WO2014069435A1 - シリンダ制御装置 - Google Patents
シリンダ制御装置 Download PDFInfo
- Publication number
- WO2014069435A1 WO2014069435A1 PCT/JP2013/079210 JP2013079210W WO2014069435A1 WO 2014069435 A1 WO2014069435 A1 WO 2014069435A1 JP 2013079210 W JP2013079210 W JP 2013079210W WO 2014069435 A1 WO2014069435 A1 WO 2014069435A1
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- WO
- WIPO (PCT)
- Prior art keywords
- valve
- cylinder
- valve body
- spool
- control device
- Prior art date
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Classifications
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
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- 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
- F15B15/18—Combined units comprising both motor and pump
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20561—Type of pump reversible
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/27—Directional control by means of the pressure source
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/785—Compensation of the difference in flow rate in closed fluid circuits using differential actuators
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- 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
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/005—With rotary or crank input
- F15B7/006—Rotary pump input
Definitions
- the present invention relates to a cylinder control device that controls the expansion and contraction of a cylinder using a working fluid.
- JP 2006-105226A includes a cylinder, a pump that pumps hydraulic oil as a working fluid, a tank that stores hydraulic oil, a switching valve that controls the flow of hydraulic oil between the pump, a cylinder and a pump.
- a hydraulic cylinder control device that includes an operation check valve that controls the flow of hydraulic oil between them.
- a slow return valve is installed in the oil passage connecting the cylinder and the operation check valve.
- the slow return valve is configured to freely pass the hydraulic oil flowing into the cylinder and to give resistance to the hydraulic oil discharged from the cylinder. For this reason, the slow return valve can prevent hunting caused by the operation check valve moving to the neutral position due to an external force (for example, the weight of the load) applied in the same direction as the expansion / contraction direction when the cylinder expands / contracts.
- the cylinder control device disclosed in JP2006-105226A includes the slow return valve in addition to the operation check valve and the switching valve, so that the number of parts constituting the device is large and it takes time to assemble the device. There is.
- an object of the present invention is to provide a cylinder control device that can reduce the number of parts and the number of assembly steps.
- a cylinder that is driven by fluid pressure of working fluid in two cylinder chambers, a pump that has two ports, and selectively discharges working fluid from these ports, the cylinder,
- a control valve for controlling a flow of a working fluid flowing between the pumps, wherein the control valve includes a main body, a spool slidably provided in the main body, and an inner portion of the main body.
- a valve chamber connected to either one of the ports, and a communication port communicating with the valve chamber.
- a sleeve having a supply / exhaust port communicating with one of the cylinder chambers, and a slidably provided in the sleeve, and controlling the communication state between the communication port and the supply / exhaust port according to the sliding position
- a biasing member that biases the valve body in a direction to close the communication port, and when the pump does not discharge the working fluid, the two valve bodies include the biasing member.
- valve body When the communication port is closed by the urging force of the valve, the communication between the valve chamber and the cylinder chamber is cut off, and when the pump discharges the working fluid from one of the ports to one of the valve chambers, The valve body is moved against the urging force of the urging member by the fluid pressure in one of the valve chambers, so that one of the cylinder chambers passes from one of the valve chambers through one of the supply / discharge ports. The other valve body is pushed by the spool that is moved by the fluid pressure in one of the valve chambers, and is applied to the working fluid that passes through the one supply / discharge port. Greater than resistance By moving against the urging force of the urging member so that the resistance is applied to the working fluid passing through the other supply / exhaust port, the other cylinder chamber passes through the other supply / exhaust port. The flow of the working fluid toward the valve chamber is allowed.
- FIG. 1 is a schematic diagram of a cylinder control device according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of the cylinder control device according to the first embodiment of the present invention.
- FIG. 3 is a schematic view of the cylinder control device when the cylinder is extended according to the first embodiment of the present invention.
- FIG. 4 is a schematic diagram of the cylinder control device when the cylinder is contracted according to the first embodiment of the present invention.
- FIG. 5 is a plan view of a sleeve of the cylinder control device according to the second embodiment of the present invention.
- FIG. 6 is a schematic view of a cylinder control device according to the second embodiment of the present invention.
- FIG. 1 is a schematic diagram of a cylinder control device according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of the cylinder control device according to the first embodiment of the present invention.
- FIG. 3 is a schematic view of the cylinder control device when the cylinder is extended according to the first embodiment
- FIG. 7 is a schematic view of a cylinder control device when the cylinder is extended according to the second embodiment of the present invention.
- FIG. 8 is a schematic diagram of the cylinder control device when an external force greater than a reference value is applied to the cylinder when the cylinder is extended according to the second embodiment of the present invention.
- FIG. 9 is a schematic view of a cylinder control device when the cylinder is contracted according to the second embodiment of the present invention.
- FIG. 10 is a plan view of the sleeve of the cylinder control device according to the third embodiment of the present invention.
- FIG. 11 is a schematic view of a cylinder control device according to the third embodiment of the present invention.
- FIG. 12 is a schematic view of a cylinder control device when the cylinder is extended according to the third embodiment of the present invention.
- FIG. 13 is a schematic view of a cylinder control device according to a fourth embodiment of the present invention.
- FIG. 14 is a schematic view of a cylinder control device when the cylinder is extended according to the fourth embodiment of the present invention.
- FIG. 15 is a schematic view of the cylinder control device showing a state where the maximum movement position of the valve body is not restricted by the stopper when the cylinder is extended according to the fourth embodiment of the present invention.
- FIG. 16 is a schematic view of the cylinder control device showing a state where the maximum movement position of the valve body is most restricted by the stopper when the cylinder is extended according to the fourth embodiment of the present invention.
- FIG. 17 is a schematic view of a cylinder control device when the cylinder is contracted according to the fourth embodiment of the present invention.
- a cylinder control device 100 shown in FIGS. 1 and 2 is a device that is mounted on an agricultural machine, a work machine, or the like, and controls the expansion / contraction operation of the cylinder 10 using hydraulic oil.
- the cylinder control device 100 includes a cylinder 10 configured to be extendable, a pump 20 that pumps hydraulic oil as a working fluid, a drive motor 30 that drives the pump 20, a tank 40 that stores hydraulic oil, and the cylinder 10. And a control valve 50 for controlling the flow of hydraulic oil between the pump 20 and between the pump 20 and the tank 40.
- the pump 20, the drive motor 30, the tank 40, the control valve 50 and the like constitute one unit member U (see FIG. 1), and the unit member U is disposed adjacent to the cylinder 10. Thereby, the cylinder control device 100 can be configured compactly.
- the cylinder 10 includes a cylindrical tube portion 11, a piston rod 12 inserted into the tube portion 11 from one end side of the tube portion 11, and a tube portion provided at the end of the piston rod 12. 11, and a piston 13 that slides along the inner peripheral surface.
- the inside of the cylinder portion 11 is partitioned into a first cylinder chamber 14 and a second cylinder chamber 15 by a piston 13.
- the first cylinder chamber 14 and the second cylinder chamber 15 are filled with hydraulic oil.
- the hydraulic oil is supplied to the first cylinder chamber 14 and discharged from the second cylinder chamber 15, whereby the piston rod 12 moves in the extending direction, and the hydraulic oil is supplied to the second cylinder chamber 15.
- the piston rod 12 is a double-acting cylinder configured to move in the contraction direction by being discharged from the first cylinder chamber 14.
- the base end part of the cylinder part 11 of the cylinder 10 is fixed to a predetermined position of a body such as an agricultural machine, and the tip part of the piston rod 12 positioned outside the cylinder part 11 is fixed to a driving target (load).
- the pump 20 is a gear pump having a first port 21 and a second port 22.
- the pump 20 is connected to the rotation shaft of the drive motor 30 and is driven based on the rotational driving force of the drive motor 30.
- the pump 20 discharges the working oil sucked from the second port 22 from the first port 21 when the drive shaft of the drive motor 30 rotates forward, and the first port when the drive shaft of the drive motor 30 rotates reversely.
- the hydraulic oil sucked from 21 is discharged from the second port 22.
- the discharge direction of the hydraulic oil discharged from the pump 20 is selectively switched according to the rotation direction of the drive motor 30.
- the control valve 50 is provided between the cylinder 10 and the pump 20.
- the first cylinder chamber 14 of the cylinder 10 and the control valve 50 are connected via a first cylinder passage 91, and the second cylinder chamber 15 of the cylinder 10 and the control valve 50 are connected via a second cylinder passage 92. Yes.
