven by hydraulic pressure is used is shown. However, when the grip force may be small, a gripper driven by pneumatic pressure can be used. Therefore, in this embodiment, a pneumatic gripper 283 is used as a gripper for holding the work 1, and a pneumatic generating circuit 20 for driving the pneumatic gripper 283 is attached to the moving unit 282. . The pneumatic generator circuit 20 is composed of a compressor motor 291 for driving the compressor 292 for generating pneumatic pressure, a regulator 293 and a solenoid valve 294, and the solenoid valve 294 is opened. Pressurized air is supplied to the pneumatic gripper 283 via a pipe. On the other hand, the gripper 283 is biased in the direction in which the hand portion 283a is closed by the spring force of the compression spring 283b, and it is the spring of the compression spring 283b that pressurized air is supplied from the pneumatic generating circuit 20. The hand portion 283a is opened against the force.

The high frequency voltage, which is made of the high frequency inverter 281 and is supplied to the compressor motor 291 without a contact via the second power feeding device 284, is rectified and smoothed by the rectifying smoothing circuit 284. The control of the solenoid valve 294 is performed by the information signal transmitted from the information transfer unit 280 to the information transfer circuit 287 without contact via the second information transfer apparatus 285. About other structures, since it is the same as that of FIG. 30 "ninth embodiment", the description is abbreviate | omitted.

Based on the above configuration, when the mobile unit 282 moves to a predetermined position, the compressor motor 291 is driven to generate pneumatic pressure to the compressor 292, and the solenoid valve 294 is opened to open the pneumatic gripper 283. ), Pressurized air is supplied to open the hand portion 283a. In this state, after moving the pneumatic gripper 283 to the position of the workpiece 1 in the Z direction, the compressor motor 291 is stopped and the pressurized air supplied to the pneumatic gripper 283 is escaped. The hand part 283a is closed by the spring force of the compression spring 283b, and the wick is gripped.

In this way, the gripping of the work 1 is carried out by the spring force of the compression spring 283b. Therefore, even if the moving unit 282 is moved, the state of holding the work 1 can be maintained. You can return it. When the gripped workpiece 1 is disturbed, pressurized air may be supplied to the pneumatic gripper 283 again to open the hand portion 283a.

In the present embodiment, an example in which the pneumatic gripper 283 hand portion 283a is held in the closed state by the compression spring 283b has been shown. However, the present invention is not limited thereto. A gripper configuration is also possible.

In addition, as a twelfth embodiment of the present invention, a positioning clamp device as a mating means, which is the invention of the second and tenth embodiments [first and second embodiments], will be described.

39 shows the structure around the swing table of the machine tool mounting of the present embodiment, FIG. 39 (A) is an elevation view of the pallet, and FIG. 39 (B) is a plan view of the swing table with a part cut away.

In the preparation process after taking out from the pallet pool, a workpiece | work (not shown) is fixed to the swivel table 2 in a sieve. The pallet 11 which fixed the work body is guided to the rail 21 by the hook and the moving mechanism (not shown) of the pusher 23a which were pulled by the pusher hook 23b fixed to the pallet side, and this machine tool. It is blown on the turning table 2 of a. Here, the rail 21 is fixed to the rigid with respect to the table 2 in the left-right, up-down direction of FIG. 39 (A) which is an elevation to perform a pallet clamp. Moreover, the width X of the rail 21 is made slightly narrower than the space | interval Y between the platens 22a and 22b. Here, the platens 22a and 22b in the lower part of the pallet 11 are made of a heat-treated metal because they are slide parts, and are fixed to the pallet 11.

The temporary clamp of the pallet 11 is carried out to a position where it stops with a stopper (not shown), and the positional deviation of the [flow] portion between the temporary positioning pins 25a and 25b and the platen holes 24a and 24b. Complete within range. Next, within the range of [flow], the work is extracted by moving the pallet 11 itself into a two-dimensional plane by a linear actuator. That is, in the turning table 2, first, a linear actuator of electric drive is considered. In this case, four actuators (19a ... 19b) are mounted, and by pressing the platens 22a and 22b at the tip of the actuator, the pallet 11 is rotated in the XY two-dimensional direction with respect to the pivot table 2. The fine position can be determined. Here, the actual position of the machining center which is the control target amount can be known by the measuring device 27 mounted on the main shaft 26 (see FIG. 40 to be described later) while turning the turning table 2.

