WO2005052383A1 - Cylindre - Google Patents

Cylindre Download PDF

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Publication number
WO2005052383A1
WO2005052383A1 PCT/JP2004/017498 JP2004017498W WO2005052383A1 WO 2005052383 A1 WO2005052383 A1 WO 2005052383A1 JP 2004017498 W JP2004017498 W JP 2004017498W WO 2005052383 A1 WO2005052383 A1 WO 2005052383A1
Authority
WO
WIPO (PCT)
Prior art keywords
lock
fastening
fluid
piston rod
pressure chamber
Prior art date
Application number
PCT/JP2004/017498
Other languages
English (en)
Japanese (ja)
Inventor
Akio Nakata
Masakazu Tetsuka
Hirotaka Kakae
Original Assignee
Koganei Corporation
Daihatsu Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koganei Corporation, Daihatsu Motor Co., Ltd. filed Critical Koganei Corporation
Publication of WO2005052383A1 publication Critical patent/WO2005052383A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/26—Locking mechanisms
    • F15B15/261—Locking mechanisms using positive interengagement, e.g. balls and grooves, for locking in the end positions

Definitions

  • the present invention relates to a hydraulic cylinder that reciprocates a piston rod by a fluid pressure such as air pressure, and more particularly to a technology effective when applied to a hydraulic cylinder having a lock mechanism.
  • An assembly line of an automobile is provided with a plurality of steps of joining panel materials formed in a pressing step by spot welding or the like.
  • These processes include an underbody process that forms the base of the vehicle body, a side body process that forms the side surface of the vehicle body, a main body process that forms the skeleton of the vehicle body by joining the underbody and the side body, There is a metal line process for assembling doors and hoods on the body.
  • a panel material is fixed to an end of a transfer actuator such as a robot arm by an insertion clamp or the like.
  • a handling device is installed and the paneling material is moved together with the fixed binding device by operating the arm.
  • a cylinder ring actuator for moving each insertion clamp forward and backward so as to be able to fix each of various types of members having different shapes is installed in the case of a cylinder ring apparatus.
  • Many hydraulic cylinders that use air pressure are used for the user so that even if the insertion clamp collides with the panel material, the impact can be absorbed. Disclosure of the invention
  • the locking mechanism provided in the above-mentioned fluid pressure cylinder while applying force only has a configuration that locks only movement of the piston rod in one of the forward direction and the backward direction. Therefore, even if the fluid cylinder is extended and the insertion clamp is pushed into the panel material and inserted and fixed, and the piston rod position is locked at that time, even if the panel material is moved together with the handling device by driving the robot arm, Piston rod moves to lock position As a result, the fixing position of the panel material was shifted, so that accurate positioning of the panel material was not possible, and it was difficult to perform assembly work with high accuracy!
  • An object of the present invention is to provide a fluid pressure cylinder capable of applying a braking force to an axial position of a piston rod in both forward and backward directions.
  • a fluid pressure cylinder includes a drive cylinder in which a piston rod having a main piston is reciprocally accommodated in an axial direction and is provided with a forward pressure chamber and a retreat pressure chamber defined by the main piston.
  • a first lock unit having a first lock sleeve that is installed in a unit housing chamber of a lock unit housing attached to the drive cylinder and that fastens the piston rod, and is installed in the unit housing chamber;
  • a second lock unit having a second lock sleeve for fastening a piston port; and a lock unit, which is attached to a housing and contacts a first inclined surface formed on the first lock sleeve.
  • a fastening position having a first pressing surface and approaching the piston rod, and a fastening release position away from the piston rod
  • a first lock cylinder accommodating a first fastening rod that is reciprocally movable between the first lock cylinder and a second inclined surface formed on the second lock sleeve, the second lock sleeve being attached to the lock unit housing;
  • a second lock cylinder that has a second pressing surface and accommodates a second fastening rod that is reciprocally movable between a fastening position approaching the piston rod and a fastening release position away from the piston rod. It is characterized by.
  • a fluid pressure cylinder according to the present invention is characterized in that the first and second lock sleeves are installed so that the first and second inclined surfaces face each other.
  • the first lock sleeve has a first inner peripheral surface having a tapered shape
  • the first lock unit includes a plurality of first inner peripheral surfaces that are in contact with the first inner peripheral surface.
  • a first retainer that holds the steel ball and is movably fitted in the piston rod in the axial direction, and presses the steel ball against the first inner peripheral surface via the first retainer.
  • a first spring member for applying a spring force in a direction, and the second lock sleeve has a tapered second inner peripheral surface that is opposite to the first inner peripheral surface.
  • the second lock unit holds a plurality of steel balls in contact with the second inner peripheral surface, and a second retainer fitted to the piston rod so as to be movable in the axial direction; Hold the steel ball through the cage And a second spring member for applying a spring force in a direction of pressing the second inner peripheral surface.
  • the first and second lock cylinders each include a spring member that reduces a spring force in a direction toward the piston rod with respect to each of the fastening rods. It is characterized by.
  • a restrictor for communicating the unit storage chamber and the retreat pressure chamber is provided on a partition wall that partitions the unit storage chamber and the retreat pressure chamber, and a fluid pressure source is provided.
  • a supply / discharge port connected via a retreat channel is communicated with the unit housing chamber, and supply and discharge of fluid to and from the retreat pressure chamber are performed via the unit housing chamber. I do.
  • a check valve for allowing the flow of the fluid toward the unit housing chamber and preventing the flow of the fluid in the opposite direction is provided on the partition wall. It is characterized by
  • the first fastening rod is separated from the piston rod by a lock pressure chamber that applies a thrust to the first fastening rod in a direction toward the piston rod.
