JP3375690B2 - Servo cylinder device with brake mechanism - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a piston for preventing inconvenience from occurring in a cylinder when supply of fluid pressure or power supply is interrupted while the cylinder is in use. Cylinder with a brake mechanism that can reliably brake the vehicle
Related to the device . 2. Description of the Related Art Conventionally, in an actuator for displacing a work by a table or the like fixed to the tip of a rod, the rod is engaged with a piston in a cylinder, and the piston is displaced by air pressure. There is a method in which the rod is fixed to a ball screw and the piston is displaced by a motor or the like via the ball screw. [0003] The method for displacing the piston by air pressure, the output is large, it is possible to displace the large work load, to position because the word <br/> click air itself is compressible fluid accurately It was practically difficult. On the other hand, in the method of displacing a work by a motor, a stop position can be strictly obtained because of electric control. However, when a heavy work is transferred and positioned, an output is not obtained. A large motor must be selected, resulting in a disadvantage that the motor itself becomes large. Therefore, an actuator has been proposed in which a work is transferred by a cylinder to the vicinity of a stop position by using air pressure, and the work is accurately stopped at a desired position by a motor from the vicinity of the stop position. By adopting such a configuration, the motor can be small, and the entire actuator can be miniaturized, and the work can be stopped at a desired position with high accuracy. However, when the actuator is used by displacing the piston of the actuator in the vertical direction, the work suddenly drops due to a failure such as a power failure or a stoppage of fluid pressure supply. There is a possibility that. SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and has a brake mechanism capable of holding a work at an original position with a simple configuration irrespective of a stoppage of supply of fluid pressure or a cutoff of power. It is an object to provide a servo cylinder device . [0008] To achieve the above object Means for Solving the Problems] The present invention includes a cylinder body, said Shirindabode
Rotating drive source that is disposed in the
And a feed rotating by the rotational driving force of the rotational driving source.
A screw shaft and the feed screw shaft, wherein the rotational driving force is
Operation between pressure and pressing force of pressure fluid supplied to cylinder chamber
Freely displaceable along the axial direction of the cylinder body for use
And a rotational driving force of the rotational driving source
Drive force transmission means for transmitting to said feed screw shaft, the supply of
The piston is in non-braking state by the pressing force of the pressurized fluid
And the pressure drop from the non-braking state causes the piston
A brake mechanism for braking, by energizing signal is applied and the brake mechanism and the pressure fluid supply source is communicated with respect to emissions supplying pressure fluid to said braking mechanism
And, the brake mechanism <br/> By de-energized signal is applied, characterized in that it comprises the that collecting magnetic valve be opened to the atmosphere to. [0009] Saboshiri with the engagement Lube rake mechanism to the present invention
Since the cylinder device has a brake mechanism that brakes the piston when the pressure of the supplied pressure fluid decreases,
When the supply of the pressure fluid is stopped due to a failure of the pressure fluid supply source or the like , the brake mechanism operates to brake the piston at that position. In addition, pressure is applied to the cylinder body when the power is turned off.
The electromagnetic control valve that supplies fluid is deactivated, and the cylinder body
Reduced pressure of the supplied pressure fluid is to be as a piston was ready to fall, the pressure flow to the brake mechanism
Body closed is that electrostatic magnetic control valve to supply to actuate the brake mechanism by the brake mechanism is opened to the atmosphere, to brake instantaneously piston at that position. Therefore , even if the cylinder is used in the vertical direction, there is no danger that the work will fall. Further, an energizing signal is applied to the electromagnetic control valve.
Communication between the pressure fluid supply source and the brake mechanism.
Pressurized fluid is supplied to the brake mechanism
By and Turkey, of the brake mechanism that is braking the piston
The braking state is released. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A servo system having a brake mechanism according to the present invention is described.