For example, in the case of the workpiece | work 1 in which primary processing was completed as shown in FIG. 40 which is a means of measuring the workpiece processing center position, it is possible to perform online control of the movement amount, measuring the outer diameter by the measuring device 27. By this, autodetection is made. Therefore, as the motor for driving the linear actuator, a predetermined torque can be generated, for example, a DC motor equipped with a high reduction ratio reducer is sufficient, and a position detector at the stage of the motor is not necessarily required. In addition, 40a-40d is a clamp which fixes the workpiece | work 1 on a pallet.

However, in order to perform the micro-positioning by pressing by the linear actuator of the electric drive as in the 40th degree, even if the turning table 2 is multi-turned, stable power is continuously supplied to these electric motors, and information is transmitted. You must. On the other hand, after the extraction of the positioning is completed, the pallet 11 itself is finally fixed to the pivot table 2, but in this case, the fixation is usually a rotational coupling 100 embedded in the pivot center shaft (see FIG. 25). The cylinder (not shown) descends by the hydraulic pressure supplied from the fixed portion via), thereby lowering the rail 21. In this way, the hydraulic rotary coupling 100 is preferably mounted in the pivoting table 2 rotating part, but for the existing equipment which does not take such a configuration, the hydraulic coupling 100 is hydraulically applied to the pivoting table 2 by some other method. It is necessary to convey. To this end, as shown in FIG. 2 and FIG. 10, the hydraulic generating circuit 20 is autonomously mounted on the turning table 2, and the pump driving motor 61 for generating oil on the turning table 2 is mounted. Although a method of driving and generating hydraulic pressure is effective, power supply and information transmission beyond the rotating portion are also required here.

That is, in the above-described extraction process, also in the pallet fixing process following it, it is necessary that power and information are always transmitted from the fixing unit irrespective of the rotation of the swing table 2.

Therefore, in the pivot center axis portion of the swing table 2, as shown in FIG. 25, the high frequency port cores 202 and 205 are used to transmit power or information by high frequency electron induction. Alternatively, when the pivot center shaft portion of the swing table 2 is not available, the outer periphery of the swing table 2 is applied as shown in FIG. 41, and the contactless power supply and information transmission corresponding to the rotation is performed. It is possible. In FIG. 41, the power transmission unit 160 adds the high frequency voltage from the high frequency inverter 303 to the electric power primary winding 162 wound around the magnetic high frequency magnetic core 161, thereby turning the turning table 2. The power secondary winding 164 is wound and fixed to the outer circumferential surface of the core 163 made of the target high frequency magnetic material on the upper outer circumferential surface of the power secondary winding 164 from the power primary winding 162 by a high frequency electron induction action. Is supplied, and the electric power 166 is taken out from the lead wire extraction hole 165.

In the other information transmitting unit 170, information superimposed on the high frequency voltage from the high frequency inverter (not shown) is given to the information primary winding 172 wound on the magnetic high frequency magnetic core 171, and the turning table ( 2) The high frequency information is induced in the information secondary winding 174 wound on the outer circumferential surface of the core 173 formed from the target high frequency magnetic material on the lower outer circumferential surface of 2), and the information (from the lead wire extraction hole 175 onto the turning table 2) 176 is taken and the operation information 176 on the turning table 2 is reversely returned from the information secondary winding 174 to the information primary winding 172. In addition, the distance between the magnetic cores 161 and 171 of the high-frequency magnetic material and the target cores 163 and 173 on the outer circumferential surface of the swing table 2 opposite to the upper and lower inner surfaces thereof is extremely small, and the positional relationship between the power and the upper and lower cores of the information is very small. May be the same as the one shown.

42 is a block diagram showing the configuration of an electric and hydraulic circuit mounted on a swing table. That is, FIG. 42 shows the electric and hydraulic circuit mounted in the turning table 2 in the case where the means of FIG. 25 or 41 are taken, and the injection of the transmission power P to the turning table 2 is a turning table. Control of the circuit 82 for rectifying and smoothing the voltage of the power secondary winding 164 induced by the high frequency electron induction on (2), the electric linear actuators 19a to 19d, and the motor 61 for the autonomous hydraulic generating unit, The drive circuit 183 is mounted, and when the transmission information S is blown into the turning table 2, the information industry signal which is induced by high frequency electromagnetic induction on the turning table is transmitted via the information secondary winding 174. Processed by the information processing circuit 182, command and feedback of the control information to the autonomous hydraulic generator 20 and the linear actuator 181 is made. The connection system of each information from the control drive circuit 183, the connection system of each electric drive, and the autonomous hydraulic pressure generation circuit 20 is as shown in FIG.