  • a first lock piston for partitioning the inside of the first lock cylinder and a lock release pressure chamber for applying a thrust force in the first direction, wherein the second fastening rod is connected to the piston rod with respect to the second fastening rod.
  • a second lock piston for partitioning the inside of the second lock cylinder into a lock pressure chamber for reducing the thrust in a heading direction and a lock release pressure chamber for applying a thrust in a direction away from the piston rod force; It is characterized by.
  • a fluid pressure source is connected to a supply / discharge port communicating with the first lock pressure chamber by a fluid introduction path, and the first lock pressure chamber and the second lock pressure are connected to each other. And the chamber are connected in series by a fluid communication passage, and the fluid from the fluid pressure source to the second lock pressure chamber is supplied through the first lock pressure chamber.
  • the fluid pressure cylinder of the present invention has a through hole communicating with the supply / discharge port, and fits movably in the axial direction into a receiving hole formed in the first fastening rod.
  • a plunger having a piston part is incorporated into the first fastening rod, and when the first fastening rod moves a predetermined stroke toward the piston rod, the fluid introduction path and the fluid introduction path are connected to each other. It is characterized by communicating with the first lock pressure chamber.
  • the fluid pressure cylinder according to the present invention is characterized in that the first fastening rod applies a pressing force to the first lock sleeve toward the tip of the piston rod.
  • two sets of lock units each having a lock sleeve operated by a fastening rod are provided in the lock unit housing, and the two lock units are opposite to each other.
  • the piston rod can be fixed by increasing the braking force or the fastening force in both the forward and backward directions. Since the strain forces stored in the two lock units are stored so as to cancel each other in the opposite directions, the piston rod is reliably applied to the piston rod even if external force is applied in either the forward or backward direction. Can be fixed.
  • the two lock units operate so as to switch between fastening to and releasing from the piston rod by moving the fastening rod forward and backward, the piston rod can be fastened and fixed at an arbitrary axial position.
  • the lock can be performed without reducing the engagement force of the lock unit.
  • the spring force from the use spring member can be set low. Since the two mouth pressure chambers are connected in series via the lock fluid supply path and are supplied with fluid in order, a time lag can be provided for the fastening operation of the two lock units, and Play can be removed in order.
  • the retraction pressure chamber is connected to the unit accommodating chamber through a tick valve and a throttle arranged in parallel, the two lock units are engaged when the piston rod starts retreating. Can be canceled.
  • the two lock units are switched to the fastening state, so that the axial position of the piston rod can be reliably fixed in both the forward and backward directions.
  • FIG. 1 is a diagram showing a part of a vehicle body assembly line in which a robot arm provided with a handling device conveys a panel material constituting a vehicle body.
  • FIG. 2 (A) is a plan view showing the fluid pressure cylinder of the first embodiment, (B) is a right side view of FIG. 2 (A), and (C) is a left side view of FIG. 2 (A). It is.
  • FIG. 3 is a longitudinal sectional view of the fluid pressure cylinder taken along line XX in FIG. 2 (A).
  • FIG. 4 is a circuit diagram showing a fluid pressure circuit for supplying compressed air to a drive cylinder and two lock cylinders.
  • FIG. 5 (A) is a cross-sectional view showing the lock cylinder in which the fastening rod is in an unlocked state, and (B) is a cross-sectional view showing the lock cylinder in a state in which the fastening rod is moving forward. .
  • FIG. 6 (A) is a cross-sectional view showing the lock cylinder in a state where the fastening rod has moved forward and the fluid of the fluid pressure source has flowed into the lock pressure chamber.
  • FIG. 4 is a sectional view showing the lock cylinder in a moved state.
  • FIG. 7 is a longitudinal sectional view of a fluid pressure cylinder according to another embodiment of the present invention.
  • FIG. 8 is a longitudinal sectional view of a fluid pressure cylinder according to still another embodiment of the present invention.
  • FIG. 9 is a circuit diagram showing a fluid pressure circuit for supplying compressed air to the drive cylinder and two lock cylinders shown in FIG.
  • FIG. 10 is a circuit diagram showing a modification of the fluid pressure circuit shown in FIGS. 4 and 9.
  • FIG. 1 is a perspective view of an industrial robot 1 equipped with a handling device.
  • FIG. 3 is a view showing a part of a vehicle body assembly line configured to transport a flannel material.
  • the industrial robot 1 has a plurality of arms 2 connected by joints 3, and a handling device 4 is attached to a tip of the arm 2.
  • the handling device 4 has a pedestal 5 that can be attached to the tip of the arm, and a plurality of insertion clamps 6 are provided on the pedestal 5 to insert the locking pins into the fixing holes of the panel material W to fix the panel material W.
  • Some of the insertion clamps 6 can be moved forward and backward by the fluid pressure cylinder 11. By moving the insertion clamps 6 forward and backward as described above, various types of panel materials W having mutually different shapes can be fixed and transported by one handling device 4.
  • the industrial robot 1 grasps the panel material W supported and transported by the transport trolley, transports it to the welding stage, and returns to the transport trolley again after welding work on the panel material is completed. It is used.
  • the hydraulic cylinder 11 When grasping the panel material W with the handling device 4 of the industrial robot 1, the hydraulic cylinder 11 is retracted and all the insertion clamps 6 are positioned at the retracted position. Move the insertion clamp 6 forward in the order of the fixing hole force of the panel material W on the near side and insert it.
  • inserting each insertion clamp 6 by extending the fluid pressure cylinder 11 insert the clamp 6 when the cylinder stopper 7 provided on the fluid pressure cylinder 11 comes into contact with the stage stopper 8 provided on the stage side. To stop the forward movement.
