WO2005045257A1 - 流体シリンダを用いたアクチュエータ及びその制御方法並びにチョークバルブ装置 - Google Patents
流体シリンダを用いたアクチュエータ及びその制御方法並びにチョークバルブ装置 Download PDFInfo
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- WO2005045257A1 WO2005045257A1 PCT/JP2004/016553 JP2004016553W WO2005045257A1 WO 2005045257 A1 WO2005045257 A1 WO 2005045257A1 JP 2004016553 W JP2004016553 W JP 2004016553W WO 2005045257 A1 WO2005045257 A1 WO 2005045257A1
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- fluid
- chamber
- actuator
- valve
- cylinder
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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
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
- F15B11/0426—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling the number of pumps or parallel valves switched on
-
- 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
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
-
- 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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
-
- 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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
-
- 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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
-
- 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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40576—Assemblies of multiple valves
- F15B2211/40584—Assemblies of multiple valves the flow control means arranged in parallel with a check valve
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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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40576—Assemblies of multiple valves
- F15B2211/40592—Assemblies of multiple valves with multiple valves in parallel flow paths
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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
- F15B2211/40—Flow control
- F15B2211/42—Flow control characterised by the type of actuation
- F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
-
- 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
- F15B2211/40—Flow control
- F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow to the return line
-
- 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
- F15B2211/40—Flow control
- F15B2211/455—Control of flow in the feed line, i.e. meter-in control
-
- 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
- F15B2211/40—Flow control
- F15B2211/46—Control of flow in the return line, i.e. meter-out control
-
- 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
- F15B2211/40—Flow control
- F15B2211/47—Flow control in one direction only
- F15B2211/473—Flow control in one direction only without restriction in the reverse direction
-
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- 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
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
Definitions
- the present invention relates to an actuator using a fluid cylinder, a method for controlling the actuator, and a choke valve device used for the actuator.
- electric motors such as servomotors have conventionally been used as actuators and eaters for moving joints of mouth pots. This is because motors can be obtained relatively easily.
- motors have the problem of increasing the size of the entire robot, and the weight of the motor makes it important to design the mechanical strength of the robot.
- Fluid cylinders such as air cylinders are considered to be useful as actuators for robots because they have advantages such as small size and light weight, simple structure and easy maintenance compared to motors. .
- Patent Document 1 JP 2003-311667
- Another object of the present invention is to use a fluid cylinder that can be configured with a small number of parts.
- Another object of the present invention is to provide an actuator using a fluid cylinder whose rigidity can be easily adjusted.
- Another object of the present invention is to provide a choke valve device suitable for use in an actuator using a fluid cylinder and a control method therefor.
- An actuator using the fluid cylinder of the present invention includes a fluid cylinder, and first and second choke valve devices.
- the fluid cylinder has a cylinder chamber and a piston slidably disposed in the cylinder chamber so as to partition the cylinder chamber into a first chamber and a second chamber.
- the fluid cylinder means a cylinder, such as an air cylinder or an oil cylinder, which operates using the pressure of fluid as a drive source.
- the first choke valve device is arranged between the fluid pressure source and the first champ to adjust the flow rate of the fluid flowing into and out of the first chamber.
- the second choke pulp device is arranged between the fluid pressure source and the second chamber to adjust the flow rate of the fluid flowing into and out of the second chamber.
- the fluid pressure source may be provided separately for each of the first and second choke valve devices, but one fluid pressure source common to the first and second choke pulp devices is provided. Of course, it may be used.
- the first choke valve device and the second choke valve device each include a supply pulp mechanism that allows a fluid to flow in an incoming direction from a fluid pressure source side to a corresponding chamber side. And a discharge valve mechanism that allows the fluid to flow in an outgoing direction toward the chamber side force fluid pressure source side. At least a discharge valve mechanism that can change the opening degree of the valve is used.
- the following is performed. First, the supply amount (fluid pressure) of the fluid from the fluid pressure source on one choke valve side provided for the chamber on the side where the internal pressure needs to be increased when moving the piston is increased. Next, rigidity is given to the fluid cylinder by appropriately restricting the flow of the fluid by a choke valve device through which the fluid flowing out of the chamber on the side where the piston moves is provided. Restricting the flow of the fluid can be realized by changing the opening of a valve of a discharge valve mechanism provided in a corresponding choke valve device.
