JPS6161958B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cylinder device suitable for multiple operations of an operating section such as a manipulator.

Conventionally, this type of cylinder device was developed by
There is one shown in Publication No. 48-49775.

This cylinder device has a cylinder section at the tip of the rod that opens and closes an operating part such as a manipulator, and this cylinder section is constantly connected via an inner tube provided inside the rod and a hollow shaft cylinder provided inside the cylinder body. The manipulator is configured to be connected to a pressure fluid supply/discharge port, and the manipulator has pressure fluid supplied/discharged from the supply/discharge port to the cylinder section, thereby
It is designed to open and close at the same time as the rod expands and contracts or independently.

However, with the above-mentioned conventional device, even after the manipulator has gripped the object, there is a risk that pressure fluid may be supplied to and discharged from the cylinder section, and the manipulator may inadvertently stop the rod from extending or retracting. There was a risk that it would open or close. In other words, in this cylinder device, the cylinder part of the manipulator is always connected to the pressure fluid supply/discharge port, so the manipulator can be opened and closed regardless of the expansion and contraction of the rod. Problems have arisen in which the object may be dropped during the rod's expansion and contraction motion, or the timing at which the object is released may be delayed and the object may not be placed in a predetermined position.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and its object is to supply and discharge pressurized fluid to and from the cylinder portion of a manipulator in conjunction with the expansion and contraction movements of the rod. The gist is that a second piston is slidably fitted into the cylinder body, a second rod passing through an end member of the cylinder body is fixed to the second piston,
A first piston is slidably fitted into the cylinder body on the side opposite to the rod from the second piston, and
A first rod passing through the rod and the second piston is provided in the first piston, and a first pressure chamber is formed on the side opposite to the rod from the first piston, and a second pressure chamber is formed on the side of the rod from the second piston. , forming a third pressure chamber between the first piston and the second piston,
Each supply/discharge port communicating with the first pressure chamber and the second pressure chamber is provided in the cylinder body, and when the first piston and the second piston move to the lower end position, a supply port and a discharge port communicating with the third pressure chamber are provided. A discharge port is provided in the cylinder body that communicates with the third pressure chamber when the first piston and the second piston move to the upper end position, and claws are provided at the protruding ends of the first and second rods that protrude outside the cylinder body. A main body of the actuating part is provided at the protruding end of the second rod, and a pawl actuating member capable of abutting against the step of the inner hole of the main body is provided at the protruding end of the first rod. The cylinder device is characterized in that a part of the pawl actuating member is engaged with the pawl so that the pawl opens and closes when the pawl actuating member comes into contact with the pawl actuating member.

According to the cylinder device of the present invention, when the first piston and the second piston move to the lower end position, pressure fluid can be supplied from the supply port of the cylinder body to the third pressure chamber, and pressure fluid can be supplied to the third pressure chamber. When fluid is supplied, the first piston and the second piston move in opposite directions and are separated, and the pawl operating member of the first rod comes into contact with the stepped portion of the main body of the second rod to open and close the pawl. In addition, when the first and second pistons move to the upper end position, the pressure fluid in the third pressure chamber can be discharged from the discharge port of the cylinder body, so the first and second pistons are reunited and the claws open and close. let In other words, with the cylinder device of the present invention, there is no fear that pressure fluid will be supplied or discharged to the third pressure chamber at any position other than the above two connection positions, and once the claw is held in the open or closed state, it will not open or close inadvertently. There's nothing to do.

Hereinafter, a diagram showing an embodiment of the present invention will be described.

Reference numeral 1 denotes a cylinder body having an inner hole 2, and is formed by fixing a rod side end member 4 and a head side end member 3 to both ends of a cylinder tube 5 with bolts 6.
Two concentrically arranged first and second rods 7, 8 pass through the rod side end member 4. This first,
At the projecting ends of the second rods 7, 8 projecting to the outside of the cylinder body 1, an actuating portion 9 having a claw is provided. The first rod 7 is fixed to the end of the cylinder body 1 of the first piston 10 which is slidably fitted into the inner hole 2 of the cylinder body 1, and the second rod 8 is slidably fitted into the inner hole 2. A locking member 17 is provided at the end of the second piston 11 to which the first piston 10 comes into contact.

Reference numeral 12 denotes a first pressure chamber that is formed on the side opposite to the rod (upper side in the figure) from the first piston 10, and into which the supply/discharge port 15 of the head side end member 3 opens. This first pressure chamber 12 is opened to a pressurized air source or the atmosphere via a supply/discharge port 15 provided on the head side end member 3 and a switching valve 25 having switching positions 25a and 25b.
That is, the first pressure chamber 12 is connected to a pressure air source when the switching valve 25 is operated to the switching position 25b, and is opened to the atmosphere when the switching valve 25 is operated to the switching position 25a. When air pressure acts on the first pressure chamber 12, the first piston 10 presses the second rod 8 downward in the figure via the second piston 11. Further, the first rod 7 is pressed downward in the figure by the air pressure received in its cross-sectional area.