  • two insertion clamps 6 are provided in the handling device 4 and one of them is installed so as to be able to move forward and backward by the hydraulic cylinder 11, but it is optional depending on the size and shape of the panel material W.
  • the number of insertion clamps provided in the ring ring device 4 can be moved forward and backward by the hydraulic cylinder 11.
  • the fluid pressure cylinder 11 includes a drive cylinder 12 having a substantially quadrangular prism shape, and a substantially rectangular parallelepiped lock unit No. 13 mounted on one end of the drive cylinder 12.
  • the piston rod 14 mounted on the drive cylinder 12 and thereby reciprocally movable in the axial direction penetrates through the lock unit housing 13, and the tip force of the lock unit housing 13 also protrudes to the outside.
  • a connecting plate 16 is attached to the two guide rods 15 and the piston rods 14 which reciprocately penetrate the lock unit nosing 13 in parallel with the piston rods 14, and these rods 14, 15 They are connected by a connection plate 16.
  • the lock unit housing 13 has the first The second two lock cylinders 17, 117 are mounted.
  • the lock unit housing 13 has a screw hole 19 for mounting the fluid pressure cylinder 11 to the above-described handling device 4.
  • the fluid pressure cylinder 11 moves the piston rod 14 forward and backward by supplying compressed air to one of the two supply / discharge ports 20, 21 formed in the drive cylinder 12 and discharging the compressed air to the other. Let it.
  • the piston rod 14 is fixed by supplying compressed air to a supply / discharge port 61 formed in the lock unit housing 13.
  • a piston housing hole 24 for housing a main piston 23 fixed to the piston rod 14 so as to be able to reciprocate in the axial direction is formed in the drive cylinder 12, and the lock unit housing 13 and the piston
  • the housing hole 24 is partitioned by a partition wall 25 attached to one end of the drive cylinder 12.
  • a head cover 26 is fixed to the other end of the drive cylinder 12, and the piston receiving hole 24 is closed.
  • the internal space of the piston receiving hole 24 closed by the partition wall 25 and the head cover 26 forms a cylinder chamber 28.
  • the lock unit housing 13 is formed with a mouthpiece housing hole 30 for housing the two lock units 29 and 129, and a rod cover for closing the lock unit housing hole 30 is provided at the end of the lock unit housing 13. 31 is installed.
  • a unit housing chamber 33 is formed by the lock unit housing hole 30 closed by the rod cover 31 and the partition wall 25, and a distal end portion of the piston rod 14 projects from the rod cover 31 to the outside.
  • a cylinder body is formed by the drive cylinder 12, the lock unit housing 13, and the two lock cylinders 17, 117.
  • the interior of the cylinder chamber 28 is divided into a forward pressure chamber 34 and a reverse pressure chamber 35 by a main piston 23 accommodated in the drive cylinder 12.
  • the drive cylinder 12 is formed with a forward supply / discharge port 20 and a reverse supply / discharge port 21.
  • the forward supply / discharge port 20 communicates with the forward pressure chamber 34, and the reverse supply / discharge port 21 is connected to the lock unit. In addition, it communicates with the unit accommodation room 33 via the supply / discharge passage 22 in the housing 13.
  • a check valve 59 and a throttle 60 are provided on the partition wall 25. The check valve 59 allows the flow of air from the retreat pressure chamber 35 to the unit storage chamber 33, and blocks the flow in the reverse direction, thus restricting the flow.
  • the retraction pressure chamber 35 communicates with the unit accommodation chamber 33.
  • the retraction pressure chamber 35 communicates with the unit accommodation chamber 33.
  • compressed air which is a fluid
  • the main piston 23 is pressed by the compressed air and moves forward toward the partition wall 25, and the backward pressure chamber is moved.
  • the air in 35 flows into the unit housing chamber 33 through the check valve 59 and the throttle 60, and is discharged from the supply / discharge port 21.
  • compressed air is supplied to the retraction supply / discharge port 21
  • the compressed air is supplied to the retraction pressure chamber 35 via the throttle 60 while increasing the pressure in the unit storage chamber 33, and the main piston 23 is moved to the head cover 26.
  • the main piston 23 has an annular first disk 23a provided with a sealing material 23c and a second disk 23b, and an external thread 14a of the piston rod 14 is provided on an inner peripheral surface of the first disk 23a.
  • a female screw 23e to be screwed is formed.
  • An annular magnet 23f is interposed between the first disk 23a and the second disk 23b, and a sensor (not shown) provided on the drive cylinder 12 responds to the magnetic force of the magnet 23f, thereby causing the main piston 23f to move. Position can be detected.
  • first and second two lock units 29, 129 are installed in the axial direction and opposite to each other, and the first lock unit 29 is provided with a rod cover 31.
  • the second lock unit 129 is adjacent to the partition wall 25.
  • Each of the lock units 29 and 129 holds a plurality of steel balls 36 arranged in contact with the outer peripheral surface of the piston rod 14, and holds the plurality of steel balls 36 and moves in the axial direction relative to the piston rod 14.
  • a cylindrical retainer 37 movably fitted.
  • a lock sleeve 38 having a tapered inner peripheral surface 38a is disposed outside each of the retainers 37.
  • the lock sleeve 38 is reciprocally housed in the lock unit housing hole 30. I have.
  • a plurality of steel balls 36 are disposed between the outer peripheral surface of the piston rod 14 and the inner peripheral surface 38a of the lock sleeve 38, and the lock unit 29 is moved by moving the lock sleeve 38 in the axial direction.
  • 129 are switched between a fastening state in which the lock sleeve 38 presses the steel ball 36 against the piston rod 14 to fix the piston rod 14 and a release state in which the pressing on the piston rod 14 is released to release the fastening.