For Linda device, like the preferred embodiment will be described in detail with reference to the accompanying drawings. Referring to FIG. 1, a servo cylinder device 10
Will be described briefly. First, a compressed air supply source (pressure fluid supply
12 ) an electro-pneumatic regulator 13 for controlling compressed air to a predetermined pressure from a source 12, a normally closed electromagnetic switching valve (electromagnetic
Control valve) 14 via the cylinder body (cylinder body)
16 is supplied with compressed air. Alternatively, the electromagnetic switching valve 14
The compressed air is released from the cylinder body 16 to the atmosphere through the
The piston 20 is displaced in the up and down direction together with 8. The ball screw shaft (feed screw shaft) 22 engaged with the piston 20 is rotated by the vertical movement of the piston 20, and the timing belt 24 and the drive shaft 2 of the motor (rotation drive source) 26
8, the output of the encoder 30 is obtained.
The displacement of the piston 20 is detected by a signal of 0. When the piston 20 reaches a predetermined position, a change signal is transmitted from the controller 32 to change the set value of the electro-pneumatic regulator 13 to a pressure value that supports only the static load of the work W, and a drive signal is transmitted to the motor 26. Is transmitted.
As a result, the piston 20 is displaced via the ball screw shaft 22 by the driving force of the motor 26 instead of the air pressure. When the controller 32 confirms that the piston 20 has reached the predetermined position based on the output of the encoder 30, the normally closed electromagnetic switching valve 34 is deenergized by a signal from the controller 32 and the disc brake mechanism (brake) Mechanism) to bias the piston 20
Is stopped. The servo cylinder device 1 which operates as described above
The configuration and operation of the zero cylinder body 16 will be described in detail. The cylinder body 16 is, as shown in FIG.
It is basically composed of a head cover 40, a cylinder tube 42, a rod cover 44, and a table 46 that engages with the work W. FIG. 3 shows the inside of the cylinder body 16.
As shown in FIG. 5, an air pressure supply mechanism 48 for supplying air into the cylinder tube 42 and a ball screw shaft rotation mechanism 50
A disk brake mechanism 36 that brakes the ball screw shaft 22 to stop the displacement of the piston 20;
A detent mechanism 52 for preventing rotation of the motor is provided. The air pressure supply mechanism 48 includes an electro-pneumatic regulator 13 connected to the compressed air supply source 12,
An electromagnetic switching valve 14 communicating with the empty regulator 13 is built in the head cover 40, and is communicated from the electromagnetic switching valve 14 to an end of the cylinder chamber 64 on the rod cover 44 side via the connection plate 60 and the passage 62 of the cylinder tube 42. ing. A passage 6 communicating with the outside of the cylinder tube 42 is provided at a side end of the head cover 40 of the cylinder chamber 64.
6 are defined. In the ball screw shaft rotating mechanism 50, FIG.
As shown in (1), the ball screw shaft 22 is supported in the head cover 40 via an angular ball bearing 70 so as to be freely displaceable and rotatable in the axial direction. The ball screw shaft 22
The screw groove 72 is formed only in a portion corresponding to the inside of the cylinder chamber 64,
The diameter is once increased at the end of the head cover 40 side, and then gradually reduced, and a pulley 74 is provided at the end. The ball screw shaft 22 is attached to the body 7 fitted to the piston 20.
8 and a ball screw. As shown in FIG. 4, the piston 20 is provided with cushioning members 80 a and 80 b at the rod cover 44 side end and the head cover 40 side end, and at a portion sliding with the inner peripheral surface of the cylinder chamber 64. , Magnet 82 and piston packing 84 are fitted. The magnet 82 is connected to the piston 20 by a sensor provided at a predetermined position on the outer surface of the cylinder tube 42.
It is used to detect an abnormality in the position of. The inside of the head cover 40, parallel to motors 26 is provided on the ball screw shaft 22, together with the pulley 86 is provided at the end of the drive shaft 28, the rotation angle of the drive shaft 28 An encoder 30 for detecting is provided. Further, between the pulleys 74 and 86,
A timing belt 24 is suspended. As shown in FIG. 5, the disc brake mechanism 36 is composed of a member disposed in a hole 100 of the head cover 40 in which the angular ball bearing 70 is provided. The hole portion 100 is reduced in diameter in two stages from the pulley 74 side of the ball screw shaft 22 toward the angular ball bearing 70, and a brake cylinder 102 having an L-shaped cross section in the radial direction is formed on the bottom surface of the first stage. Is the bulging part 102
a is fixed to the ball screw shaft 22 side. A cylindrical piston 10 having a substantially L-shaped cross section in a radial direction so as to contact the inner peripheral surface of the brake cylinder 102.