- the biston can be stopped early and the fluid cylinder can be provided with high rigidity. Conversely, if the opening of the valve is appropriately reduced (adjusted), the fluid cylinder can be provided with low rigidity.
- the supply valve mechanism and the discharge valve mechanism provided in the choke valve device may each be configured as separate structures, but the supply valve mechanism and the discharge valve mechanism may be configured as a single structure.
- a composite valve mechanism coexisting therein may be used.
- the discharge valve mechanism includes a continuously variable actuator that can continuously change the position of the valve, and valve position detection means that detects the position of the valve. And control means for feedback-controlling the continuously variable actuator based on the output of the valve position detecting means.
- a discharge valve mechanism since the position of the valve is determined by feedback control, the opening degree of the pulp can be changed quickly and with high accuracy.
- the discharge pulp mechanism includes a plurality of types of open / close valves connected in parallel and having a true cross-sectional area of the discharge flow path, and valve selection control means.
- the valve selection control means can control multiple types of open / close Lube force At least one open / close valve is selected and the selected open / close valve is opened. In this way, a plurality of types of pulp opening degrees (fluid throttle state) can be obtained in a high-speed and high-accuracy manner using a small number of on-off valves by the combination of the number and types of the on-off valves selected. Can be.
- a first type composite discharge valve mechanism in which a valve seat block, a valve body block, and a stationary block are combined can be adopted.
- the valve seat block has a discharge passage having a fixed passage width and a supply passage whose passage width changes gradually.
- the valve block includes one flow passage and a large flow passage that is provided continuously to the flow passage and has a larger cross-sectional area than the flow passage, and is slidably provided with respect to the valve seat block.
- the valve block opens the supply passage completely during supply and completely closes the discharge passage, completely closes the supply passage during discharge, and continuously changes the facing area between the discharge passage and the circulation passage. The position is controlled.
- the static block has a smaller cross-sectional area than the large flow passage that always communicates with the large flow passage regardless of the position of the valve block! / ⁇ It has a stationary block with a small distribution passage.
- the specific valve mechanism described above can be made compact. Therefore, the supply pulp mechanism and the discharge valve mechanism can be arranged adjacent to both sides of the fluid cylinder. As a result, the fluid tube between the fluid pressure source and both pulp mechanisms can be made unnecessary.
- the second type of composite discharge valve mechanism includes a pressure control valve mechanism, and allows a fluid to flow only in an inflow direction from the fluid pressure source side to the corresponding champer side through the pressure control valve mechanism.
- Direction force from fluid pressure source side to chamber side with one-way pulp mechanism and pressure control valve mechanism Direction force from fluid pressure source side to fluid pressure source side from champer side
- a two-way valve mechanism that allows fluid to flow in two directions, and the two-way valve mechanism is configured such that the opening degree of the valve can be changed by the pressure of the supplied fluid pressure source fluid. You can also use it.
- Fluid is supplied to the chamber via both one-way and two-way valve mechanisms.
- the one-way pulp mechanism is in the closed state, and by adjusting the opening of the two-way valve mechanism to appropriately restrict the flow of fluid in the outgoing direction, the fluid cylinder has appropriate rigidity.
- the present invention focuses on the generation of this passive effect, and utilizes this resistance as the rigidity of the fluid cylinder.
- the flow of the fluid supplied to or discharged from the first chamber and the second chamber in the fluid cylinder is appropriately restricted (choke) in the flow path of the fluid, so that the piston is formed.
- one of the chambers provided on the side where the internal pressure needs to be increased when the piston is moved is required.
- the fluid supply amount (fluid pressure) from the fluid pressure source on the choke valve side is increased, and the fluid flow is appropriately reduced in the choke valve device in which the fluid flows out of the chamber on the side where the piston moves.
- Add rigidity to The throttle can be realized by adjusting the opening of the bidirectional valve mechanism by changing the pressure of the fluid that also supplies the fluid pressure source force to the choke valve device. If this pressure is increased, the piston can be stopped early and the fluid cylinder can be given rigidity. Conversely, when this pressure is reduced, the piston moves at high speed, giving the fluid cylinder low rigidity.
- such a function is automatically performed based on the fluid pressure. Defined as a function that dynamically reduces size. Also, in order to move the piston at high speed, a large amount of high-pressure air must flow into one of the fluid cylinder's champers. Therefore, in the present invention, a one-way valve mechanism for making only the inflow or supply of fluid to the champer free is provided as a bypass means in addition to the two-way valve mechanism.