- the first port 21 of the pump 20 and the control valve 50 are connected via a first pump passage 93, and the second port 22 of the pump 20 and the control valve 50 are connected via a second pump passage 94.
- the control valve 50 is connected to the tank 40 via a tank passage 95.
- the control valve 50 includes a hollow main body 51, a spool 60 slidably provided in the main body 51, and a first sleeve 71 provided so as to face both ends of the spool 60 in the main body 51. And a second sleeve 72, a first valve body 73 and a second valve body 74 slidably provided in the first sleeve 71 and the second sleeve 72, and a first valve body 73 and a second valve body 74.
- a first spring 75 and a second spring 76 are provided as biasing members for biasing.
- Lid members 52 are detachably provided at both ends of the main body 51, and the inside of the main body 51 is formed as a sealed space. Various members constituting the control valve 50 are accommodated in the sealed space.
- the spool 60 is slidable with respect to the inner peripheral surface of the main body 51, and is arranged to be spaced apart in the sliding direction of the spool 60.
- the first protruding shaft 61A is a member that presses and moves the first valve body 73 by the movement of the spool 60
- the second protruding shaft 62A is a member that presses and moves the second valve body 74 by the movement of the spool 60.
- a first sleeve 71 is provided in the main body 51 so as to be opposed to the end of the spool 60 on the first piston portion 61 side, and is opposed to the end of the spool 60 on the second piston portion 62 side.
- 72 is provided.
- a first valve chamber 81 is formed between the first sleeve 71 and the end of the spool 60
- a second valve chamber 82 is formed between the second sleeve 72 and the end of the spool 60.
- the spool 60 slides in the left-right direction in the drawing along the inner peripheral surface of the main body 51 according to the hydraulic pressure of the hydraulic oil in the first valve chamber 81 and the second valve chamber 82.
- the main body 51 is formed with a first valve communication portion 53 that always communicates with the first valve chamber 81 and a second valve communication portion 54 that always communicates with the second valve chamber 82 regardless of the sliding position of the spool 60. ing.
- the first valve communication portion 53 is connected to the first port 21 of the pump 20 via the first pump passage 93
- the second valve communication portion 54 is connected to the second port 22 of the pump 20 via the second pump passage 94. Is done.
- a central oil chamber 83 is defined in the main body 51 by the inner peripheral surface of the main body 51, the first piston portion 61 and the second piston portion 62 of the spool 60, and the connecting shaft 63 of the spool 60. ing.
- the central oil chamber 83 is connected to the tank 40 through a tank communication portion 55 formed in the main body portion 51 and a tank passage 95.
- the tank communication portion 55 is configured to always connect the central oil chamber 83 and the tank 40 regardless of the sliding position of the spool 60.
- the first valve communication portion 53 is configured to allow the first valve chamber 81 to communicate with the central oil chamber 83 in accordance with the sliding position of the spool 60.
- the second valve communication portion 54 is configured to allow the second valve chamber 82 to communicate with the central oil chamber 83 in accordance with the sliding position of the spool 60.
- the first sleeve 71 provided facing the end of the spool 60 is a cylindrical member. One end of the first sleeve 71 is formed as an open end, and the other end is formed as a closed end. The first sleeve 71 is fixed in the main body 51 such that the open end is in contact with the lid member 52.
- a communication port 71A communicating with the first valve chamber 81 is formed at the closed end of the first sleeve 71.
- the communication port 71A is provided at a position corresponding to the first protruding shaft 61A of the spool 60, and is formed so that the first protruding shaft 61A can be inserted therethrough.
- the inner diameter of the communication port 71A is set larger than the outer diameter of the first protruding shaft 61A.
- a communication passage 71B and a throttle passage 71C as supply / discharge ports communicating with the first cylinder passage 91 are formed on the side wall of the first sleeve 71.
- the connection end on the control valve 50 side of the first cylinder passage 91 is branched into two, one connection end is connected to the communication passage 71B, and the other connection end is connected to the throttle passage 71C.
- the communication passage 71B and the throttle passage 71C communicate with the first cylinder chamber 14 through the first cylinder passage 91.
- the communication passage 71B is formed on the side wall near the opening end, and the throttle passage 71C is formed on the side wall near the closing end.
- the communication passage 71B and the throttle passage 71C are provided apart in the sliding direction of the first valve body 73 described later. That is, the communication passage 71B is formed at a position farther from the end surface (closed end) of the first sleeve 71 on the spool 60 side than the throttle passage 71C.
- the communication passage 71B is configured as an oil passage through which hydraulic oil freely passes
- the throttle passage 71C is configured as an oil passage having a smaller flow area than the communication passage 71B and imparting resistance to the passing hydraulic oil.
- the diameter of the throttle passage 71C is arbitrarily determined according to an external force acting on the assumed cylinder.
- the first valve body 73 is provided slidably with respect to the inner peripheral surface of the first sleeve 71.
- the first valve body 73 is a bottomed cylindrical member, and is disposed so that the tip portion constituting the closed end faces the communication port 71 ⁇ / b> A side of the first sleeve 71.
- the front end portion of the first valve body 73 opens and closes the communication port 71 ⁇ / b> A of the first sleeve 71 according to the sliding position of the first valve body 73, and the side portion of the first valve body 73.
- the (sliding wall) is configured to open and close the communication path 71B of the first sleeve 71.
- a first spring 75 is provided in a compressed state between the first valve body 73 and the lid member 52.
- One end of the first spring 75 is inserted into the first valve body 73 from the opening end side of the accommodation hole 73A provided in the first valve body 73 and comes into contact with the bottom of the accommodation hole 73A.
- the other end of the first spring 75 is accommodated in a spring accommodation hole 52A provided on the inner surface of the lid member 52, and is in contact with the bottom of the spring accommodation hole 52A.
- the first spring 75 biases the first valve body 73 in a direction to close the communication port 71 ⁇ / b> A of the first sleeve 71.
- the first valve body 73 described above is pushed by the hydraulic pressure in the first valve chamber 81 or the first protruding shaft 61A of the spool 60 and moves along the inner peripheral surface of the first sleeve 71.
- the first valve body 73 controls the communication state between the communication port 71A of the first sleeve 71, the communication path 71B, and the throttle path 71C according to the valve body sliding position.
- the second sleeve 72 provided to face the end of the spool 60 is a cylindrical member similar to the first sleeve 71.
- One end of the second sleeve 72 is formed as an open end, and the other end is formed as a closed end.
- the second sleeve 72 is fixed in the main body 51 so that the open end is in contact with the lid member 52.
- a communication port 72A communicating with the second valve chamber 82 is formed at the closed end of the second sleeve 72.
- the communication port 72A is provided at a position corresponding to the second protruding shaft 62A of the spool 60, and is formed so that the second protruding shaft 62A can be inserted therethrough.
- the inner diameter of the communication port 72A is set larger than the outer diameter of the second protruding shaft 62A.
- a communication path 72B and a throttle path 72C communicating with the second cylinder path 92 are formed on the side wall of the second sleeve 72.
- the connection end on the control valve 50 side of the second cylinder passage 92 is branched into two, one connection end is connected to the communication passage 72B, and the other connection end is connected to the throttle passage 72C.
- the communication passage 72 ⁇ / b> B and the throttle passage 72 ⁇ / b> C communicate with the second cylinder chamber 15 through the second cylinder passage 92.
- the communication path 72B is formed on the side wall near the opening end, and the throttle path 72C is formed on the side wall near the closing end.
- the communication passage 72B and the throttle passage 72C are provided apart from each other in the sliding direction of the second valve body 74 described later. That is, the communication path 72B is formed at a position farther from the end surface (closed end) of the second sleeve 72 on the spool 60 side than the throttle path 72C.
- the communication path 72B is configured as an oil path through which hydraulic oil freely passes, and the throttle path 72C is configured as an oil path having a smaller flow area than the communication path 72B and imparting resistance to the passing hydraulic oil.
- the diameter of the throttle passage 72C is arbitrarily determined according to the external force acting on the assumed cylinder.
- the second valve body 74 is provided slidably with respect to the inner peripheral surface of the second sleeve 72.
- the second valve body 74 is a bottomed cylindrical member, and is disposed so that the tip portion constituting the closed end faces the communication port 72 ⁇ / b> A side of the second sleeve 72.