14 is formed on the rod side (lower in the figure) than the second piston 11, and is connected to the port 16 of the rod side end member 4.
is the second pressure chamber opened. This second pressure chamber 1
4 is the supply/discharge port 16, switching positions 26a, 26b
Through the switching valve 26 and the switching valve 25,
Open to a source of pressurized air or to the atmosphere. That is, pressurized air flows into the second pressure chamber 14 when the switching valves 25 and 26 are in the switching positions 25a and 26a, respectively. In addition, the switching valves 25 and 26 are at the switching position 25, respectively.
b and 26a, it is exposed to the atmosphere. This second
When air pressure acts on the pressure chamber 14, the second piston 11 presses both the first and second rods 7, 8 upward in the figure.

13 is a first piston 10 and a second piston 11
and a third pressure chamber formed by the inner hole 2.
When the first and second pistons are in the raised position (the position shown in the figure), the third pressure chamber 13 is
It is connected to the first pressure chamber 12 . Further, when the first piston 10 and the second piston 11 are at the lowest position, the supply port 20 of the cylinder tube 5,
It is connected via switching valves 26, 25 to a source of pressurized air. When the third pressure chamber 13 is connected to the discharge port 18, it is connected to the atmosphere by the action of the check valve 19. In addition, it is connected to the supply port 20 and the switching valve 2
5 and 26 are located in the switching positions 25a and 26b, they are connected to the pressure air source. When air pressure acts on the third pressure chamber 13, it also acts on the second pressure chamber 14 via the check valve 22 provided on the second piston 11. At this time, the first piston 10 presses the first rod 7 upward in the figure, but the second piston 11
presses the second rod 8 downward in the figure. In other words, when air pressure acts on the third pressure chamber 13, the first and second rods 7, 8 move in opposite directions.

An actuating part 9 fixed to the tips of the first and second rods 7 and 8 is fixed to the second rod 8, and a claw 29 that engages with an actuated member 40, which will be described later, is rotatably supported at the lower end of the actuating part 9. A main body 28, a first rod 7 passing through the inner hole 30 of the main body 28 and fixed to the tip thereof,
It consists of a pawl actuating member 35 having a groove 37 that engages a part of the pawl 29.

When the first and second pistons 7 and 8 are in contact with each other, the groove 37 of the pawl actuating member 35 pushes down a portion 36 of the pawl 29, so that the pawl 2
9 rotates about the pin 38 in the direction of arrow a. Further, when the first and second rods 7 and 8 begin to move relative to each other, the pawl 29 rotates in the direction of arrow b around the pin 38, and this rotation is caused by the inner hole 3 of the main body 28
Step portion 31 provided at 0 and step portion 32 of pawl actuating member 35
When they come into contact with each other, the rotation of the pawl 29 in the direction of arrow b is stopped. Note 33
is a spring stretched between the step portions 32 and 34. 3
9 is a hook portion provided below the claw 29.

The actuated member 40 (hereinafter referred to as a pin) is a pin that locks a container lid or the like. An inner hole 42 having a stepped portion 41 is provided at the upper end of the pin 40.
A claw 29 is inserted into this inner hole 42, and when the claw 29 moves in the direction of arrow a, the stepped portion 41 and the hook portion 39 engage, and when it moves in the direction of arrow b, the engagement is released. There is.

The operation of this embodiment will be described below.

A case will be described in which the pin 40 is inserted into the container for locking or the like in the illustrated position where the pin 40 is pulled out.

When the switching valve 25 is operated to the switching position 25b, pressurized air flows into the first pressure chamber 12, so the operating portion 9 moves down while holding the pin 40 and engages the pin 40 in a predetermined position. At this time, the third pressure chamber 13
reaches the position where the supply port 20 connects.

Next, when the switching valve 26 is operated to the switching position 26b and then the switching valve 25 is operated to the switching position 25a, the pressure air is transferred to the third pressure chamber 1 through the switching valves 25 and 26.
3. When air pressure acts on the third pressure chamber 13, the first piston 10 moves upward together with the first rod 7, but the second piston 11 moves upward.
Press the second rod 8 downward. That is, the first and second rods 7, 8 move relative to each other in the vertical direction.
This movement is caused by the stepped portion 3 of the main body 28 of the actuating portion 9.
1 and the stepped portion 32 of the pawl actuating member 35 come into contact with each other. During this movement, the pawl 29 of the actuating portion 9 rotates in the direction of arrow b, and when the stepped portions 31 and 32 come into contact, the stepped portion 39 of the pawl 29 and the stepped portion 41 of the pin 40 are disengaged. Become. When the stepped portions 31 and 32 come into contact with each other, the upward pressing force of the piston 10 is
Since it acts on the second rod 8 via the locking member 17 of the first rod 7 and the stepped portions 31 and 32, the first and second rods
Both rods 7 and 8 are in a state of rising. At this time, when the switching valve 26 is switched to the switching position 26a, the supply of pressurized air into the third pressure chamber 13 is cut off, and pressurized air flows into the second pressure chamber 14. Therefore, the claw 29 of the actuating portion 9 moves upward while moving in the direction of arrow b. That is, the actuating portion 9 is separated from the pin 40.