- the bidirectional valve mechanism may have any configuration as long as the opening can be adjusted by the pressure of the fluid supplied from the fluid pressure source.
- a spring member in order to reduce the overall weight and to simplify the structure, it is preferable to use a spring member. Therefore, a rod having a movable needle, a throttling member having a through-hole through which the movable needle movably penetrates and a flow rate of a fluid flowing through the through-hole being controlled by the position of the movable needle, and passing through the through-hole
- a spring member that constantly applies a biasing force to the rod to move the movable needle in a direction in which the fluid increases, and a fluid pressure source to move the movable needle in a direction in which the flow rate of the fluid passing through the through hole of the throttle member decreases.
- a fluid drive rod displacement mechanism that displaces the rod against the bias ⁇ of the spring member using the pressure of the supplied fluid, and the number of turns in a section that functions as a compression panel of the panel member can be adjusted.
- Panel member mounting structural force A two-way valve mechanism can be configured. By displacing the rod to displace the movable needle in the through hole of the throttle member, the flow rate of the fluid flowing in both directions through the through hole can be easily adjusted.
- the choke valve device includes a first connection port connected to a corresponding chamber, a second connection port connected to a fluid pressure source, and a first connection port between the first connection port and the second connection port. And a panel member mounting structure for mounting a panel member to the device main body.
- a part of a rod having a throttle member and a movable needle is disposed in the internal flow path of the apparatus main body.
- the two-way valve mechanism and the one-way valve mechanism can be arranged concentrically, and the structure of the valve mechanism can be made compact and the force can be made simple. '
- the fluid drive rod displacement mechanism described above may have any structure as long as it can exert a force against the urging force of the spring member on the rod using the pressure of the fluid. Good.
- a cylinder part communicating with the internal flow path of the device body is provided, and the The fluid drive rod displacement mechanism can be configured by mounting a piston portion that slides in the slider portion. With this configuration, the fluid drive rod displacement mechanism can be configured along the rod, so that the size of the apparatus main body is not increased more than necessary.
- the spring member mounting structure may be configured to apply the urging force of the panel member to the outer portion of the rod that extends the force of the cylinder portion.
- a coil panel member having an inner end on the device body side and an outer end on the outer end side of the rod and arranged in a compressed state can be used as the panel member.
- the panel member mounting structure includes a cylindrical member fixed to the outer portion of the rod, moving together with the rod, positioned inside the coil panel member, and having an engaging portion that engages with the inner end of the coil spring member.
- a screw member which is provided outside the cylindrical member and is not displaced with respect to the apparatus main body, and which holds the intermediate portion of the coil spring member, can be constituted.
- the panel member intermediate portion holding structure is configured so that the length of the coil spring member sandwiched between the coil spring member and the engaging portion can be adjusted by changing the holding position of the intermediate portion of the coil spring member.
- the number of turns of the coil panel member used can be easily adjusted according to the use of the actuator, and the control characteristics of the actuator can be arbitrarily adjusted.
- the number of turns of the coil spring member is the number of coil wires that appear side by side on the surface of the coil spring member formed by spirally forming the coil wire member. Note that the smaller the number of turns of the coil spring member arranged in the same section, the harder the coil panel member, and the smaller the amount of restriction of the flow path corresponding to the pressure of the fluid supplied from the fluid pressure source.
- the spring member end holding structure has a structure including a wedge member inserted between two adjacent turn portions of the coil spring member.
- the wedge member is arranged so that the coil panel member can be rotated around the cylindrical member. When the coil panel member is rotated, the position of the wedge member relative to the coil panel member changes. As a result, the number of turns of the coil panel member located between the wedge member and the engagement portion can be changed, and the compression force of the coil spring member can be easily and continuously adjusted.
- the second connection portion is arranged such that the second connection portion communicates with a flow path located between the throttle member and the cylinder portion.
- the valve mechanism and the fluid drive rod displacement mechanism can be arranged along the rod on both sides of the second connection portion, and the choke valve The device can be made compact.
- the fluid is positively supplied from one side of the first and second check valve devices into the cylinder chamber from a fluid pressure source, and the piston of the fluid cylinder is controlled.