- the front end portion of the second valve body 74 opens and closes the communication port 72 ⁇ / b> A of the second sleeve 72 according to the sliding position of the second valve body 74, and the side portion of the second valve body 74.
- the (sliding wall) is configured to open and close the communication path 72B of the second sleeve 72.
- a second spring 76 is provided in a compressed state between the second valve body 74 and the lid member 52.
- One end of the second spring 76 is inserted into the second valve body 74 from the opening end side of the accommodation hole 74A provided in the second valve body 74 and comes into contact with the bottom of the accommodation hole 74A.
- the other end of the second spring 76 is accommodated in a spring accommodation hole 52A provided on the inner surface of the lid member 52, and is in contact with the bottom of the spring accommodation hole 52A.
- the second spring 76 biases the second valve body 74 in a direction to close the communication port 72 ⁇ / b> A of the second sleeve 72.
- the above-described second valve body 74 is pushed by the hydraulic pressure in the second valve chamber 82 or the second projecting shaft 62A of the spool 60 and moves along the inner peripheral surface of the second sleeve 72.
- the second valve body 74 controls the communication state between the communication port 72A of the second sleeve 72, the communication path 72B, and the throttle path 72C according to the valve body sliding position.
- the spool 60 is in the neutral position (initial position), and the first piston portion 61 of the spool 60 is located.
- the communication between the central oil chamber 83 and the first valve chamber 81 and the second valve chamber 82 is blocked by the second piston portion 62.
- the distal end portion of the first valve body 73 closes the communication port 71A of the first sleeve 71 by the urging force of the first spring 75, and the distal end portion of the second valve body 74 is urged by the urging force of the second spring 76.
- the communication port 72A of the second sleeve 72 is closed.
- the hydraulic oil in 15 is stationary. Thereby, the cylinder 10 will be in the load holding state which hold
- the pump 20 discharges the hydraulic oil sucked from the second port 22 from the first port 21.
- the hydraulic pressure in the first valve chamber 81 rises, and the first valve body 73 moves against the biasing force of the first spring 75 by this hydraulic pressure and moves to the lid member 52 side.
- the first valve body 73 is pushed down to the maximum movement position (second position) where the opening end contacts the lid member 52 by the hydraulic pressure in the first valve chamber 81.
- the communication port 71A of the first sleeve 71 and the communication path 71B communicate with each other.
- the throttle passage 71C When the first valve element 73 is opened by the hydraulic pressure in the first valve chamber 81, the throttle passage 71C also communicates with the communication port 71A. However, since the throttle passage 71C functions as a throttle, the first valve chamber 81 The hydraulic oil mainly flows into the first cylinder passage 91 through the communication port 71A and the communication passage 71B, and flows into the first cylinder chamber 14 through the first cylinder passage 91. As described above, when the first valve element 73 is opened by the hydraulic pressure in the first valve chamber 81, the flow of hydraulic oil from the first valve chamber 81 toward the first cylinder chamber 14 is allowed.
- the spool 60 moves from the neutral position (see FIG. 2) toward the second sleeve 72 in the right direction in the drawing by the hydraulic pressure in the first valve chamber 81.
- the second projecting shaft 62 ⁇ / b> A of the spool 60 contacts the front end portion of the second valve body 74 through the communication port 72 ⁇ / b> A of the second sleeve 72.
- the second valve body 74 Since the spool 60 moves until the outer end surface of the second piston portion 62 comes into contact with the closed end of the second sleeve 72, the second valve body 74 is moved from the initial position where the communication port 72A is closed by the second protruding shaft 62A.
- the second spring 76 is pushed rightward in the drawing against the urging force of the second spring 76, and is pushed down to a midway position (first position) where the communication path 72B is closed and only the communication port 72A and the throttle path 72C communicate.
- the communication port 72A in the state where the second protruding shaft 62A is inserted communicates with the throttle passage 72C, and the communication passage 72B is connected to the second valve body 74.
- the closed state is maintained by the side wall.
- the length of the second projecting shaft 62A of the spool 60 is such that the second valve body 74 is pushed down to an intermediate position when the second piston portion 62 of the spool 60 is in contact with the end surface of the second sleeve 72. Is set.
- the hydraulic oil in the second cylinder chamber 15 is discharged to the second valve chamber 82 side through the second cylinder passage 92, the throttle passage 72C, and the communication port 72A. Is done.
- the second valve body 74 has only the throttle passage 72C that provides a larger resistance than the communication passage 71B opened by the first valve body 73.
- the flow of hydraulic oil from the second cylinder chamber 15 toward the second valve chamber 82 is permitted by moving so as to open.
- a notch groove 62B is recessed in the outer end surface of the second piston portion 62 of the spool 60.
- the notch groove 62B is formed in the second valve. It functions as the chamber 82 and communicates with the communication port 72A and the second valve communication portion 54. Accordingly, the hydraulic oil flowing out from the communication port 72A of the second sleeve 72 is guided to the pump 20 through the notch groove 62B, the second valve communication portion 54, and the second pump passage 94.
- the second valve communication portion 54 communicates with the central oil chamber 83, and the first valve communication portion 53 and the central oil chamber 83 are blocked by the first piston portion 61. State is maintained. Thereby, the flow of hydraulic oil from the tank 40 toward the second valve communication portion 54 is allowed. As a result, not only the hydraulic oil from the second cylinder chamber 15 but also the hydraulic oil from the tank 40 is guided to the pump 20. The hydraulic oil corresponding to the rod volume of the piston rod 12 that retreats outward from the second cylinder chamber 15 is supplied from the tank 40 to the pump 20.
- the hydraulic oil in the first valve chamber 81 passes through the communication passage 71B and the throttle passage 71C (mainly the communication passage 71B) of the first sleeve 71 and is supplied to the first cylinder chamber 14.
- the hydraulic oil discharged from the second cylinder chamber 15 passes through only the throttle passage 72C of the second sleeve 72 and is guided to the second valve chamber 82 side.
- the supplied hydraulic oil mainly passes through the communication path 71B, whereas the discharged hydraulic oil has a smaller flow area than the communication path 71B, and the communication path 71B It passes through a throttle passage 71C that imparts a greater resistance to the hydraulic oil than the resistance to be imparted.
- the throttle passage 72C When the second valve element 74 is opened by the hydraulic pressure in the second valve chamber 82, the throttle passage 72C also communicates with the communication port 72A, but the throttle passage 72C functions as a throttle, so the second valve chamber 82
- the hydraulic oil mainly flows into the second cylinder passage 92 through the communication port 72A and the communication passage 72B, and flows into the second cylinder chamber 15 through the second cylinder passage 92.
- the second valve body 74 is opened by the hydraulic pressure in the second valve chamber 82, the flow of hydraulic oil from the second valve chamber 82 toward the second cylinder chamber 15 is allowed.
- the spool 60 moves from the neutral position (see FIG. 2) toward the first sleeve 71 in the left direction in the figure by the hydraulic pressure in the second valve chamber 82.
- the first projecting shaft 61 ⁇ / b> A of the spool 60 abuts the tip of the first valve body 73 through the communication port 71 ⁇ / b> A of the first sleeve 71.
- the first valve body 73 Since the spool 60 moves until the outer end surface of the first piston portion 61 comes into contact with the closed end of the first sleeve 71, the first valve body 73 is moved from the initial position where the communication port 71A is closed by the first protruding shaft 61A.
- the first spring 75 is pushed to the left in the figure against the urging force, and is pushed down to an intermediate position (first position) where the communication passage 71B is closed and only the communication port 71A and the throttle passage 71C communicate.
- the communication port 71A in a state where the first protruding shaft 61A is inserted communicates with the throttle passage 71C, and the communication passage 71B is connected to the first valve body 73.
- the closed state is maintained by the side wall.
- the length of the first projecting shaft 61A of the spool 60 is a length that pushes down the first valve body 73 to the midway position when the first piston portion 61 of the spool 60 is in contact with the end surface of the first sleeve 71. Is set.
- the first valve element 73 When the first valve element 73 is opened by being pushed by the spool 60, the hydraulic oil in the first cylinder chamber 14 is discharged to the first valve chamber 81 side through the first cylinder passage 91, the throttle passage 71C, and the communication port 71A. Is done.
- the first valve body 73 when the first valve body 73 is opened by the spool 60, the first valve body 73 has only the throttle passage 71C that provides a larger resistance than the communication passage 72B opened by the second valve body 74. It moves so that it may open, and the flow of the hydraulic oil which goes to the 1st valve chamber 81 from the 1st cylinder chamber 14 is permitted.