  • a bottomed cylindrical spring receiving member 39 having a flange portion 39a is provided between the respective lock sleeves 38 and the partition wall 25 and between the rod cover 31 .
  • a release spring member 40 is provided between them.
  • the release spring member 40 applies a spring force to the lock sleeve 38 in the release direction via a flange portion 39a that contacts the lock sleeve 38. That is, each release spring member 40 urges the lock sleeve 38 in a direction away from the partition wall 25 and the rod cover 31.
  • a holding spring member 41 is provided between the bottom of the spring receiving member 39 and the holder 37, and these holding spring members 41 are arranged so that the respective holders 37 are moved in the direction of approaching each other. Apply force.
  • the lock unit housing 13 is provided with stoppers 13a protruding into the unit accommodating chamber 33, and a cylindrical positioning sleeve 42 is provided between each retainer 37 and the stopper 13a. It is mounted on the outside of the housing so as to be able to reciprocate in the axial direction relatively to this. Both ends of the positioning sleeve 42 abut the stopper 13a and the respective retainer 37, thereby regulating the position of each lock sleeve 38 when the two lock sleeves 38 approach each other.
  • each of the two lock cylinders 17 and 117 is formed by a cylinder portion 43 and a head cover 44 that closes the cylinder portion.
  • Fastening rods 45, 145 are housed in the respective lock cylinders 17, 117, and both fastening rods 45, 145 are reciprocally movable in the radial direction with respect to the bistro rod 14.
  • An annular lock piston 45a is provided on the fastening rods 45 and 145, and a thrust of a lock pressure chamber 47 for accommodating a lock spring member 46 and a lock spring member 46 is provided in the cylinder portion 43 from the lock piston 45a.
  • a lock release pressure chamber 48 is provided which locks the thrust of the fluid to the fastening rods 45 and 145 in opposition to the spring force.
  • the lock piston 45a is provided at the base end of the fastening rods 45 and 145, and has a spring accommodating hole 45b and a cylinder hole 45c therein.
  • An annular spring receiving member 49 is incorporated in the spring receiving hole 45b, and a locking spring member 46 is held between the spring receiving member 49 and the head cover 44.
  • a plunger 50 having a piston portion 50a and a rod portion 50b is incorporated in a cylinder hole 45c of a fastening rod 45 accommodated in one lock cylinder 17 so as to be reciprocally movable.
  • a plunger spring member 51 is incorporated between the bottom of the cylinder hole 45c and the bottom.
  • the spring force of the plunger spring member 51 applies a spring force to the plunger 50 in a direction approaching the head cover 44, and the plunger 50 moves in this direction.
  • the movement is regulated by the contact of the piston portion 50a with the spring receiving member 49. That is, the spring receiving member 49 of the mouth cylinder 17 also functions as a stopper for restricting the axial movement of the plunger 50 with a predetermined stroke.
  • fluid introduction holes 52 and 152 for guiding compressed air, which is a lock fluid, to the lock pressure chamber 47 are formed substantially in the center of the head cover 44 of each of the lock cylinders 17 and 117.
  • a fluid discharge hole 53 for discharging compressed air from the lock pressure chamber 47 is formed in the head cover 44 of the lock cylinder 17.
  • the fluid introduction hole 52 and the plunger 50 are substantially concentrically assembled, and the plunger 50 moves upward (in a direction away from the piston rod 14) in the figure, whereby the plunger 50 is moved.
  • the fluid introduction hole 52 and the lock pressure chamber 47 are shut off by the rod portion 50b of the plunger 50.
  • the fastening port 45 moves downward in the drawing (in a direction approaching the piston rod 14) and the plunger 50 moves away from the head cover 44
  • the fluid introduction hole 52 and the lock pressure chamber 47 communicate with each other. State.
  • a valve seat 54 is incorporated in the opening of the fluid introduction hole 52 formed in the head cover 44, and the airtightness in the shut-off state is established by bringing the end face of the rod portion 50b of the plunger 50 into contact with the valve seat 54. Will be kept.
  • Each of the unlocking pressure chambers 48 communicates with the unit housing chamber 33 via a communication passage 55, and when compressed air is supplied from the unit housing chamber 33 to the unlocking pressure chamber 48, the fastening rods 45, 145 are connected. Moves upward toward the retreat position away from the piston rod 14.
  • the rod portion 50b of the plunger 50 projects from the end surface of the lock piston 45a until the lock piston 45a contacts the head cover 44.
  • the lock piston 45a contacts the head cover 44.
  • a predetermined clearance C1 is formed between the piston portion 50a and the spring receiving member 49 as shown in FIG.
  • a taper portion 45e having a lock taper surface 45d as a pressing surface is formed, and the taper angle of the lock taper surface 45d is an acute angle of about 30 °. Is formed.
  • tapered surfaces 38b which are inclined surfaces, are also formed on the end faces of the two lock sleeves 38 facing each other, and the taper angle of the tapered surface 38b is approximately It is formed at an obtuse angle of 150 °.
  • the through hole 50c of the plunger 50 is used not only for discharging the air in the lock pressure chamber 47 but also for manually moving the fastening rod 45.
  • the fluid introduction holes 52, 152 formed in the head cover 44 are provided with screw members 57 as plugs for shutting off the fluid introduction holes 52, 152 from the outside, and the fastening rods 45, 145 have cylinder holes 45c. And a screw hole 45f is formed.
  • an annular rubber damper 23d is attached to the main piston 23. Even when the main piston 23 is in contact with the head cover 26 or the partition wall 25, the rubber damper 23d is provided. A gap is formed on the outer periphery.