- the position of the piston is displaced, the force of the other discharge valve mechanism of the first and second choke valve devices in the exit direction and the flow rate of the fluid are restricted, so that the movement of the piston of the fluid cylinder due to the external force is facilitated. That is, the rigidity is determined.
- the first and second choke valve devices are arranged from the entrance side.
- the position of the piston is displaced by positively supplying fluid to the cylinder chamber with the fluid pressure source force
- the flow rate of the fluid that is directed in the direction in which the two-way valve mechanism of the first and second choke valve devices exits is adjusted.
- Limiting determines the rigidity of the piston.
- a fluid is actively supplied from a fluid pressure source to a choke valve device on an outgoing side, and a through hole of a throttle member is positively moved by a movable needle by displacing a biston portion provided on a rod.
- the rigidity and the stop position of the fluid cylinder can be simply and arbitrarily determined by adjusting the opening of the bidirectional valve mechanism of the first and second choke valve devices.
- FIG. 1 is a conceptual diagram of a first embodiment of an actuator using a fluid cylinder of the present invention.
- FIG. 2 is a conceptual diagram of a second embodiment of an actuator using the fluid cylinder of the present invention. '
- FIG. 3 is a conceptual diagram of a third embodiment of an actuator using the fluid cylinder of the present invention. ⁇
- FIG. 4A is a half sectional view showing a state in which suction and discharge of a composite valve mechanism (a valve seat block, a valve element block, and a stationary block) used in the third embodiment of FIG. 3 are stopped. .
- FIG. 4B is a half sectional view showing a state when the composite valve mechanism (valve seat block, valve block and stationary block) used in the embodiment of FIG. 3 is supplied.
- FIG. 4C A composite valve mechanism (valve seat block, valve block and FIG. 6 is a half-sectional view showing a state at the time of discharge of a stationary block).
- FIG. 5A is an exploded perspective view of the composite valve mechanism of FIG. 3 (valve seat block, valve block and stationary block).
- FIG. 5B is an exploded perspective view of the inside of FIG. 5A.
- FIG. 5C is an exploded perspective view of FIG. 5A viewed from a direction different by 180 degrees.
- FIG. 6A is a view of the valve seat block of FIG. 5A viewed from a valve block side.
- FIG. 6B is a sectional view taken along the line VIA-VIA of the valve seat block of FIG. 6A.
- FIG. 7A is a view of the valve body block of FIG. 5A viewed from a valve seat block side.
- FIG. 7B is a sectional view taken along the line VIIA-VIIA of the valve block of FIG. 7A.
- FIG. 8 is a conceptual diagram of a fourth embodiment of an actuator using the fluid cylinder of the present invention.
- FIG. 9 is a partially exploded perspective view of the pulp and paper apparatus (one-way valve mechanism and two-way valve mechanism) of the present invention used in the fourth embodiment of FIG.
- FIG. 10A is an exploded perspective view of a choke valve device (one-way valve mechanism and two-way pulp mechanism) used in the fourth embodiment of FIG.
- FIG. 10B is an exploded perspective view of FIG. 10A viewed from a direction different by 90 degrees.
- FIG. 11A is a perspective view of a half section of a choke valve device (one-way valve mechanism and two-way valve mechanism) used in the fourth embodiment of FIG.
- FIG. 11B is an exploded perspective view of the state of FIG. 11A viewed from a direction different by 90 degrees.
- FIG. 12 is a longitudinal sectional view of a choke pulp device (one-way valve mechanism and two-way valve mechanism) used in the fourth embodiment of FIG.
- FIG. 13 is a half sectional plan view of a panel member intermediate portion holding structure used in the fourth embodiment of FIG. 8.
- FIG. 14A is an enlarged partial cross-sectional view of a throttle mechanism (when the bidirectional valve mechanism is fully open) of the choke valve device according to the fourth embodiment of FIG.
- FIG. 14B is an enlarged partial cross-sectional view of the throttle mechanism (when the bidirectional valve mechanism is half open) of the choke valve device according to the fourth embodiment of FIG.
- FIG. 14C The throttle mechanism (bidirectional valve) of the choke valve device used in the fourth embodiment of FIG. 6 is an enlarged partial cross-sectional view of the lube mechanism when the opening is closed).
- FIGS. 1 to 3 and 8 are conceptual diagrams conceptually showing configurations of first to fourth embodiments of an actuator using the fluid cylinder of the present invention.