- a notch groove 61B is recessed in the outer end surface of the first piston portion 61 of the spool 60.
- the notch groove 61B is formed in the first valve chamber 81. And communicates with the communication port 71A and the first valve communication portion 53. Therefore, the hydraulic oil flowing out from the communication port 71A of the first sleeve 71 is guided to the pump 20 through the first valve communication portion 53 and the first pump passage 93 through the notch groove 61B.
- the first valve communication portion 53 communicates with the central oil chamber 83, and the second valve communication portion 54 and the central oil chamber 83 are blocked by the second piston portion 62. State is maintained. As a result, the flow of hydraulic oil from the first valve communication portion 53 toward the tank 40 is allowed, and a part of the hydraulic oil discharged from the first cylinder chamber 14 is guided to the tank 40. The hydraulic oil corresponding to the rod volume of the piston rod 12 entering the second cylinder chamber 15 flows into the tank 40.
- the hydraulic oil in the second valve chamber 82 passes through the communication path 72B and the throttle path 72C (mainly the communication path 72B) of the second sleeve 72 and is supplied to the second cylinder chamber 15.
- the hydraulic oil discharged from the first cylinder chamber 14 passes through only the throttle passage 71C of the first sleeve 71 and is guided to the first valve chamber 81 side.
- the supplied hydraulic oil mainly passes through the communication path 72B, whereas the discharged hydraulic oil has a smaller flow area than the communication path 72B, and the communication path 72B It passes through a throttle passage 72C that imparts a greater resistance to the hydraulic oil than the resistance to be imparted.
- the hydraulic oil discharged from one of the first and second cylinder chambers 14 and 15 passes through the throttle passage 71C or 72C and is given resistance.
- the pressure drop in the room is suppressed. Abrupt expansion and contraction of the piston rod 12 due to external force acting in the same direction as the expansion and contraction direction is prevented by the pressure in the cylinder chamber on the discharge side. Therefore, due to the rapid expansion and contraction of the piston rod 12, the pressure in the valve chamber on the side where the hydraulic oil is supplied does not decrease and the spool 60 does not move to the neutral position. For this reason, the movement of the first and second valve bodies 73 and 74 can prevent hunting that occurs when the communication passages 71B and 72B and the throttle passages 71C and 72C are disconnected from the communication ports 71A and 72A.
- the diameters of the throttle passages 71C and 72C are set to be small in order to give a larger resistance to the hydraulic oil and prevent hunting.
- the diameters of the throttle passages 71C and 72C are set larger than when the large external force is applied.
- the diameters of the throttle passages 71C and 72C are arbitrarily set in accordance with the external force acting on the assumed piston rod 12.
- the control valve 50 when supplying hydraulic oil to the cylinder 10, the control valve 50 opens the communication passages 71B and 72B to communicate with the communication ports 71A and 72A and discharges the hydraulic oil. The communication between the communication passages 71B and 72B and the communication ports 71A and 72A is blocked. As described above, the resistance applied to the hydraulic oil supplied to the cylinder 10 and the hydraulic oil discharged from the cylinder 10 can be controlled by whether or not the communication passages 71B and 72B are opened. Compared with the control device, the control is not complicated.
- the control valve 50 of the cylinder control device 100 is connected to the communication port 71A of the first sleeve 71 and the communication passage by the hydraulic pressure of the first valve chamber 81 or the pressing force of the spool 60 from the first protruding shaft 61A.
- the second valve element 74 that controls the communication state between the communication passage 72B and the throttle passage 72C is used to control the flow of hydraulic oil between the cylinder 10 and the pump 20, and to prevent hunting when the cylinder 10 is expanded or contracted. To do.
- the control valve 50 is configured to perform both functions of an operation check valve that controls the flow of hydraulic oil between the cylinder and the pump in a conventional cylinder control device and a slow return valve that prevents hunting when the cylinder expands and contracts. Therefore, the number of parts constituting the cylinder control device 100 can be reduced, and the assembly man-hour of the cylinder control device 100 can be reduced.
- the control valve 50 is configured to switch the flow of hydraulic oil between the pump 20 and the tank 40 according to the sliding position of the spool 60, and also functions as a switching valve in a conventional cylinder control device. . Therefore, the number of parts constituting the cylinder control device 100 can be further reduced, and the number of assembling steps of the cylinder control device 100 can be further reduced.
- the first and second sleeves 71 are connected to the first and second valve chambers 81 and 82, and the first and second sleeves 71 communicate with the first and second cylinder passages 91 and 92.
- 72 are communication passages 71B, 72B and throttle passages 71C, 72C. The diameters of the throttle passages 71C and 72C are determined in advance according to the external force acting on the assumed cylinder.
- the resistance applied to the hydraulic oil by the throttle passages 71C and 72C set in advance is insufficient.
- the spool 60 may return to the neutral position and hunting may occur. Therefore, in the first embodiment, it is necessary to individually set the diameters of the throttle passages 71C and 72C according to the assumed external force. Therefore, a plurality of types of sleeves having different diameters of the throttle passages 71C and 72C are required in accordance with the assumed magnitude of the external force.
- the supply and exhaust ports communicating with the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92 are formed in the first and second sleeves 71 and 72.
- the cylinder control device 100 according to the first embodiment is different from the cylinder control device 100 according to the first embodiment in that the plurality of through holes 71D and 72D are provided. In the cylinder control device 200, it is possible to prevent the occurrence of hunting without changing the sleeve even when an external force larger than the assumed external force is applied.
- a plurality of through holes 71 ⁇ / b> D are formed in the side wall of the first sleeve 71 as supply / exhaust ports communicating with the first cylinder passage 91.
- the plurality of through holes 71 ⁇ / b> D communicate with the first cylinder chamber 14 through the first cylinder passage 91.
- the plurality of through holes 71D are formed in the side wall of the first sleeve 71 side by side in the direction in which the first valve body 73 slides.
- the plurality of through holes 71 ⁇ / b> D open and close so that the number of openings varies according to the sliding position of the first valve body 73.
- the resistance given to the hydraulic oil passing through 71D as a whole is changed.
- the through-hole 71D is formed so that the number of through-holes 71D that open is maximized when the first valve body 73 is at the maximum movement position (second position). That is, when the first valve body 73 is at the maximum movement position, the hydraulic oil passes through the most through holes 71D.
- a plurality of through holes 72D are formed as supply / exhaust ports communicating with the second cylinder passage 92.
- the plurality of through holes 72 ⁇ / b> D communicate with the second cylinder chamber 15 through the second cylinder passage 92.
- the plurality of through holes 72D are formed in the side wall of the second sleeve 72 side by side in the direction in which the second valve body 74 slides.
- the plurality of through holes 72D open and close so that the number of openings varies according to the sliding position of the second valve body 74.
- the resistance given to the hydraulic fluid passing through 72D as a whole is changed.
- the through-hole 72D is formed so that the number of through-holes 72D that open is maximized when the second valve body 74 is in the maximum movement position. That is, when the 2nd valve body 74 exists in a maximum movement position, hydraulic fluid passes most through-holes 72D.
- the through holes 71D and 72D When the first and second valve bodies 73 and 74 are in the second position, the through holes 71D and 72D have the maximum number of openings, and are urged by the first and second springs 75 and 76 to slide.
- the number, diameter, arrangement interval, shape, and the like are arbitrarily set as long as the number of openings is reduced so as to decrease.
- five through holes 71D and 72D are formed, respectively.
- the through holes 71D and 72D are formed side by side in the direction in which the first and second valve bodies 73 and 74 slide, and a plurality of through holes 71D and 72D may be formed in the circumferential direction of the first and second sleeves 71 and 72. Good.
- the drive motor 30 rotates in the forward direction, and the first valve body 73 has a maximum opening end abutting against the lid member 52 due to the hydraulic pressure in the first valve chamber 81. It is pushed down to the moving position (second position).
- the first valve body 73 is pushed down to the maximum movement position, the plurality of through holes 71D are opened so that the number of openings is maximized. That is, in the state where the first valve body 73 has moved to the maximum moving position where the first spring 75 contracts from the midway position (first position) where a part of the plurality of through holes 72D is closed, the communication of the first sleeve 71 is achieved.