  • the forward supply / discharge port 20 communicating with the forward pressure chamber 34 is formed so as to communicate with the forward pressure chamber 34, and the throttle 60 communicating with the backward pressure chamber 35 is connected to the backward pressure chamber 35. It is formed to pass through.
  • Each of the supply / discharge ports 20, 21 is connected to a compressed air source through a common flow path switching valve described later, and one of the two supply / discharge ports 20, 21 is operated by switching operation of the flow path switching valve. And compressed air is discharged from the other supply / discharge ports 20, 21. Therefore, it is possible to control the supply and discharge of the compressed air to the forward pressure chamber 34 and the backward pressure chamber 35 through the respective supply / discharge ports 20 and 21.
  • the through hole 25a of the partition wall 25 through which the piston rod 14 penetrates has substantially the same diameter as the outer diameter of the piston rod 14, and the sealing material 25b attached to the inner peripheral surface thereof contacts the outer periphery of the piston rod 14. are doing. Since a communication gap 58 is formed between the retainer 37, the positioning sleeve 42, and the spring receiving member 39 with the outer peripheral surface of the piston rod 14, the retreating supply / discharge port 21 communicates with the unit storage chamber 33. It communicates with the unlocking pressure chamber 48 in each of the lock cylinders 17 and 117 via each communication passage 55. The retraction supply / discharge port 21 also communicates with the retraction pressure chamber 35 via the unit accommodation chamber 33 and the throttle 60.
  • each lock release pressure chamber 48 communicates with the retraction supply / discharge port 21 and the retraction pressure chamber 35, respectively.
  • the compressed air supplied to the unit storage chamber 33 does not flow into the retraction pressure chamber 35 via the check valve 59 of the partition wall 25. It will be introduced through the squeeze 60. Since the throttle 60 has a small flow passage cross-sectional area and a small allowable passage flow rate, a back pressure is generated inside the unit accommodation chamber 33, and the pressure rises. For this reason, the pressure in the unlocking pressure chamber 48 in each of the lock cylinders 17 and 117 increases through the communication passage 55 before the pressure chamber 35 for retreating, and the fastening rods 45 and 145 are raised to the retreat position.
  • the compressed air is sufficiently introduced into the retreat pressure chamber 35, and the main piston 23 is moved in the retreat direction.
  • the main piston 23 retreats after the fastening rods 45 and 145 have moved to the retreat position.
  • a compressed air source 65 such as a compressor is connected to the input port 66 a of the flow path switching valve 66, and a forward fluid flow path 67 connected to the forward supply / discharge port 20 and a reverse supply
  • a retreating fluid flow path 68 connected to the discharge port 21 is connected to the two output ports 66b and 66c of the flow path switching valve 66, respectively.
  • the forward fluid flow path 67 is provided with a check valve 67a that allows the flow of air from the flow path switching valve 66 to the forward supply / discharge port 20 and prevents the flow in the reverse direction.
  • the aperture 67b is connected in parallel with the.
  • the lock supply / discharge port 61 is connected via a lock fluid flow path 69 to a forward fluid flow path 67 on the flow path switching valve 66 side from the check valve 67a.
  • the flow path switching valve 66 connects one of the forward fluid path 67 and the backward fluid path 68 to the compressed air source 65 to supply compressed air, and supplies the other. Release to the outside air to discharge compressed air.
  • Compressed air (lock fluid) supplied through a supply / discharge port 61 formed in the lock unit housing 13 is supplied to a fluid introduction hole 52 of the lock cylinder 17 through a fluid introduction path 62 shown in FIG. Supplied.
  • the fluid discharge hole 53 formed in the head cover 44 of the lock cylinder 17 communicates with the fluid introduction hole 152 of the lock cylinder 117 via the fluid communication channel 63, and compressed air is supplied through the lock pressure chamber 47 of the lock cylinder 17 It is now being done.
  • the compressed air is supplied to the supply / discharge port 61, the compressed air is supplied to the lock pressure chamber 47 in the lock cylinder 17 via the fluid introduction path 62, and the fastening rod 45 is moved down to the operation position, Further, compressed air is supplied from the lock pressure chamber 47 in the lock cylinder 17 to the lock pressure chamber 47 in the lock cylinder 117 via the fluid communication path 63, and the fastening rod 145 moves down to the operating position.
  • a predetermined clearance C2 is formed between the end face of the lock sleeve 38 and the end face of the rod cover 31 as shown in FIG.
  • a predetermined clearance C3 is provided between the inner peripheral surface 38a of the lock sleeve 38 and the steel ball 36. It is in a released state where it is not pressed by the rod 14.
  • the pressure receiving area of the lock piston 45a that receives the back pressure generated in the unit housing chamber 33 is set to an area sufficient to generate a pressing force against the spring force from the locking spring member 46. That is, when the piston rod 14 is moved in the forward direction by supplying compressed air from the forward supply / discharge port 20 to the forward pressure chamber 34, the two lock units 29 and 129 are held in the released state. Therefore, the forward movement of the piston rod 14 becomes possible.
  • the lock unit 29 can be released by the back pressure generated by the throttles 59 and 68a, and the piston rod 14 is allowed to move forward and backward.
  • the piston rod 14 is moved backward in the direction of the arrow b by supplying compressed air to the retreat pressure chamber 35 and discharging compressed air in the forward pressure chamber 34, As described above, since the back pressure is applied to the unlocking pressure chamber 48 by the throttle 60, the lock unit 29 is released.
  • the fastening rod 45 is moved downward by a predetermined stroke by the spring force of the locking spring member 46.
  • the lock sleeve 38 moves at a predetermined stroke (for example, 0.8 mm) as the fastening rod 45 moves down, the lock sleeve 38 moves at a predetermined stroke (for example, 0.8 mm).