4 are provided. The piston 104 is disposed so as to sandwich the bulging portion 102a of the brake cylinder 102 between the braking member 106 fixed to the pulley 74 side and the bulging portion 104a of the piston 104. The movable range of the piston 104 in the axial direction is restricted by the contact of the brake member 104a or the bulging portion 102a of the brake cylinder 102 with the braking member 104a. Further, a space 108 is defined between the piston 104 and the brake cylinder 102, and a piston packing 114 fitted on the outer peripheral surface of the piston 104 sliding on the inner peripheral surface of the brake cylinder 102.
The space 108 is kept airtight by a and 114b. The electromagnetic switching valve 34 communicating with the compressed air supply source 12 and the space 108 are connected to the head cover 40 and the passage 11 defined inside the brake cylinder 102.
0 and 112. A bearing holding member 116 is fixed to the bottom surface of the second stage of the hole 100, and a coil spring 118 is inserted between the bearing holding member 116 and the piston 104. Therefore, the piston 104 is constantly urged in the Z1 direction by the coil spring 118. Further, the brake cylinder 102 supports a braking member 122, which is a donut-shaped disk, via a supporting member 120. On the other hand, a brake disc 128 is mounted on the ball screw shaft 22 in the vicinity of the pulley 74 via a frame key 124 and a frame 126. The brake disk 128 is configured to rotate near the braking member 122. The anti-rotation mechanism 52 includes a piston rod 18
Is a mechanism for preventing the table 46 displaced via the shaft from rotating together with the piston rod 18. The piston rod 18 has a cylindrical shape as shown in FIG.
It is screwed on the side. The ball screw shaft 22 is inserted into the hole 130 inside the piston rod 18 so as to be aligned with the piston rod 18 without contacting the wall surface of the hole 130. The piston rod 1
A shaft 132 is screwed to the end of the rod cover 44 on the side of the rod cover 8, and the shaft 132 is fixed to the table 46 by bolts or the like (not shown). Guide rods 134a and 134b are fixed to both ends of the table 46 by bolts (not shown). The guide rod 134
a and 134b are axially slidably supported by ball bushes 136a and 136b provided on both side surfaces of the rod cover 44. Has been inserted. A terminal 1 for connecting a control signal and a power signal from the controller 32 is connected to the head cover 40.
A terminal block 146 provided with 42 and 144 is provided. Next, the operation of the servo cylinder device 10 configured as described above will be described. Here, in displacing the workpiece W upwardly (cylinder chamber 64, piston
Let Displacement to position X2 the emissions 20 from the position X1) with reference to FIG. 6 will be described. The piston is stopped at the position X1 (time 0 to 0).
In the case of t1), the electro-pneumatic regulator 13 is set to the pressure P0 that supports only the static load of the work W, the piston rod 18, the piston 20, and the like, and the electromagnetic switching valve 14 is energized, and the electromagnetic switching valve 34 are exterminated. As a result, the pressure in the first chamber 64a on the rod cover 44 side of the cylinder chamber 64 of the cylinder body 16 becomes P0, and reliably supports the work W, the piston 20, and the like, while the space 108 of the disc brake mechanism 36 is opened to the atmosphere. Therefore, the piston 104 is displaced in the Z1 direction under the elastic force of the coil spring 118, and the braking member 106 is pressed against the brake disk 128. Thus, the brake <br/> key disk 128 is rotation of the ball screw shaft 22 is prevented by being held between the braking member 106, 122, and the piston 20 is stopped. When the piston 20 is displaced to the position X2, first, a change signal for changing the set pressure to P1 (> P0) is transmitted from the controller 32 to the electro-pneumatic regulator 13, and the change signal is transmitted to the electromagnetic switching valve 34. An activation signal is transmitted. As a result, the compressed air supply source 12 and the space 108 of the disc brake mechanism 36 communicate with each other, and compressed air is supplied to the space 108. As shown by a two-dot chain line in FIG. As a result, the piston 104 is displaced in the Z2 direction, and the brake member 106 is separated from the brake disk 128 of the ball screw shaft 22 to bring the disk brake mechanism 36 into an inoperative state. That is, the piston 20 becomes freely displaceable. In this state, the pressure P1 is supplied from the electro-pneumatic regulator 13 and the electromagnetic switching valve 14.