- the mouth 71A communicates with a plurality of through holes 71D having the largest number of openings. As described above, when the first valve element 73 is opened by the hydraulic pressure in the first valve chamber 81, the flow of hydraulic oil from the first valve chamber 81 toward the first cylinder chamber 14 is allowed.
- the spool 60 moves from the neutral position (see FIG. 6) toward the second sleeve 72 in the right direction in FIG. 62A contacts the end surface of the second valve body 74, and the second valve body 74 opens.
- the spool 60 moves until the second piston portion 62 contacts the second sleeve 72. For this reason, the second valve body 74 is pressed by the second projecting shaft 62A of the spool 60 in contact with the second sleeve 72, and the second spring reaches a midway position (first position) where a part of the plurality of through holes 72D is closed. It is pushed down against the urging force of 76.
- a midway position first position
- a part of the plurality of through holes 72D is closed. It is pushed down against the urging force of 76.
- the second valve element 74 moves to the left in the figure by the urging force of the second spring 76. Since the second valve body 74 moves toward the left in the figure, a part of the plurality of through holes 72D is gradually closed by the second valve body 74, so that the number of through holes 72D that are opened gradually decreases. Become. For this reason, the resistance given to the fluid passing through the through hole 72D is increased, and the pressure in the second cylinder chamber 15 is increased as compared with the case where the second valve body 74 is in the midway position.
- the increased pressure in the second cylinder chamber 15 becomes a resistance against rapid expansion of the piston rod 12 due to an external force larger than the reference value, and the pressure drop in the first cylinder chamber 14 is suppressed, and the spool 60 moves toward the neutral position. Movement is hindered.
- the number of open through holes 72D is reduced to some extent, the piston rod 12 does not extend due to external force, and the pressure in the first valve chamber 81 does not drop. For this reason, the pressure in the first valve chamber 81 is recovered, and the movement toward the neutral position of the spool 60 is stopped.
- the spool 60 After the movement toward the neutral position stops, the spool 60 starts to move rightward in the figure against the urging force of the second spring 76 and contacts the second sleeve 72 as shown in FIG. It will be in contact.
- the hydraulic oil in the first valve chamber 81 is supplied to the first cylinder chamber 14 through the plurality of through holes 71D having the largest number of openings.
- the hydraulic oil discharged from the second cylinder chamber 15 is partially closed to reduce the number of openings, and passes through the through-hole 72D that gives resistance to the fluid passing therethrough toward the second valve chamber 82. Led. For this reason, even if an external force acts on the piston rod 12 in the extending direction, resistance is given to the discharged hydraulic oil, and the pressure drop in the second cylinder chamber 15 on the discharge side is suppressed. 10 does not stretch rapidly.
- the hydraulic pressure in the first cylinder chamber 14 and the first valve chamber 81 does not drop suddenly when the cylinder 10 is extended, and the spool 60 can be prevented from returning to the neutral position.
- the spool 60 can be stably urged toward the second sleeve 72 in the right direction in the drawing by the hydraulic pressure of the first valve chamber 81, and the second valve body 74 can be held in the midway position.
- the communication state between the communication port 72A and the through hole 72D is maintained, and it is possible to prevent the occurrence of hunting when the cylinder 10 is extended.
- the second valve body 74 is moved to a plurality of positions along with the movement. Since part of the through hole 72D is gradually closed, the resistance applied to the hydraulic oil passing through the through hole 72D also gradually increases. For this reason, it is possible to prevent the spool 60 from returning to the neutral position. Therefore, even when the external force acting on the cylinder 10 is larger than the reference value, the communication state between the communication port 72A and the through hole 72D is maintained, and it is possible to prevent the occurrence of hunting when the cylinder 10 is extended. Become.
- the second valve body 74 has an open end due to the hydraulic pressure in the second valve chamber 82 as in the first embodiment. It is pushed down to the maximum movement position (second position) that contacts the lid member 52.
- the plurality of through-holes 72D are opened so that the number of openings is maximized. That is, in the state in which the second valve body 74 has moved to the maximum movement position (second position) outside the midway position (first position), the number of communication ports 72A of the second sleeve 72 to be opened is maximized.
- the plurality of through holes 72D communicate with each other. As described above, when the second valve body 74 is opened by the hydraulic pressure in the second valve chamber 82, the flow of hydraulic oil from the second valve chamber 82 toward the second cylinder chamber 15 is allowed.
- the spool 60 moves from the neutral position (see FIG. 6) toward the first sleeve 71 in the left direction in the figure, and the first projecting shaft 61A of the spool 60 is moved. However, it contacts the end surface of the first valve body 73 and the first valve body 73 is opened.
- the spool 60 moves until the first piston portion 61 contacts the first sleeve 71. For this reason, the 1st valve body 73 is pushed down against the urging
- the communication port 71A in the state where the first protruding shaft 61A is inserted and the first valve body 73 at the midway position.
- the through hole 71D communicates with each other.
- the communication port 71A in the state communicates with a plurality of through holes 71D partially closed.
- the hydraulic oil in the second valve chamber 82 is supplied to the second cylinder chamber 15 through the plurality of through holes 72D in which the number of openings of the second sleeve 72 is maximized.
- the hydraulic oil discharged from the first cylinder chamber 14 is partially closed to reduce the number of openings, and passes through the plurality of through holes 71D that give resistance to the fluid that passes through the first valve chamber 81. Led to the side. For this reason, even if an external force acts on the piston rod 12 in the contraction direction, resistance is given to the discharged hydraulic oil, and the pressure drop in the first cylinder chamber 14 on the discharge side is suppressed. Does not shrink rapidly.
- the hydraulic pressure in the second cylinder chamber 15 and the second valve chamber 82 does not drop rapidly, and the spool 60 can be prevented from returning to the neutral position.
- the spool 60 can be stably urged to the left in the drawing toward the first sleeve 71 by the hydraulic pressure of the second valve chamber 82, and the first valve body 73 can be held in the midway position.
- the communication state between the communication port 71A and the plurality of through holes 71D is maintained, and it is possible to prevent hunting from occurring when the cylinder 10 is contracted.
- the first valve body 73 is moved along with the movement. Since a part of the through hole 71D is gradually closed, the resistance applied to the hydraulic oil passing through the plurality of through holes 71D also gradually increases. For this reason, it is possible to prevent the spool 60 from returning to the neutral position. Therefore, even when the external force acting on the cylinder 10 is larger than the reference value, the communication state between the communication port 71A and the plurality of through holes 71D is maintained, and the occurrence of hunting when the cylinder 10 contracts can be prevented. It becomes possible.
- the hydraulic oil discharged from one of the first and second cylinder chambers 14 and 15 passes through a plurality of partially closed through holes 71D or 72D to provide resistance. Therefore, the pressure drop in the cylinder chamber on the discharge side is suppressed.
- rapid expansion / contraction of the piston rod 12 due to an external force acting in the same direction as the expansion / contraction direction is prevented. Therefore, due to the rapid expansion and contraction of the piston rod 12, the pressure in the valve chamber on the side where the hydraulic oil is supplied does not decrease and the spool 60 does not move to the neutral position. For this reason, the hunting at the time of expansion / contraction of the cylinder 10 can be prevented.
- the movement of the spool 60 and the first and second valve bodies 73 and 74 to the neutral position is stopped, and the first and second valve bodies 73 and 74 may completely close the communication ports 71A and 72A. Absent. Thus, even if the external force acting on the cylinder 10 in the same direction as the expansion / contraction direction is large, the through holes 71D and 72D and the communication ports 71A and 71A are moved by the movement of the first and second valve bodies 73 and 74. Hunting that occurs when communication with 72A is blocked can be prevented.
- the control valve 150 of the cylinder control device 200 is connected to the communication port 71A of the first sleeve 71 and the plurality of through holes 71D by the hydraulic pressure of the first valve chamber 81 or the pressing force of the spool 60 from the first protruding shaft 61A.
- the communication state between the communication port 72A of the second sleeve 72 and the plurality of through holes 72D by the hydraulic pressure of the first valve body 73 for controlling the pressure and the hydraulic pressure of the second valve chamber 82 or the pressing force of the spool 60 from the second protruding shaft 62A.
- the second valve body 74 that controls the hydraulic fluid is used to control the flow of hydraulic oil between the cylinder 10 and the pump 20 and to prevent hunting during expansion and contraction of the cylinder 10.