  • a predetermined stroke for example, 0.8 mm
  • FIG. 5 (B) when the lock sleeve 38 moves forward, the clearance C3 provided between the inner peripheral surface 38a of the lock sleeve 38 and the steel ball 36 is lost, and the outer peripheral surface of the piston rod 14 The steel ball 36 comes into contact with the inner peripheral surface 38a of the lock sleeve 38 to be sandwiched therebetween, and the fastening operation of the lock unit 29 is started.
  • the lock unit 29 presses the steel ball 36 against the inner peripheral surface 38a of the lock sleeve 38 against the movement of the piston rod 14 in the retreating direction so that the fastening state can be more surely secured.
  • the piston rod 14 moves in the forward direction, there is a possibility that the steel ball 36 loses the restraining force of the lock sleeve 38 and loosens the fastening state.
  • the fluid pressure cylinder 11 of the present invention has the two lock units 29 and 129, and the fastening state is ensured even when the piston rod 14 moves in the forward direction.
  • the inner peripheral surfaces 38a of the lock sleeves 38 of the lock units 29, 129 are opposite to each other, and the tapered surface 45d (pressing surface) of the fastening rod 45 is opposite to the tapered surface 3 of the lock unit 29. 8b (inclined surface) and the tapered surface 45d (pressing surface) of the fastening rod 145 comes into contact with the tapered surface 38b (inclined surface) of the other mouthpiece 129.
  • the axial position can be securely fastened and fixed in both forward and backward directions.
  • the two lock units 29, 129 fasten the piston rod 14 using the thrust of the compressed air in the lock pressure chamber 47 and the thrust of the lock spring member 46.
  • the spring force from the locking spring member 46 can be set low without reducing the fastening force by the 129. As a result, the size and cost of the fluid pressure cylinder 11 can be reduced.
  • the two lock pressure chambers 47 are connected in series via a lock fluid supply path and are supplied with compressed air in order, when the piston rod 14 is fastened, the operation of the two fastening rods 45 and 145 is performed.
  • a time lag can be provided between the two lock units 29 and 129, so that the play in each lock unit 29 and 129 can be removed better than in the case where the lock units 29 and 129 are operated simultaneously.
  • the lock unit 29 is operated first and then the lock unit 129 is operated, the forward movement of the piston rod 14 and the connection plate 16 is restricted as shown in FIG.
  • each lock unit 29, 129 can be best removed in the forward-restricted type of use mode in which the lock is fixed by the lock, and the lock can be securely performed. Further, by changing the length of the fluid communication passage 63 between the lock pressure chambers 47, the operation time difference can be changed.
  • the supply and cutoff of the compressed air to the lock pressure chamber 47 are switched by the plunger 50 in accordance with the stroke of the fastening port 45, so that after the play of the lock unit 29 is removed, the inside of the lock pressure chamber 47 is removed. Strong thrust by the compressed air can be transmitted to the piston rod 14 via the lock unit 29. This makes it possible to store the distortion force in the lock unit 29 without wasting the stroke of the fastening rod 45.
  • the play of the lock units 29 and 129 can be eliminated at the same timing as the fastening rod 45 with the fastening rod 145, and then the fluid discharge hole 53 of the lock cylinder 17 and the fluid introduction hole of the lock cylinder 117. Since the compressed air is introduced into the 152, the supply and cutoff of the compressed air can be switched according to the stroke without providing the plunger 50.
  • the plunger 50 reciprocally with respect to the fastening rod 45, the compressed air is supplied to the lock pressure chamber 47 when the lock unit 29 is released without being affected by dimensional errors and assembly errors of each member. Can be reliably stopped. As a result, malfunction in the unlocked state of the lock unit 29 can be avoided.
  • FIG. 7 is a longitudinal sectional view of a fluid pressure cylinder according to another embodiment of the present invention.
  • members common to the members shown in FIG. 3 are denoted by the same reference numerals. Have been.
  • two lock cylinders 17 and 117 are mounted on the lock unit housing 13 in parallel on the same side, whereas the hydraulic cylinder 211 shown in FIG.
  • the two lock cylinders 17 and 17 are attached to the lock unit housing 213 so as to oppose each other on the opposite side and overlap each other in the axial direction.
  • the fastening force can be applied to the axial position of the piston rod 14 in both the forward and backward directions. Furthermore, the two mouthpieces 29 and 129 can be made closer to each other, and the entire length of the fluid pressure cylinder 211 in the axial direction can be reduced.
  • the lock unit housing 213 having the unit accommodation chamber 233 has a cylindrical shape such as a cylinder, the two lock cylinders 17, 117 are not limited to the opposite sides but are shifted at any angle around the axis of the piston rod 14. It may be installed in an arrangement.
  • FIG. 8 is a longitudinal sectional view of a fluid pressure cylinder according to still another embodiment of the present invention.
  • members common to those shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted.
  • the plunger 50 is incorporated in the left lock cylinder 117 of the two lock cylinders 17, 117 attached to the lock unit housing 313 of the fluid pressure cylinder 311 shown in FIG. Therefore, in this hydraulic cylinder 311, the lock cylinder 117 is tightened.
  • the connecting rod 145 moves forward toward the piston rod 14 first, and when the backward movement of the piston rod 14 is restricted, a fastening force is applied to the piston rod 14 in both directions.
  • the partition wall 325 is not provided with a check valve or a throttle, the space between the retreat pressure chamber 35 and the unit storage chamber 33 is airtightly shut off.
  • the retraction supply / discharge port 321 is formed so as to directly communicate only with the retraction pressure chamber 35.