Is introduced into the first chamber 64a of the cylinder body 16, the piston 20 is displaced in the Z1 direction. At this time, since the ball screw shaft 22 and the body 78 are engaged, a rotational moment acts on the piston 20. However, since the detent guide rods 134a and 134b mounted on the table 46 connected to the piston 20 via the piston rod 18 are inserted into the holes 140a and 140b of the flange 138, the piston 20 rotates. I will not do it. Therefore,
The ball screw shaft 22 rotates with the displacement operation of the piston 20. The rotation is transmitted to the drive shaft 28 of the motor 26 via a pulley 74, a timing belt 24, and a pulley 86 provided at an end of the ball screw shaft 22 on the head cover 40 side. Eventually, the rotation amount of the drive shaft 28 is transmitted to the controller 32 via the encoder 30 and detected as the displacement amount of the piston 20. In the controller 32, the piston 20
Urging together is transmitted to the air regulator 13, the motor 26 - but from position X2 to detect that it has reached the switching position of the distance ε1 and (time t2), change signal collector for changing the set pressure from P1 P0 A power signal is transmitted. As a result, the pressure in the first chamber 64a of the cylinder body 16 becomes P0, and supports only the static load of the piston 20, the work W, and the like.
Especially made, but since the motor 26 is driven, the pulley 8
6, a timing belt 24, the pulley 74, the piston 20 through a ball screw shaft 22 is displaced by a distance ε1 at a low speed. [0030] It is detected that the piston 20 reaches the position X2 in the controller 32 based on the output of the encoder 30 (time t3), deenergizing signal is transmitted to the motor 26 and the electromagnetic switching valve 34. As a result, the compressed air supplied to the space 108 is released from the electromagnetic switching valve 34 to the atmosphere through the passages 112 and 110. Therefore, the piston 104 is displaced in the Z1 direction by the elastic force of the coil spring 118 (the position indicated by the two-dot chain line → the position indicated by the solid line), and the braking member 106 is pressed against the brake disk 128, and the braking members 106, 122
With this, the brake disk 128 is held. Therefore, the rotation operation of the ball screw shaft 22 is stopped, and the piston 20 is accurately stopped at the stop position X2. On the other hand, the piston 20 is moved from the position X2 to the position X.
When the displacement is changed to 1, first, at time t4, a deactivation signal is transmitted from the controller 32 to the electromagnetic switching valve 14, and an energizing signal is transmitted to the electromagnetic switching valve 34. As a result, the disc brake mechanism 36
8, the compressed air is introduced, and the braking member 106 is separated from the brake disk 128 of the ball screw shaft 22.
Therefore, the brake is deactivated. Then, the pressure of the first chamber 64a of the cylinder body 16 is reduced from P0 to P2 by opening to the atmosphere, and the piston 20 is displaced in the Z2 direction by the load of the work W or the like. The piston 32 moves from the position X2 to the position X1 by the controller 32 based on the output from the encoder 30.
When the displacement is detected (time t5),
An energizing signal is transmitted to the electromagnetic switching valve 14 and an energizing signal is transmitted to the motor 26. As a result, the cylinder body 1
The pressure in the first chamber 64a of 6 returns to P0 again, and supports the static load of the work W or the like. Then, the piston 20 is displaced in the Z2 direction by the driving force of the motor 26. The piston 20 by the controller 32 based on the output of the encoder 30 is detected to have reached the position X1 and (time t6), the motor 26 and the electromagnetic switching valve 3
4 is transmitted. Therefore, the compressed air in the space 108 of the disc brake mechanism 36 is released to the atmosphere,
The braking member 1 is acted upon by the elastic force of the coil spring 118.