- the actuator using the fluid cylinder according to the first to fourth embodiments includes a fluid cylinder 1, a first choke nolev device 3, 103, 203, 303 and a second choke nolev device 5, 105, 205, With 305.
- the fluid cylinder 1 has a cylinder chamber 7 and a piston 12 slidably disposed in the cylinder chamber 7 so as to partition the cylinder chamber 7 into a first chamber 9 and a second chamber 11.
- an explanation will be given assuming that an air cylinder is used as the fluid cylinder 1.
- an oil cylinder or the like can be used as the fluid cylinder 1 as long as the cylinder operates using the pressure of the fluid as a drive source.
- the first choke valve devices 3, 103, 203, and 303 are arranged between a fluid pressure source (not shown) and the first chamber 9 to control the flow rate of the fluid flowing into and out of the first chamber 9. adjust.
- the fluid pressure source is configured to receive the fluid that has flowed out when the pressure on the first chamber side 9 becomes larger than the pressure of the fluid supplied by the fluid pressure source force.
- the second chalk pulp apparatuses 5, 105, 205, and 305 are arranged between the fluid pressure source and the second chamber 11, and adjust the flow rate of the fluid flowing into and out of the second chamber 11.
- the second choke nolev device 5, 105, 205, 305 and the first chotano nolev device 3, 103, 203, 303 have the same structure and perform the same action, so that the details are omitted. Shown as a block diagram. Therefore, in the following description, the configuration of the first choke valve devices 3, 103, 203, 303 will be described, and the description of the second choke / knob devices 5, 105, 205, 305 will be omitted.
- the fluid pressure source is connected to the first and second choke valve devices 3, 103, 203, 303 and 5, 105, 205, 305, respectively. Provided for each item.
- One common fluid pressure source In the case of using a common pressure source, a switching means should be provided between the common fluid pressure source and the first and second choke vanoleb devices 3, 103, 203, 303 and 5, 105, 205, 305. Just fine.
- FIG. 1 is a diagram schematically showing a configuration of an actuator using a fluid cylinder according to the first embodiment of the present invention.
- the first choke valve device 3 and the second choke valve device 5 each have an unillustrated fluid flow direction in which the fluid flows from the fluid pressure source side toward the corresponding chamber side.
- a discharge valve mechanism 15 that allows a fluid to flow in an outgoing direction from the chamber side toward the fluid pressure source side.
- the supply valve mechanism 13 and the discharge valve mechanism 15 have a supply port 14 and a discharge port 16 for inputting and outputting a fluid, respectively.
- the discharge valve mechanism 15 is configured so that the opening degree of the valve can be changed.
- a continuously variable actuator AC capable of continuously changing the position of the valve
- valve position detecting means PS for detecting the position of the valve
- control Means CM performs feedback control of the continuously variable actuator AC based on the output of the valve position detection means PS.
- the embodiment of the present invention utilizes this resistance as the rigidity of the fluid cylinder.
- the flow of the fluid discharged from the first chamber 9 and the second chamber 11 of the fluid cylinder 1 is narrowed (choked) in the flow path of the fluid discharged from the first chamber 9 and the second chamber 11 so that the movement of the piston 12 is reduced.
- the rigidity can be imparted to the fluid cylinder 1 using this drag (the piston 12 ′ force S stops at a predetermined position, and the piston 12 starts moving due to external force. can do). .
- the fluid on the second choke valve device 5 side is increased by increasing the supply amount (fluid pressure) of the fluid from the pressure source.
- the opening degree of the valve of the discharge valve mechanism in the first choke valve device 3 through which the fluid flowing out of the chamber on the first chamber 9 side where the piston 12 moves is opened. Stiffness is imparted to the fluid cylinder by appropriately adjusting
- Restricting the flow of the fluid involves changing the valve opening of the discharge valve mechanism 15 provided in the first choke valve device 3 continuously by using the continuously variable actuator AC based on a control command from the control means CM. It can be realized by operating in. If the opening of the valve of the discharge valve mechanism 1'5 is quickly set to 0 or a value close to 0, the piston 12 is stopped at an early stage, and high rigidity can be imparted to the fluid cylinder. Conversely, if the opening of the valve is appropriately reduced (adjusted), low rigidity can be imparted to the fluid cylinder. In this embodiment, only the discharge valve mechanism 15 is configured such that the opening degree of the valve can be changed. In this configuration, not only the discharge valve mechanism 15 but also the supply pulp mechanism 13 may be provided. In this way, the fluid inflow / outflow control can be performed with high accuracy, so that the fluid cylinder 1 can be given a desired rigidity.