In the electric or hydraulic actuator drive described above, no electrodes or contacts are used, and since electric power and information are transmitted, stable driving and control can be performed while rotating even under a working atmosphere such as oil, cutting fluid, and cutting chips.

Since the present invention has the same configuration as described above, it has the following usefulness.

The invention of Claims 1 and 2 includes a contactless power supply device for supplying electric power by high frequency electromagnetic induction, and clamping the work by having the hydraulic circuit have a check valve provided between the solenoid valve and the hydraulic cylinder. Since the contactless power supply unit and the hydraulic circuit can be disconnected at the same time, the jig can be used for freely moving applications.

The invention of claim 3 includes the hydraulic generating device of the present invention, and since the hydraulic generating circuit is built in the movable body, the contactless power supply device and the hydraulic generating circuit can be disconnected while clamping the work, and thus, the jig In addition to being able to be used for freely moving applications, external piping is not required, and valve operation and clamping operation by human hands are also unnecessary, thereby making it possible to free the preparation for working machine work.

According to the invention of claim 4, since the electric power supply and the information signal are transmitted from the power supply unit to the oil pressure generating unit in a non-contact manner using high frequency electromagnetic induction, the hydraulic piping or the electric circuit between the power supply unit and the oil pressure generating unit. There can be no. Since a check valve is provided between the solenoid valve and the hydraulic cylinder, the hydraulic cylinder can maintain its state even if the power supply unit and the hydraulic generating unit are separated except when the hydraulic cylinder starts and ends. Since the secondary circuit, the hydraulic generator and the hydraulic cylinder are provided in one structure in the generator circuit, even if the power supply unit and the hydraulic generator unit are separated, there is no hydraulic pipe or electric wiring outside. As a result, the hydraulic generating unit can be freely moved while the function of the hydraulic actuator is maintained by the hydraulic cylinder.

The invention of claim 5 includes a battery for driving a means for applying a high frequency voltage to the primary side transmission unit in the power supply unit, which can portably carry the power supply unit. It can be used even when it is necessary to support heavy materials depending on the situation.

The invention of claims 6 and 7 is that the power supply unit and the oil pressure generating unit are detachably coupled by means of a coupling means, and in particular, when the oil pressure generating unit is used as the tip tool of an industrial robot, the hydraulic piping and the electricity at the time of replacing the tip tool. There is no problem of wiring, and it can cope with exchanging freely.

The invention of Claims 8 and 9 is to make the winding of the primary transmission part of the power feeding unit thin and long loop shape, and to install the hydraulic generating unit to be movable along the longitudinal direction of this winding, corresponding to the size or shape of the workpiece. It is possible to construct a material fixture that can freely change the position of the working point of.

The invention of claim 10 provides an information transmission signal for controlling a hydraulic circuit of the hydraulic generating unit by providing a frequency converting means in the power supply unit and providing a frequency measuring circuit and a decoder in the hydraulic generating unit. Since the transmission can be superimposed on the supply of power from the vehicle side transmitter to the secondary transmitter, the device configuration can be simplified.

In the invention of Claims 11 to 14, a pneumatic generating circuit including a compressor and a regulator, and one electric circuit for controlling and driving the same on the rotating body, and also for converting and controlling the transmission high frequency power into a motor for a compressor and driving power, Equipped with two electric circuits, the pneumatic generating unit is autonomized by using the contactless outside, which is a fixed part, to transmit power and information by contactless high frequency electromagnetic induction, which is hardly influenced by the environment. It is possible to automate the conventional pneumatic drive method, which relies on human hand, such as turning pipes or operating pneumatic couplers and valves, and a revolutionary pneumatic drive control system can be realized. In particular, pneumatic clamping and chucking on moving pallets are possible in machine tool operation, which has been difficult in the prior art, and contributes greatly to industrial automation.