06,122 for the brake disk 128 is sandwiched to brake the rotation of the ball screw shaft 22 by the piston 20 in position <br/> X1 is accurately stopped. As described above, in the servo cylinder device 10 according to the present embodiment, the brake disk 128 provided on the ball screw shaft 22 is sandwiched between the braking members 106 and 122 of the disk brake mechanism 36 so that the ball screw shaft 22 Is stopped, and the piston 20 is stopped. Therefore, the piston 20 switched from the air pressure to the low-speed displacement by the motor 26 can be stopped instantaneously. A description will be given of the safety control in the servo cylinder device 10 in which the supply of air pressure or the power supply is cut off due to the failure of the compressed air supply source 12. [0037] The operation of the disk brake mechanism 36 is described in the context of the time in FIG. 6 t1 to t2 (in piston <br/> down 20 Ri by the air pressure displacement in the Z1 direction). [0038] In this case, in the normal control state shown in FIG. 6, electric - pneumatic regulator 13 is set to pressure P1, the electromagnetic switching valve 14, 34 is being energized. Therefore, the compressed air at the pressure P1 is supplied to the first chamber 64a of the cylinder body 16 (see FIG. 6D), and the compressed air is supplied to the space 108 of the disc brake mechanism 36, so that the braking member 106 The piston 20 is free to be displaced by being separated from the brake disk 128 of the ball screw shaft 22. Here, when a failure occurs in the compressed air supply source 12, the pressure of the compressed air supplied to the first chamber 64a of the cylinder body 16 decreases, and the static load of the piston 20, the work W and the like is reduced. When the pressure is lower than the supporting pressure P0, the piston 20 may be displaced in the Z2 direction.
However, in the disc brake mechanism 36, the space 1
Due to a decrease in the pressure supplied to the coil 08, the piston 104 is displaced in the Z1 direction by the elastic force of the coil spring 118, and the braking member 106 is pressed against the brake disk 128 of the ball screw shaft 22. As a result, the braking member 10
The brake disk 128 is sandwiched by the brake gears 6 and 122 to brake the rotation of the ball screw shaft 22 and prevent the piston 20 from falling (displacement in the Z2 direction). When a power failure occurs, the electromagnetic switching valve 1
4 is deactivated, and the first chamber 64a of the cylinder body 16 is opened to the atmosphere. Therefore, the piston 20 may be displaced in the Z2 direction. However, since the electromagnetic switching valve 34 is also deenergized, the space 108 is opened to the atmosphere through the passages 110 and 112, and the brake disk 128 of the ball screw shaft 22 is moved by the coil spring 118 so that the braking member 106, It is clamped at 122 and braked. As a result,
This prevents the piston 20 from falling (displacement in the Z2 direction). Other than the above, the piston 20 by the motor 26
During the displacement (time t2 to t3, time t5 to t6),
Alternatively, even when the piston 20 is falling (time t4 to t5), substantially the same operation is performed, and the description is omitted. Also, during braking of the piston 20 (time 0 to t)
1, during time t3 to t4), during piston braking, the electromagnetic switching valve 34 is deenergized, and the space 108 is opened to the atmosphere (see FIG. 6 (f)). There is no effect from a source 12 failure or power loss. As described above, in the servo cylinder device 10 according to the present embodiment, the normally closed electromagnetic switching valve 34
Since the compressed air supply source 12 and the disc brake mechanism 36 are communicated with each other at the same time, and the disc brake mechanism 36 is configured to be braked by lowering the air pressure, the piston 2 can be operated regardless of the failure of the compressed air supply source 12 or the power cutoff.