- FIG. 2 is a view showing a second embodiment of the present invention, which uses a separate supply valve mechanism and a separate discharge valve mechanism similarly to the first embodiment. is there.
- the discharge valve mechanism 115 includes a plurality of types of open / close valves 115a, 115b, and 115c, which are connected in parallel and have different cross-sectional areas of the discharge passages, and pulp selection control means: L20.
- the supply pulp mechanism 113 and the discharge valve mechanism 115 have a supply port 114 and a discharge port 116 for inputting and outputting a fluid.
- the pulp selection control means 120 selects at least one or more on-off valves from a plurality of types of on-off valves 115a, 115b, and 115c at the time of discharge, and sets the selected on-off valve to the open state.
- a plurality of valve opening degrees can be obtained in a stepwise manner using a small number of opening / closing valves, depending on the combination of the number and type of the selected opening / closing valves.
- simply opening and closing each open / close valve individually can adjust the fluid discharge rate to the ratio of 0: 1: 2: 3: 4: 5: 6: 7.
- 2 n +1 types of discharge amount can be set in multiple stages, so that the discharge flow rate and rigidity can be adjusted at high speed and with high accuracy. Will be possible.
- FIGS. 3 to 7 are diagrams showing a schematic configuration of an actuator using a fluid cylinder according to a third embodiment using a composite discharge valve mechanism.
- a first composite type discharge pulp mechanism 203 in which a valve seat block 223, a valve body block 227, and a stationary block 229 are combined, and a second Adopts combined discharge valve machine ⁇ 205.
- the first and second composite discharge valve mechanisms 203 and 205 have a supply port 214 and a discharge port 216 for inputting and outputting a fluid.
- the valve seat block 223 has a supply passage 223A having a constant passage width and a discharge passage 223B having a passage width gradually changing.
- the supply passage 223A is formed so as to form a rectangular parallelepiped space in the valve seat block 223.
- Emissions passageway 223B contrast, the side facing the supply path 223A side opposite in the upper base is formed so as to constitute an empty Yi trapezoidal prism as the lower base ( Figure 5 B).
- valve block 227 is provided with one flow passage 227A and a large flow passage 227B provided continuously with the flow passage 227A and having a larger cross-sectional area than the flow passage 227A, and is slidable with respect to the valve seat block 223.
- the stationary block 229 includes a stationary block provided with a small circulation passage 229 ⁇ having a smaller cross-sectional area than the large circulation passage 227 ⁇ that communicates with the large circulation passage 227 ⁇ regardless of the position of the valve block 227. ing.
- the supply port 223C and the discharge port 223D have substantially the same diameter as the small flow passage 229 °.
- FIG. 8 to FIG. 14 are views showing a fourth embodiment of the present invention having a second type of composite valve mechanism.
- a pressure control pulp mechanism 313, 313 'and a pressure control valve mechanism 13 which allows fluid to flow only in the direction of the head force into the chamber corresponding to the fluid pressure source side force (not shown).
- the fluid flows in both directions of the incoming direction from the fluid pressure source side toward the champer side and the outgoing direction from the chamber side to the fluid pressure side.
- the suction and discharge valve force is an integrated supply and discharge valve that supplies and discharges fluid in one direction by a fluid pressure source.
- a supply port 314 for supplying the fluid and a discharge port 316 for discharging the fluid are provided.
- a bi-directional valve mechanism 19, 19 ⁇ configured so that the opening of the valve can be varied by the pressure of the fluid pressure source (not shown) is used. You can do it.
- a composite valve mechanism having such a bidirectional valve mechanism one choke valve device in which the fluid 12 is actively supplied to the corresponding channel and the jumper to move the piston 12 of the fluid cylinder 1 is used. Fluid is supplied to the chamber via both one-way and two-way valve mechanisms.
- the one-way valve mechanism 17, 17 allows fluid to flow only in the input direction from the fluid pressure source side to the corresponding chamber 9, 11 side.
- the two-way valve mechanisms 19 and 19 ′ are used to supply fluid in both directions, ie, the inflow direction from the fluid pressure source (not shown) to the chambers 9 and 11 and the force to the chambers 9 and 11 toward the fluid pressure source.