- the control valve 150 is configured to perform both functions of an operation check valve that controls the flow of hydraulic oil between the cylinder and the pump in a conventional cylinder control device and a slow return valve that prevents hunting when the cylinder expands and contracts. Therefore, the number of parts constituting the cylinder control device 200 can be reduced, and the assembly man-hour of the cylinder control device 200 can be reduced.
- the control valve 150 is configured to switch the flow of hydraulic oil between the pump 20 and the tank 40 according to the sliding position of the spool 60, and also functions as a switching valve in a conventional cylinder control device. . Therefore, the number of parts constituting the cylinder control device 200 can be further reduced, and the number of assembly steps for the cylinder control device 200 can be further reduced.
- the resistance applied to the control valve 150 with respect to the fluid passing through the plurality of through holes 71D and 72D formed in the first and second sleeves 71 and 72 changes according to the sliding position of the spool 60. Therefore, hunting can be prevented even when the external force acting on the cylinder 10 changes. That is, even if the assumed external force differs for each cylinder 10, it is not necessary to use different first and second sleeves 71 and 72, and the same one can be used. Can be reduced. For this reason, it is possible to prevent erroneous assembly of the sleeve and to reduce the manufacturing cost of the cylinder control device 200.
- a cylinder controller 300 according to a third embodiment of the present invention will be described with reference to FIGS. Below, it demonstrates centering on a different point from the said 2nd Embodiment, the same code
- the supply and discharge ports that communicate the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92 are the first and second sleeves 71. , 72 are a plurality of through holes 71D, 72D.
- the plurality of through holes 71D and 72D decrease as the sliding positions of the first and second valve bodies 73 and 74 are urged by the first and second springs 75 and 76 to slide. The resistance applied to the fluid passing therethrough is increased.
- the supply / discharge port that communicates the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92 is formed in the first and second sleeves 71 and 72. It differs from the cylinder control apparatus 200 according to the second embodiment in that the slits 71E and 72E are formed. In the cylinder control device 300, similarly to the cylinder control device 200 according to the second embodiment, it is possible to prevent the occurrence of hunting without changing the sleeve even when the assumed external force is different for each cylinder. .
- a slit 71 ⁇ / b> E as a supply / exhaust port communicating with the first cylinder passage 91 is formed on the side wall of the first sleeve 71.
- the slit 71 ⁇ / b> E communicates with the first cylinder chamber 14 through the first cylinder passage 91.
- the slit 71 ⁇ / b> E extends in the direction in which the first valve body 73 slides and is formed on the side wall of the first sleeve 71.
- the slit 71E opens and closes so that its opening area changes according to the sliding position of the first valve body 73, and passes through the slit 71E.
- the resistance applied to the fluid is changed.
- the slit 71E is formed so that the opening area is maximized when the first valve body 73 is at the maximum movement position. That is, when the first valve body 73 is at the maximum movement position, the hydraulic oil passes through the slit 71E having the maximum opening area.
- a slit 72E as a supply / discharge port communicating with the second cylinder passage 92 is formed on the side wall of the second sleeve 72.
- the slit 72 ⁇ / b> E communicates with the second cylinder chamber 15 through the second cylinder passage 92.
- the slit 72E extends in the direction in which the second valve body 74 slides and is formed on the side wall of the second sleeve 72.
- the slit 72E opens and closes so that the opening area changes according to the sliding position of the second valve body 74, and passes through the slit 72E.
- the resistance applied to the fluid is changed.
- the slit 72E is formed so that the opening area is maximized when the second valve body 74 is at the maximum movement position. That is, when the second valve body 74 is at the maximum movement position, the hydraulic oil passes through the slit 72E having the maximum opening area.
- the slits 71E and 72E have the largest opening area when the first and second valve bodies 73 and 74 are at the maximum movement position, and are slid by being urged by the first and second springs 75 and 76 from the maximum movement position. As long as it is formed so that the opening area is reduced as it is done, the width, length, shape, etc. are arbitrarily set.
- the opening area is reduced and the resistance imparted to the passing hydraulic fluid is increased.
- the cylinder control device 200 according to the second embodiment provided with a plurality of through holes 71D and 72D communicating the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92. Even if the assumed external force differs for each cylinder 10, the occurrence of hunting can be prevented without changing the sleeve.
- the control valve 250 of the cylinder control device 300 includes slits 71E and 72E as supply and discharge ports for communicating the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92.
- the slits 71E and 72E have fewer processing steps and are easy to process compared to the case where the plurality of through holes 71D and 72D are formed. For this reason, the manufacturing cycle can be shortened and the manufacturing cost can be reduced.
- the first valve body 73 when the first valve body 73 is moved by the hydraulic pressure in the first valve chamber 81, the first valve body 73 moves until it comes into contact with the lid member 52. In the second embodiment, the position where the first valve body 73 contacts the lid member 52 is the maximum movement position (second position).
- the cylinder control device 400 is different from the cylinder control device 200 according to the second embodiment in that the maximum movement position (second position) of the first valve body 73 can be adjusted.
- the cylinder control device 400 includes a stopper 401 that restricts sliding of the first valve body 73 in the compression direction of the first spring 75 as an urging member, and an adjustment that can adjust the position of the stopper 401.
- the stopper 401 is inserted into the first sleeve 71 and a cylindrical contact portion 401A that can contact the first valve body 73, and a screw portion 401B that engages with the female screw portion 52B of the lid member 52. .
- the contact portion 401A is inserted inside the first spring 75 housed in the first sleeve 71. As shown in FIG. 14, when the first valve body 73 moves against the urging force of the first spring 75, the contact portion 401 ⁇ / b> A comes into contact with the lid member 52 at the end surface of the first valve body 73. Further, it is formed so as to be able to contact the bottom of the accommodation hole 73A of the first valve body 73.
- the contact portion 401A Since the contact portion 401A is inserted inside the first spring 75, the first spring 75 is supported by the contact portion 401A. For this reason, it is not necessary to form the spring accommodating hole 52 ⁇ / b> A inside the lid member 52.
- the screw portion 401B is a columnar member having a screw formed on the outer peripheral surface, and is screwed with the female screw portion 52B formed on the lid member 52. One end of the screw portion 401B is connected to the contact portion 401A, and the other end is formed to extend to the outside of the lid member 52.
- the adjustment mechanism 402 includes an operation unit 402A that is coupled to the screw part 401B of the stopper 401, and a fixing unit 402B that fixes the position of the stopper 401.
- the operation unit 402A is a columnar knob connected to the end of the screw part 401B of the stopper 401 outside the lid member 52.
- the screw portion 401B of the stopper 401 rotates, and the screwing position between the female screw portion 52B of the lid member 52 and the screw portion 401B of the stopper 401 can be adjusted.
- the stopper 401 moves in the sliding direction of the first valve body 73 by rotating the operation portion 402A. Therefore, the position of the contact portion 401A of the stopper 401 in the first sleeve, in other words, the position where the contact portion 401A and the first valve body 73 contact each other can be adjusted.
- the fixing portion 402B is a nut 402B that is disposed between the lid member 52 and the operation portion 402A and is screwed with the screw portion 401B of the stopper 401 on the inner periphery thereof.
- the nut 402B is tightened with respect to the lid member 52, thereby preventing the female screw portion 52B of the lid member 52 and the screw portion 401B of the stopper 401 from being loosened. That is, by tightening the nut 402B with respect to the lid member 52, the stopper 401 can be prevented from moving in the sliding direction of the first valve body 73, so that the stopper 401 can be positioned.
- the maximum movement position of the first valve body 73 can be set by adjusting the stopper 401 to a desired position.
- the first valve body 73 resists the urging force of the first spring 75 by hydraulic pressure.
- the first valve element 73 contacts the lid member 52 before contacting the contact portion 401A of the stopper 401. Therefore, the position where the first valve body 73 contacts the lid member 52 is the maximum movement position of the first valve body 73.
- the plurality of through holes 71D of the first sleeve 71 are opened by the maximum number (5 in this embodiment), as in the second embodiment.
- the resistance imparted to the hydraulic oil supplied to the first cylinder chamber 14 is minimized, so that the piston rod 12 extends at the fastest speed.
- the first valve body 73 When the position of the stopper 401 is advanced from the most retracted position shown in FIG. 15 toward the first valve body 73 as shown in FIG. 14, the first valve body 73 is attached to the first spring 75 by hydraulic pressure. When it moves to the left in the figure against the force, it comes into contact with the contact portion 401A of the stopper 401 before it comes into contact with the lid member 52. Therefore, the position where the first valve body 73 comes into contact with the contact portion 401 ⁇ / b> A of the stopper 401 is the maximum movement position of the first valve body 73.