When the upper surface of the first piston 10 comes into contact with the rod side end member 3 in this way, the pressure chamber in the third pressure chamber 13 flows out to the atmosphere via the discharge port 18, the check valve 19, and the switching valve 25. do. Therefore, the second piston 11 raises only the rod 8, so
The claw 29 of the actuating portion 9 rotates in the direction of arrow a.

Next, the case where the pin 40 is removed from the container will be described. From the above state, switch the switching valve 25 to the switching position 25.
When operated in b, pressurized air flows from port 15 to the first
Flowing into the pressure chamber 12, the first and second rods 7 and 8 are
Both descend, and the tip of the claw 29 of the actuating part 9 touches the pin 40.
touches the top edge of the Then, the downward force of the first piston 10 that presses the second rod 8 moves the tip of the claw 29 in the direction indicated by the arrow b, centering on the pin 38 that stops the claw 29.
As the pin 40 is rotated in the direction, its tip closes and enters the inner hole 42 of the pin 40. At this time, since the first rod 7 is vertically movable relative to the first and second pistons, the tip of the claw 29 is inserted into the inner hole 40 of the pin 40.
While moving along , the claw 29 moves up and down against the force of the spring 33, and the claw 29 rotates in the direction of the arrow a or b.
Then, when the lower end of the main body 28 of the actuating portion 9 comes into contact with the upper end of the pin 40 and the movement of the second rod 8 is stopped, the pawl 29 moves the pawl actuating member 35 around the pin 38.
The pin 40 is rotated in the direction of the arrow a by the groove 37, and the stepped portion 41 of the pin 40 and the hook portion 39 of the pawl 29 engage with each other. In this state, switch the switching valve 26 to the switching position 2.
6a, and then move the switching valve 25 to the switching position 25a.
When operated, pressurized air flows into the second pressure chamber 14. Therefore, the second piston 11 moves the first piston 10 and the first and second rods 7, 8 upward. At this time, the actuating portion 9 continues to hold the pin 40 since the first and second rods 7 and 8 do not move relative to each other. This movement then stops when the first piston 10 reaches the illustrated position.

In the embodiment according to the present invention, pressurized air is used as the fluid, but the same effect can be obtained even if oil is used.

[Brief explanation of the drawing]

The figure shows a cross-sectional view of an embodiment according to the invention. 1... Cylinder body, 2... Inner hole, 3... Head side end member (end member), 4... Rod side end member (end member),
5... Cylinder tube, 7, 8... First, second rod, 9... Actuating part, 10, 11... First, second piston, 13... Third pressure chamber, 18... Discharge port, 20
Supply port, 28...Main body, 29...Claw, 31...Step portion, 35...Claw operating member.

Claims (1)

[Claims] 1. A second piston is slidably fitted into the cylinder body, a second rod passing through an end member of the cylinder body is fixed to the second piston, and a second piston is inserted into the cylinder body on the side opposite to the rod from the second piston. A first piston is slidably fitted into the first piston, a first rod passing through the second rod and the second piston is provided in the first piston, and a first pressure chamber is formed on a side opposite to the rod from the first piston. A second pressure chamber is formed on the rod side of the second piston, a third pressure chamber is formed between the first piston and the second piston, and each supply/discharge port communicates with the first pressure chamber and the second pressure chamber. are provided in the cylinder body, a supply port communicating with the third pressure chamber when the first piston and the second piston move to the lower end position, and a supply port that communicates with the third pressure chamber when the first piston and the second piston move to the upper end position. A discharge port communicating with the pressure chamber is provided in the cylinder body, and an actuating portion having a claw is provided at the protruding ends of the first and second rods that protrude outside the cylinder body, and the main body of the actuating portion is connected to the second rod. A pawl actuating member is provided at the protruding end and is capable of coming into contact with a stepped portion of the inner hole of the first rod, and when the pawl actuating member comes into contact with the stepped portion, the pawl opens and closes. A cylinder device characterized in that a part of a pawl actuating member is engaged with the pawl so that the pawl is moved.