- the flow is allowed, and the opening degree can be adjusted by the pressure of the supplied fluid.
- the choke valve devices 303, 305 having such bidirectional pulp mechanisms 19, 19 'are used the fluid is positively supplied to the corresponding chambers 9, 11, and the biston 12 of the fluid cylinder 1 is moved.
- the fluid is supplied to the chambers 9 and 11 via both the one-way pulp mechanism 17, 17 'and the two-way valve mechanism 19, 19'.
- the one-way pulp mechanisms 17 and 17 of the other of the choke valve devices 303 and 305 are in the closed state.
- the fluid cylinder 1 can be given an appropriate rigidity. In other words, by stopping the flow of fluid into and out of the fluid cylinder 1 or by narrowing the flow path of the fluid connected to the fluid cylinder 1, the repulsive force (spring effect) of the compressed fluid (air in this example) And the flow resistance (damper effect) of the incoming and outgoing fluid (air in this example)
- the second pressure on the side where the internal pressure needs to be increased is increased.
- the supply amount (fluid pressure) of the fluid from the fluid pressure source on the side of the second choke valve 305 provided for the chamber 11 is increased, and the fluid flows out of the first champ 9 on the side where the piston 12 moves.
- rigidity is given to the fluid cylinder 1 by appropriately restricting the flow of the fluid.
- the throttle is realized by adjusting the opening of the bidirectional valve mechanisms 19, 19 by changing the pressure of the fluid supplied from the fluid pressure source to the choke valve device.
- the piston 12 can be stopped early and the fluid cylinder 1 can be given high rigidity. Conversely, when this pressure is reduced, the piston 12 moves at a high speed, and the fluid cylinder 1 can be given low rigidity. In order to move the piston 12 at high speed, a large amount of high-pressure fluid (air) must flow into one of the champers 911 of the fluid cylinder 1. Therefore, in the present embodiment, the one-way valve mechanisms 17, 17 ′ for freeing only the inflow or supply of the fluid to the chambers 9, 11 are used as bypass means, and the two-way valve mechanisms 19, 19 are additionally provided. are doing.
- FIG. 9 shows an embodiment of the present invention.
- 10A is an exploded perspective view of the choke valve devices 303 and 305 in FIG. 9, and FIG. 10A is an exploded perspective view of the choke valve devices 303 and 305, and FIG. 11A is an exploded perspective view, FIG. 11A is a half sectional perspective view of the chalk pulp apparatus 303, 305 in FIG. 9, FIG. 11B is an exploded perspective view seen from a direction different from FIG. 11A by 90 degrees, and FIG. FIG. 10 is a longitudinal sectional view of the chonning / rev devices 303 and 305 in FIG. 9.
- the member denoted by reference numeral 30 is the housing of the choke valve devices 303 and 305.
- the housing 30 has a flow path main body 32 inside.
- the flow path main body 32 is fixed to the housing 30 by screws 38.
- the flow path main body 32 integrally includes a cylindrical main body part 32 having a flow path therein and a cylindrical cylinder part 49 described later.
- the internal space of the main body 32 ⁇ communicates with the internal space of the cylinder 49.
- a through hole 32 # penetrating through the peripheral wall in the radial direction is formed, and an O-ring fitting groove 32C extending in the peripheral direction is formed.
- the O-ring 48 is fitted in the O-ring fitting groove 32C.
- the housing 30 is provided with a through hole 30 ⁇ penetrating in the radial direction at a position corresponding to the through hole 32 ⁇ formed in the flow path main body 32. Further, the through-hole 30 is formed in the nozzle 30 at a position radially opposed to the through-hole 30, and the rear half of the housing 30 has six longitudinally opposed radially parallel holes. A through hole 30C is formed. These through holes 30C contribute to weight reduction of the housing 30, and also function as air vent holes when the coil spring member 29 described later is displaced.
- the coil panel member 29 functions as the spring member of the present invention.
- a first joint member 34 is fixed to a front end of the housing 30. Further, the first joint member 34 has a main body 34 # having an annular portion 34a fitted to the front end of the housing 30. An annular groove into which the O-ring 46 is fitted is formed in the outer peripheral portion of the annular portion 34a.