  • the lock unit housing 313 is provided with a release supply / discharge port 364 communicating with the unit storage chamber 33, and the supply / discharge port 364 is used to release the lock in each lock cylinder 17, 117 through the unit storage chamber 33. It communicates with the pressure chamber 48.
  • FIG. 9 is a circuit diagram showing a fluid pressure circuit for supplying compressed air to the drive cylinder and two lock cylinders shown in FIG.
  • a compressed air source 365 such as a compressor is connected to the input port 366a of the flow path switching valve 366, and the forward fluid flow path 367 connected to the forward supply / discharge port 20 and the reverse supply / discharge
  • the retreating fluid flow path 368 connected to the port 21 is connected to the two output ports 366b and 366c of the flow path switching valve 366, respectively.
  • Check valves 367a and 368a are provided for blocking, and each check valve 367a and 368a is connected to a throttle 367b and 368b.
  • the lock supply / discharge port 61 is connected from the check valve 368a to the retraction fluid flow path 368 on the flow path switching valve 366 side via the lock fluid flow path 369, and the release supply / discharge port 364 is connected to the release flow path.
  • the check valve 367a is connected to the forward fluid flow path 367 on the forward supply / discharge port 20 side via the body flow path 370.
  • the compressed air supplied via the lock supply / discharge port 61 is supplied to the fluid introduction hole 152 of the lock cylinder 117 via the fluid introduction path 362 shown in FIG.
  • the fluid discharge hole 153 formed in the head cover 44 of the lock cylinder 117 communicates with the fluid introduction hole 52 of the lock cylinder 17 via the fluid communication path 363, and supplies compressed air from the lock pressure chamber 47 of the lock cylinder 117. I am receiving it. Therefore, the lock fluid is supplied to the pressure chamber 47 of the lock cylinder 17 next to the pressure chamber 47 of the lock cylinder 117.
  • the release supply / discharge port 364 is connected to the forward fluid path 367 by the release fluid path 370.
  • the release supply / discharge port 364 communicates with the forward pressure chamber 34.
  • the flow path switching valve 366 connects one of the forward fluid flow path 367 and the reverse fluid flow path 368 to the compressed air source 365 to supply compressed air, and the other to the outside. The compressed air is released to the atmosphere.
  • the compressed air source 365 is connected to the retreating fluid passage 368 by switching the passage switching valve 366 and the forward fluid passage 367 is opened to the atmosphere
  • the compressed air is supplied to the retreating pressure chamber 35.
  • the main piston 23 is pressed backward by the pressing force, and the piston rod 14 moves backward.
  • the compressed air pushed out of the forward pressure chamber 34 passes through the throttle 367b and is released to the atmosphere.At this point, the release fluid flow path 370 is moved from the throttle 367b to the forward fluid flow path 367.
  • each unlocking pressure chamber 48 Since the connection is made at the upstream position, back pressure is introduced into each unlocking pressure chamber 48 via the unlocking fluid flow path 370 and the unlocking fluid supply path, and each lock unit 29, 129 Maintain the state where the fastening is released.
  • the back pressure in 48 is discharged from the throttle 367b through the release fluid flow path 370, and the pressure drops. Further, since the volume of the retraction pressure chamber 35 is fixed without moving the main piston 23, the supplied compressed air is supplied as lock fluid through the lock fluid flow path 369 and the lock fluid supply path.
  • the lock units are introduced into the lock pressure chamber 47, and the lock units 29 and 129 are forcibly fastened.
  • lock unit 129 is operated first and lock unit 29 is subsequently operated, retreat movement of piston rod 14 and connecting plate 16 is performed as shown in FIG.
  • the play in each of the lock units 29 and 129 can be best removed in a restricted use type in which the lock unit 29 is fixed in a limited state, and secure fixing is possible.
  • the operation time difference can be reduced.
  • the fluid pressure cylinder 311 of the present embodiment operates when the backward movement of the piston rod 14 is restricted due to the contact of the cylinder stopper 307 or the like, or when the supply of the compressed air is completely stopped.
  • the axial position of the piston rod 14 can be reliably fixed in both the forward and backward directions.
  • Fig. 10 shows the fluid pressure for supplying compressed air to the drive cylinder and the two lock cylinders. It is a circuit diagram which shows the modification of a circuit. This fluid pressure circuit is applied to a fluid pressure cylinder 311 in which a retraction supply / discharge port 321 communicates only with the retraction pressure chamber 35 as shown in FIG. 8, and is shown in FIGS. 8 and 9 in FIG. The same reference numerals are given to members common to the above members.
  • the forward supply / discharge port 20 is connected to a forward fluid passage 367, and the backward supply / discharge port 321 is connected to a backward fluid passage 368.
  • the forward pressure chamber 34 and the backward pressure are connected to each other. Compressed air is selectively supplied to the chamber 35 by the flow path switching valve 366.
  • the flow path switching valve 366 has a position for discharging the compressed air in the pressure chambers 34 and 35, a position for supplying the compressed air to the forward pressure chamber 34, and a position in the retreat pressure chamber 35. The position can be switched to the position where compressed air is supplied.
  • the supply / discharge port 364 communicating with the lock release pressure chamber 48 of each of the lock cylinders 17 and 117 via the unit storage chamber 33 is connected to a lock release fluid flow path 371.
  • the lock fluid passage 372 is connected to the fluid introduction holes 52 and 152 communicating with the fluid.