In the invention of Claims 15 and 16, by providing a split-port core transformer having a power transmission characteristic of rotational symmetry with respect to any rotation around the axis of the table, stable power is achieved between the rotating part and the fixed part without contact. Transmission and signal transmission can be realized, and stable signal transmission between the rotating part and the fixed part can be realized without contact by providing the optical coupling signal transmission device having the rotationally symmetrical electric and photoelectric conversion characteristics with respect to the rotation axis. As a result, when individually controlling a plurality of fluid (hydraulic and pneumatic) actuators on a rotating table, it is conventionally required to insert a fluid circuit of actuator moisture during the fluid coupling, which is not practical in structure. However, according to the present invention, electronic control on the table becomes possible, and it can be combined with a conventional coupling coupling of a single circuit. It is possible to replace with a number of fluid circuits, and in combination with the invention of claim 1, by mounting the autonomous hydraulic pressure generating circuit on a multi-turn table, no external hydraulic equipment or rotary coupling is required, thereby reducing equipment investment. And improvement of reliability can be achieved.

In the inventions of Claims 17 and 18, a high frequency electromagnetic induction is performed by a power transmission and a transmission of an information signal in a non-contact manner, and no electrical wiring or fluid piping is necessary between the high frequency power source, the control information generating means, and the mobile unit. These supporting devices are unnecessary, and the bending damage can be prevented, so that the reliability is improved, and the same effect as in the case of performing the information transmission by the optical pulse signal to the first information transmission device is achieved. have. Further, the fluid pressure generating circuit is provided with means for maintaining the grip state of the workpiece by the gripper hand part, so that the electric power is supplied to the gripper moving means or the fluid pressure generating means, the gripper control means or the fluid during the movement of the mobile unit. The workpiece can be conveyed without transmitting information to the pressure generating means. In addition, since the moving unit moving means is made by the rack and the pinion mechanism, electrical wiring or fluid piping is unnecessary between the high frequency power source or the control information signal generating means and the moving unit, so that a plurality of moving units are installed on the same rail. Since no electrical wiring or fluid piping is required between the plurality of moving units, a plurality of moving units can be provided on the same rail, and cooperative control by the plurality of moving units can be performed.

The invention of Claims 19 and 20 is required to precisely and accurately adjust the machining center position of the workpiece to the pivot center of the turning table, and conventionally, the vertical lathe which has been forced to align both center positions for a long time by manual operation of the operator. Even in machine tools such as hobs and turning centers, preparation can be automated prior to machining such as extraction and positioning of pallets on which workpieces are mounted. As a result, a pallet changing device for pallet changing pallet pooling can be used similarly for machine tools such as vertical lathes, hobs and turning centers with the aim of automating preparations performed in conventional machining centers. . Also. Even in the positioning of the workpiece on the pallet in the preparation step, high-precision positioning is not required, so that it is possible to reduce the manpower, rationalize, and use the robot in combination with automation and night-time unmanning.

Claims (1)

The power transmission device is a contactless, split port core transformer in which the primary side and the secondary side are fixed to the fixed part and the rotating part of the multi-turn table, respectively, and are configured so that the output does not change for any rotation of the rotating part. The apparatus is contactless and has a transmitting side portion having an electrical / optical conversion device for converting an electrical signal into a rotationally symmetric optical signal with respect to the rotation axis of the rotating portion, and a reception having a photoelectric conversion device for converting an optical signal into an electrical signal. In addition to being constituted by the part, the multi-turn table has a rotational coupling provided on the hollow part on the rotating side of the table for transferring the fluid pressure from the fixed part to the table part beyond the boundary of the fixed part and the rotating part, and the table part has a plurality of Actuators, a plurality of solenoid valves for controlling each fluid pressure distributed to the plurality of actuators, and a solenoid valve for controlling Serial / parallel signal conversion means for converting an open / close control signal transmitted via a first optical coupling signal transmission device as a serial signal from a host device provided in the fixed unit into a parallel signal and outputting the plurality of solenoid valves; A parallel / serial signal converting means for converting the parallel information generated by the actuators into a serial signal and transmitting the same to the host device via a second optical coupling signal transmission device, wherein the drive power and the plurality of actuators of the plurality of actuators are mounted. The excitation current of the solenoid valve of the multi-turn actuator control device, characterized in that supplied from the frequency conversion, stabilization device.