0 can be stopped quickly, and a fall accident or the like of the work W can be reliably prevented. In the detent mechanism 52 of the cylinder body 16 according to the present embodiment, the guide rods 134a, 134
Although the rotation of the piston 20 and the table 46 is stopped by the b, the spline-shaped protrusion is provided on the piston rod 18 and the hole is formed on the rod cover 44 side by defining a hole into which the protrusion fits. A stopping function can be achieved. When the work W is light in weight, the work W may not fall by its own weight (Z2 direction). Therefore, the second chamber 64b on the head cover 40 side of the cylinder chamber 64 and the compressed air supply source 12 are connected to each other by the passage 66. A configuration in which communication is performed via the pressure reducing valve 150 is conceivable. In this case, the piston 20 is
When displacing in two directions, if the electromagnetic switching valve 14 is deactivated and the first chamber 64a is opened to the atmosphere, the second chamber 64b
Since the pressure is always applied to the first chamber 64a,
The piston 20 based on the pressure difference between the piston 20 and the second chamber 64b.
It can be displaced in two directions. The server with the engagement Lube rake mechanism to the present invention
According to the bo cylinder device , the following effects can be obtained. That is, since a brake mechanism is provided for braking the piston when the pressure of the supplied pressure fluid is reduced, when the supply of the pressure fluid is stopped due to a failure of the pressure fluid supply source or the like , the brake is stopped. mechanism can be braked at the position of the piston operates. Further, pressure is applied to the cylinder body due to power cutoff.
The electromagnetic control valve that supplies fluid is deactivated, and the cylinder body
Reduced pressure of the pressure fluid to be supplied to the even piston was ready to fall, the pressure flow to the brake mechanism
Body closed is that electrostatic magnetic control valve to supply to actuate the brake mechanism by the brake mechanism is opened to the atmosphere, can be braked instantaneously piston at that position. Therefore , when the cylinder is used in the vertical direction, it is possible to reliably prevent the workpiece from falling even if a failure of the pressure fluid supply source or a power failure occurs.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram of a servo cylinder device according to an embodiment of the present invention. FIG. 2 is an explanatory perspective view of a cylinder main body of the servo cylinder device according to the embodiment of the present invention. FIG. 3 is a partially sectional explanatory view of a cylinder main body of the servo cylinder device according to the embodiment of the present invention. FIG. 4 is an explanatory sectional view of a piston portion in a cylinder body of the servo cylinder device according to the embodiment of the present invention. FIG. 5 is a partially sectional explanatory view of a disk brake mechanism in a cylinder body of the servo cylinder device according to the embodiment of the present invention. FIG. 6 is a timing chart of the servo cylinder device according to the embodiment of the present invention. [Description of References] 10 ... Servo cylinder device 13 ... Electro-pneumatic regulator 14, 34 ... Electromagnetic switching valve 16 ... Cylinder main body 20, 104 ... Piston 22 ... Ball screw shaft 24 ... Timing belt 26 ... Motor 28 ... Drive shaft 30 ... Encoder 32 ... Controller 36 ... Disc brake mechanism 74, 86 ... Pulley 106, 122
... braking member 108 ... space 118 ... coil spring 128 ... brake disc

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Kaoru Suzuki 4-2-2 Kinudai, Taniwara-mura, Tsukuba-gun, Ibaraki Pref. SMC Corporation Tsukuba Technical Center (56) Reference Reference ) Actually open sho 60-116433 (JP, U) Actually open sho 58-88031 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) F15B 15/26 F15B 15/08 F16J 1 / 16

Claims (1)

(57) [Claim 1] A cylinder body, and a cylinder body, which is driven by an electric signal.
Rotating drive source, and a feed screw rotated by the rotating drive force of the rotary drive source
Shaft, and the rotation driving force and the cylinder screwed to the feed screw shaft.
Under the action of switching with the pressing force of the pressure fluid supplied to the chamber.
It is provided to be displaceable along the axial direction of the cylinder body.
And the rotational drive force of the rotational drive source is transmitted to the feed screw shaft.
The piston is not controlled by the driving force transmitting means and the pressing force of the supplied pressure fluid.
To a moving state, and the pressure drop from the non-braking state causes the
A brake mechanism for braking the piston, and a pressure fluid supply source and
A brake mechanism by communicating pressure to the brake mechanism
By supplying a force fluid and receiving a deactivation signal
Servo having a brake mechanism for a brake mechanism comprising: the that collecting magnetic valve be opened to the atmosphere and
Cylinder device .