- the plurality of through holes 71 ⁇ / b> D of the first sleeve 71 are opened by four less than the maximum number (5), and the hydraulic oil supplied from the first valve chamber 81 to the first cylinder chamber 14 Resistance will be provided. As a result, resistance is imparted to the hydraulic oil supplied to the first cylinder chamber 14, thereby reducing the speed at which the piston rod 12 extends.
- the first valve body 73 When the position of the stopper 401 is set to the most advanced position from the position shown in FIG. 14 toward the first valve body 73 as shown in FIG. 16, the first valve body 73 is set to the urging force of the first spring 75. It abuts against the abutting portion 401A of the stopper 401 at a position where the resisted sliding amount is the smallest. Therefore, the position where the first valve body 73 with the smallest sliding amount against the biasing force of the first spring 75 and the contact portion 401A of the stopper 401 abuts is the maximum movement position of the first valve body 73.
- the plurality of through holes 71D of the first sleeve 71 are opened with the smallest number of three.
- the resistance imparted to the hydraulic oil supplied to the first cylinder chamber 14 is the largest, so the speed at which the piston rod 12 extends is also the slowest.
- the second valve body 74 that is pushed down by the second projecting shaft 62A of the spool 60 that moves forward due to the forward rotation of the drive motor 30 and the hydraulic pressure of the first valve chamber 81 has the maximum movement position of the first valve body 73 shown in FIG. As shown, even when the stopper 401 is at the most advanced position toward the first valve body 73, the number of through holes 71D opened by the first valve body 73 (3) is smaller than the number (2). The through-hole 72D of the two sleeve 72 is opened.
- the contact portion 401A of the stopper 401 and the second protruding shaft 62A of the spool 60 are the number of through holes 71D in which the second valve body 74 is opened by the first valve body 73 when the drive motor 30 is rotated forward.
- Each of the second sleeves 72 is formed in such a length as to open the through hole 72D of the second sleeve 72 with a smaller number.
- the position of the first valve body 73 is set by the first protruding shaft 61 ⁇ / b> A of the spool 60 that contacts the first sleeve 71.
- the stopper 401 and the adjustment mechanism 402 do not affect the operation control of the cylinder control device 400, and the second The same operation control as in the embodiment is performed.
- the length of the contact portion 401A of the stopper 401 and the first protruding shaft 61A of the spool 60 is the length before the first valve body 73 contacts the contact portion 401A of the stopper 401 when the drive motor 30 is reversed.
- the spool 60 is formed in such a length that it abuts against the first sleeve 71.
- the cylinder control device 400 adjusts the maximum movement position (second position) of the first valve body 73 by restricting the sliding of the first valve body 73 in the compression direction of the first spring 75.
- the extension speed of the piston rod 12 can be adjusted.
- the stopper 401 and the adjustment mechanism 402 are provided on the first sleeve 71 side so that the extension speed of the piston rod 12 can be adjusted.
- the stopper 401 and the adjustment mechanism 402 may be provided on the second sleeve 72 side so that the contraction speed of the piston rod 12 can be adjusted.
- a stopper 401 and an adjustment mechanism 402 may be provided on both the first sleeve 71 side and the second sleeve 72 side so that both the speed of expansion and contraction can be adjusted.
- the cylinder control device 400 has a plurality of through holes 71D and 72D as supply / exhaust ports that communicate the first and second valve chambers 81 and 82 with the first and second cylinder passages 91 and 92. It has.
- the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92 may be configured to have a slit as a supply / exhaust port. And the structure provided with both of a through-hole may be sufficient.
- the supply / exhaust port that communicates the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92 in this embodiment has a resistance imparted to the hydraulic fluid that passes through the supply / discharge port. Any configuration that changes in multiple stages depending on the sliding position of the valve body may be used.
- stopper 401 and the adjustment mechanism 402 are not limited to the above-described configuration, and are in contact with the first and second valve bodies 73 and 74 to slide the first and second valve bodies 73 and 74 (maximum movement position). ) Can be used.
- the operation unit 402A that is a knob is manually rotated to move the stopper 401, but instead, the stopper does not include the screw portion 401B, and the adjustment mechanism 402 includes a solenoid, and the stopper It is good also as a structure which moves by solenoid.
- the cylinder control device 400 includes a stopper 401 that restricts sliding of the first valve body 73 in the compression direction of the first spring 75 and an adjustment mechanism 402 that can adjust the position of the stopper 401. For this reason, the maximum movement position (second position) of the first valve body 73 can be adjusted, and the resistance applied to the hydraulic oil supplied to the first cylinder chamber 14 can be adjusted. Therefore, the extension speed of the piston rod 12 can be adjusted.
- the cylinder control device uses hydraulic oil as the working fluid, but an incompressible fluid such as water or an aqueous solution may be used instead of the hydraulic oil.