  • a switching valve 373 provided between each of the fluid flow paths 371 and 372 and the compressed air pressure source 365 communicates a position that connects the input port 373a and the output port 373b with the input port 373a and the output port 373c. Is switched to Therefore, when the piston rod 14 is moved forward, the compressed air is supplied from the forward supply / discharge port 20 while the compressed air is supplied into the unit storage chamber 33 via the supply / discharge port 364, and the piston port is closed. When the crew 14 is moved backward, compressed air is supplied from the retreating supply / discharge port 321 in a state where compressed air is supplied into the unit storage chamber 33 via the supply / discharge port 364.
  • the switching valve 366 discharges the compressed air in the forward pressure chamber 34 and the reverse pressure chamber 35, and the fluid inlet holes 52, 152. To supply compressed air into the respective lock pressure chambers 47.
  • the fluid pressure circuit shown in FIG. 10 can be applied to the case where the plunger 50 is incorporated in one of the two lock cylinders 17 and 117 as shown in FIG. , 117, the plunger 50 is not used.
  • the present invention is not limited to the above-described embodiment, and can be variously modified without departing from the gist thereof.
  • this hydraulic cylinder 11, 211, 311 Although it is used for fixing the panel material W constituting the above to the handling device 4, it can be used for fixing other than the panel material, and can be used for purposes other than fixing in the handling device 4.
  • the steel ball 36 is pressed against the piston rod 14, but instead of the ball, for example, a slit is formed in an annular member, and the slit is formed by elastic deformation.
  • a member whose inner diameter is reduced by using a member may be used. It is needless to say that a force other than air may be used as the fluid for operating the fluid pressure cylinders 11, 2 11, 311.
  • This fluid pressure cylinder is applied when a work holder for holding a work is attached to a moving member such as a robot arm to carry the work.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)

Abstract

L'invention porte sur un corps (13) de module de blocage dans lequel deux modules de blocage (29, 129) sont assemblés tête bêche, ce corps étant fixé à un cylindre d'entraînement (12) dans lequel est montée une tige de piston (14) qui fait saillie de la tête du corps (13) du module de blocage. Chaque module de blocage (29, 129) possède un dispositif de retenue (37) destiné à accueillir des billes d'acier (36) et un manchon de blocage (38) ménagé à l'extérieur du dispositif de retenue. Sur le corps (13) du module de blocage sont disposés deux cylindres (17, 117) destinés à entraîner des tiges de fixation (45, 145) qui entraînent les manchons correspondants (38) d'un état fixé à un état dégagé. Pour fixer la tige de piston (14), l'une (45) des tiges de fixation entraîne le manchon de blocage (38) à l'état fixe avant d'entraîner l'autre tige de fixation (145).
PCT/JP2004/017498 2003-11-27 2004-11-25 Cylindre WO2005052383A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003-397584 2003-11-27
JP2003397584A JP4241344B2 (ja) 2003-11-27 2003-11-27 流体圧シリンダ

Publications (1)

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WO2005052383A1 true WO2005052383A1 (fr) 2005-06-09

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PCT/JP2004/017498 WO2005052383A1 (fr) 2003-11-27 2004-11-25 Cylindre

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JP (1) JP4241344B2 (fr)
WO (1) WO2005052383A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102878150A (zh) * 2012-09-29 2013-01-16 江苏昌力油缸有限公司 可锁紧的举升油缸
CN107553393A (zh) * 2017-09-08 2018-01-09 中国第汽车股份有限公司 一种凸轮轴衬套安装工具
CN107588055A (zh) * 2017-09-26 2018-01-16 宁波佳尔灵气动机械有限公司 一种高精密短行程气缸

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR825663A (fr) * 1936-11-27 1938-03-10 Servo Frein Dewandre Dispositif de commande à positions successives déterminées
JPS4963396U (fr) * 1972-09-19 1974-06-04
US4032162A (en) * 1976-07-26 1977-06-28 Weldon Hydraulics, Inc. Machine tool chuck
JPS59155306U (ja) * 1983-04-06 1984-10-18 豊興工業株式会社 ロツク機構付きシリンダ装置
JPS6053723U (ja) * 1983-09-21 1985-04-16 三菱重工業株式会社 コンベヤクリ−ナ
JPS6430906A (en) * 1987-07-23 1989-02-01 Kazuo Ishikawa Self-lock device for fluid hydraulic cylinder
JP2000230587A (ja) * 1999-02-12 2000-08-22 Pabotto Giken:Kk 直線運動ブレーキ装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR825663A (fr) * 1936-11-27 1938-03-10 Servo Frein Dewandre Dispositif de commande à positions successives déterminées
JPS4963396U (fr) * 1972-09-19 1974-06-04
US4032162A (en) * 1976-07-26 1977-06-28 Weldon Hydraulics, Inc. Machine tool chuck
JPS59155306U (ja) * 1983-04-06 1984-10-18 豊興工業株式会社 ロツク機構付きシリンダ装置
JPS6053723U (ja) * 1983-09-21 1985-04-16 三菱重工業株式会社 コンベヤクリ−ナ
JPS6430906A (en) * 1987-07-23 1989-02-01 Kazuo Ishikawa Self-lock device for fluid hydraulic cylinder
JP2000230587A (ja) * 1999-02-12 2000-08-22 Pabotto Giken:Kk 直線運動ブレーキ装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102878150A (zh) * 2012-09-29 2013-01-16 江苏昌力油缸有限公司 可锁紧的举升油缸
CN107553393A (zh) * 2017-09-08 2018-01-09 中国第汽车股份有限公司 一种凸轮轴衬套安装工具
CN107588055A (zh) * 2017-09-26 2018-01-16 宁波佳尔灵气动机械有限公司 一种高精密短行程气缸
CN107588055B (zh) * 2017-09-26 2024-02-20 宁波佳尔灵气动机械有限公司 一种高精密短行程气缸

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