- the supply and discharge ports that communicate the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92 are the communication passages 71B and 72B and the throttle passages 71C and 72C.
- the present invention is not limited to these embodiments.
- the second and third embodiments are combined to supply and discharge the first and second valve chambers 81 and 82 and the first and second cylinder passages 91 and 92.
- a plurality of through holes and slits may be provided as the mouth.
- the shape is not limited to the above embodiment.
- the plurality of through holes 71D and 72D are formed with a smaller diameter as they approach the communication ports 71A and 72A, and the slits 71E and 72E gradually increase in width as they approach the communication port. It may be formed to decrease.
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Abstract
Description
図1~図4を参照して、本発明の第1実施形態によるシリンダ制御装置100について説明する。
次に、図5~図8を参照して、本発明の第2実施形態に係るシリンダ制御装置200について説明する。以下では、上記第1実施形態と異なる点を中心に説明し、上記第1実施形態のシリンダ制御装置100と同一の構成には同一の符号を付して説明を省略する。
次に、図10~12を参照して、本発明の第3実施形態に係るシリンダ制御装置300について説明する。以下では、上記第2実施形態と異なる点を中心に説明し、上記第2実施形態のシリンダ制御装置200と同一の構成には同一の符号を付して説明を省略する。
次に、図13~17を参照して、本発明の第4実施形態に係るシリンダ制御装置400について説明する。以下では、上記第2実施形態と異なる点を中心に説明し、上記第2実施形態のシリンダ制御装置200と同一の構成には同一の符号を付して説明を省略する。
Claims (12)
- 二つのシリンダ室内の作動流体の流体圧により駆動するシリンダと、
二つのポートを有し、これらポートから選択的に作動流体を吐出するポンプと、
前記シリンダと前記ポンプの間で流れる作動流体の流れを制御する制御弁と、を備えるシリンダ制御装置であって、
前記制御弁は、
本体部と、
前記本体部内に摺動自在に設けられるスプールと、
前記本体部内に前記スプールの両端部に対向してそれぞれ設けられ、前記スプールの端部との間に、いずれか一方の前記ポートと接続するバルブ室を画成し、前記バルブ室に連通する連通口といずれか一方の前記シリンダ室に連通する給排口とを有するスリーブと、
前記スリーブ内に摺動自在に設けられ、摺動位置に応じて前記連通口と前記給排口との連通状態を制御する弁体と、
前記連通口を閉じる方向に前記弁体を付勢する付勢部材と、を備え、
前記ポンプが作動流体を吐出しない場合には、二つの前記弁体は、前記付勢部材の付勢力によって前記連通口を閉じることで、前記バルブ室と前記シリンダ室との連通を遮断し、
前記ポンプが一方の前記ポートから一方の前記バルブ室に作動流体を吐出する場合には、一方の前記弁体は、一方の前記バルブ室内の流体圧によって、前記付勢部材の付勢力に抗して移動することで、一方の前記バルブ室から一方の前記給排口を通じて一方の前記シリンダ室に向かう作動流体の流れを許容し、他方の前記弁体は、一方の前記バルブ室内の流体圧によって移動する前記スプールに押されて、一方の前記給排口によって通過する作動流体に付与される抵抗よりも大きい抵抗が他方の前記給排口によって通過する作動流体に付与されるように前記付勢部材の付勢力に抗して移動することで、他方の前記シリンダ室から他方の前記給排口を通じて他方の前記バルブ室に向かう作動流体の流れを許容するシリンダ制御装置。 - 請求項1に記載のシリンダ制御装置であって、
前記給排口は、
前記シリンダ室に連通する連通路と、
前記シリンダ室に連通するとともに前記連通路より流路面積が小さい絞り通路と、を備え、
前記ポンプが一方の前記ポートから一方の前記バルブ室に作動流体を吐出する場合には、一方の前記弁体は、一方の前記バルブ室内の流体圧によって前記付勢部材の付勢力に抗して移動することで、一方の前記バルブ室から一方の前記連通路及び前記絞り通路を通じて一方の前記シリンダ室に向かう作動流体の流れを許容し、他方の前記弁体は、一方の前記バルブ室内の流体圧によって移動する前記スプールに押されて、前記付勢部材の付勢力に抗して移動することで、前記連通口と前記連通路との連通を遮断すると共に前記連通口と前記絞り通路とを連通して、他方の前記シリンダ室から他方の前記絞り通路を通じて他方の前記バルブ室に向かう作動流体の流れを許容するシリンダ制御装置。 - 請求項1に記載のシリンダ制御装置であって、
前記給排口は、前記弁体の摺動方向に並んで形成される複数の貫通孔を備え、
前記ポンプが一方の前記ポートから一方の前記バルブ室に作動流体を吐出する場合には、一方の前記弁体は、一方の前記バルブ室内の流体圧によって、前記付勢部材の付勢力に抗して移動して、一方の前記バルブ室から一方の前記貫通孔を通じて一方の前記シリンダ室に向かう作動流体の流れを許容し、他方の前記弁体は、一方の前記バルブ室内の流体圧によって移動する前記スプールに押されて、一方の前記弁体によって開口する一方の前記貫通孔の個数よりも少ない個数で他方の前記貫通孔が開口するように前記付勢部材の付勢力に抗して移動することで、他方の前記シリンダ室から他方の前記貫通孔を通じて他方の前記バルブ室に向かう作動流体の流れを許容するシリンダ制御装置。 - 請求項1に記載のシリンダ制御装置であって、
前記給排口は、前記弁体の摺動方向に延在するスリットとして前記スリーブに形成され、
前記ポンプが一方の前記ポートから一方の前記バルブ室に作動流体を吐出する場合には、一方の前記弁体は、一方の前記バルブ室内の流体圧によって、前記付勢部材の付勢力に抗して移動して、一方の前記バルブ室から一方の前記スリットを通じて一方の前記シリンダ室に向かう作動流体の流れを許容し、他方の前記弁体は、一方の前記バルブ室内の流体圧によって移動する前記スプールに押されて、一方の前記弁体によって開口する一方の前記スリットの開口面積よりも小さい開口面積で他方の前記スリットが開口するように前記付勢部材の付勢力に抗して移動することで、他方の前記シリンダ室から他方の前記スリットを通じて他方の前記バルブ室に向かう作動流体の流れを許容するシリンダ制御装置。 - 請求項2に記載のシリンダ制御装置であって、
前記スプールは、両端部のそれぞれから外側に突出し、当該スプールの移動により前記弁体を押圧移動させる突出軸を備え、
前記連通口は、前記スリーブのスプール側端面に前記突出軸が挿通可能に形成され、前記弁体の先端部によって開閉されるように構成されており、
前記絞り通路及び前記連通路は前記スリーブの側壁に形成され、前記連通路は前記絞り通路よりも前記スリーブのスプール側端面から離間した位置に設けられるとともに前記弁体の摺動壁によって開閉されるように構成されており、
前記弁体は、前記突出軸に押されて移動する場合には、前記連通路が閉状態であって、前記連通口と前記絞り通路のみが連通する第1位置まで押し下げられ、前記バルブ室内の流体圧によって移動する場合には、第1位置よりも外側位置であって、前記連通口と前記絞り通路及び前記連通路とが連通する第2位置まで押し下げられるシリンダ制御装置。 - 請求項3に記載のシリンダ制御装置であって、
前記スプールは、両端部のそれぞれから外側に突出し、当該スプールの移動により前記弁体を押圧移動させる突出軸を備え、
前記連通口は、前記スリーブのスプール側端面に前記突出軸が挿通可能に形成され、前記弁体の先端部によって開閉されるように構成されており、
前記貫通孔は前記スリーブの側壁に形成され、前記弁体が前記スリーブのスプール側端面に近づくにつれて、前記弁体の摺動壁によって前記貫通孔の一部が閉じられ、前記バルブ室に対して開口する前記貫通孔の個数が減少するように構成されており、
前記弁体は、前記突出軸に押されて移動する場合には、開口する前記貫通孔の個数が最大より少ない状態で前記連通口と前記貫通孔が連通する第1位置まで押し下げられ、前記バルブ室内の流体圧によって移動する場合には、第1位置よりも外側位置であって、開口する前記貫通孔の個数が最大となる状態で前記連通口と前記貫通孔とが連通する第2位置まで押し下げられるシリンダ制御装置。 - 請求項4に記載のシリンダ制御装置であって、
前記スプールは、両端部のそれぞれから外側に突出し、当該スプールの移動により前記弁体を押圧移動させる突出軸を備え、
前記連通口は、前記スリーブのスプール側端面に前記突出軸が挿通可能に形成され、前記弁体の先端部によって開閉されるように構成されており、
前記スリットは、前記スリーブの側壁に形成され、前記弁体が前記スリーブのスプール側端面に近づくにつれて、前記弁体の摺動壁によって開口部が閉じられ、前記バルブ室に対する開口面積が減少するように構成されており、
前記弁体は、前記突出軸に押されて移動する場合には、前記スリットの開口面積が最大より小さい状態で前記連通口と前記スリットが連通する第1位置まで押し下げられ、前記バルブ室内の流体圧によって移動する場合には、第1位置よりも外側位置であって、前記スリットの開口面積が最大となる状態で前記連通口と前記スリットとが連通する第2位置まで押し下げられるシリンダ制御装置。 - 請求項5から7のいずれか一つに記載のシリンダ装置であって、
前記突出軸の長さは、前記スプールの端部が前記スリーブの端面に当接した状態において、前記弁体を第1位置まで押し下げる長さに設定されるシリンダ制御装置。 - 請求項5から8のいずれか一つに記載のシリンダ装置であって、
前記弁体は、前記バルブ室内の流体圧によって移動する場合には、前記付勢部材を最収縮させて、第2位置まで押し下げられるシリンダ制御装置。 - 請求項1、3又は4のいずれか一つに記載のシリンダ制御装置であって、
前記付勢部材の圧縮方向の前記弁体の摺動を規制するストッパと、
前記ストッパの位置を調整可能な調整機構と、をさらに備えるシリンダ制御装置。 - 請求項10に記載のシリンダ制御装置であって、
前記ポンプが一方の前記ポートから一方の前記バルブ室に作動流体を吐出する場合には、一方の前記弁体は、一方の前記バルブ室内の流体圧によって、前記付勢部材の付勢力に抗して前記ストッパに当接するまで移動して一方の前記給排口を開口し、他方の前記弁体は、一方の前記バルブ室内の流体圧によって移動する前記スプールに押されて、一方の前記弁体によって開口する一方の前記給排口の開口面積よりも小さい開口面積で他方の前記給排口が開口するように前記付勢部材の付勢力に抗して移動するシリンダ制御装置。 - 請求項11に記載のシリンダ制御装置であって、
前記調整機構は、
前記ストッパを前記弁体の摺動方向に移動させるための操作部と、
前記ストッパの位置を固定するための固定部と、を備えるシリンダ制御装置。
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WO2016016031A1 (de) * | 2014-07-31 | 2016-02-04 | Siemens Aktiengesellschaft | Linearaktor und verfahren zum betrieb eines solchen linearaktors |
JP2021134906A (ja) * | 2020-02-28 | 2021-09-13 | Kyb株式会社 | 流体圧駆動ユニット |
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DE102013220279A1 (de) * | 2013-10-08 | 2015-04-23 | Deere & Company | Hydraulisches Wegeventil |
CN107339282B (zh) * | 2017-06-12 | 2019-06-04 | 南京航空航天大学 | 一种无阀电液作动器 |
CN107339268B (zh) * | 2017-08-29 | 2019-03-22 | 广船国际有限公司 | 一种舷梯控制与驱动系统及其方法 |
CN108386395B (zh) * | 2018-03-06 | 2020-04-10 | 广西大学 | 一种甘蔗收割机输送通道防堵液压控制系统 |
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