- a pipe connecting nozzle 34B is fitted to the main body 34A of the first joint member 34. The pipe connection nozzle 34B constitutes a first connection port 33 connected to the corresponding chambers 9, 11. Further, a through hole 30A of the nozzle 30 and a through hole 32B of the flow path main body 32 are formed so as to be aligned with each other to form a second connection port 35 connected to a fluid pressure source (not shown).
- a second joint member 36 for connecting the choke valve devices 303 and 305 and the fluid pressure source is fitted and fixed to the second connection port 35.
- the front part of the housing 30 and the flow path main body 32 constitute an apparatus main body 39 provided between the first connection port 33 and the second connection port 35 and having an internal flow path 37 through which fluid flows. I have.
- a panel member for mounting the coil spring member 29 and a mounting structure 41 are provided for the apparatus main body 39.
- a throttle portion 27 generally called an orifice is arranged inside the housing 30, between the flow path main body 32 and the first joint member 34.
- the aperture member 27 includes a cylindrical peripheral wall 27A and a bottom wall 27B that closes one end of the cylindrical peripheral wall 27A.
- the bottom wall 27B has a through hole 25 through which the movable needle 21 movably passes.
- the outer diameter of the throttle member 27 has such a size that it can abut against a tapered surface formed inside the front opening of the flow path main body 32 to prevent backward movement. ing.
- an annular groove 27C is formed on the outer peripheral portion of the peripheral wall portion 27A of the throttle member 27.
- a one-way valve mechanism that is disposed between the inner wall of the apparatus body (the inner wall of the housing 30) surrounding the internal flow path 37 and operates so that the inner wall serves as a valve seat.
- rubber bulb 47 I 7 ' is fixedly fitted.
- the pulp 47 has a ring shape, and further has a groove 47A having a V-shaped cross-sectional shape that is open at the front end face of the housing 30.
- a fixed-side threaded end 21A which is screwed and fixed to a distal end of a rod 23, which will be described later, a portion 21B having a larger diameter than the threaded end 21A, and a portion 21B continuous with this portion.
- An annular tapered portion 21C extending toward the front side, a portion 21D located inside the throttle member 27 in connection with the tapered portion 21C, and a driver slot 21F provided continuously with the portion 21D were formed. It has a head 21E. By fitting the tip of a flathead screwdriver into the driver slot 21F and rotating it, the movable needle 21 is screwed with the threaded end 21A into a screw hole (not shown) provided at the tip of the rod 23.
- the portion 21D located in front of the tapered portion 21C is fitted into the through hole 25, and the head 21E comes into contact with the bottom wall portion 27B of the throttle member 27, whereby the flow of the fluid through the through hole 25 is completely completed. Stopped.
- the flow rate of the fluid through the through hole 25 is adjusted.
- the two-way pulp mechanism 19, 19 is composed of the screw 21 and the throttle member 27.
- the rod 23 has a tip 23A to which the movable needle 21 is fixed, a rod body 23B to which a piston 51 described later is fitted and fixed, and a protruding end 23C protruding outside the housing 30. And A fitting groove 23D is formed along the longitudinal direction of the rod 23 at the protruding end 23C side of the rod body 23B.
- the piston part 51 fixed to the rod body 23B of the rod 23 is slidably fitted in a cylinder part 49 provided integrally with the flow path body 32.
- the rod 23 is constantly urged by the coil spring member 29.
- the coil spring member 29 constantly applies a biasing force to the rod 23 to move the movable dollar 21 in a direction in which the flow rate of the fluid passing through the through hole 25 of the throttle member 27 increases.
- the coil panel member 29 is attached by utilizing the pressure of the fluid supplied by the fluid pressure source force to move the movable needle 21 in the direction in which the flow rate of the fluid passing through the through hole 25 of the throttle member 27 decreases.
- a fluid drive rod displacement mechanism 31 for displacing the rod 23 against the force is provided.
- the fluid drive rod displacement mechanism 31 includes a cylinder portion 49 communicating with the internal flow path 37 of the device main body 39, and a piston portion 51 fixed to the rod 23 and sliding in the cylinder portion 49.
- the piston portion 51 is displaced in a direction away from the throttle member 27 against the urging force of the coil spring member 29 in accordance with the increase in the pressure in the flow path main body 32 due to the pressure of the fluid from the fluid pressure source.
- the coil spring member 29 is mounted on the housing 30 by a panel member mounting structure 41.
- the spring member mounting structure 41 is configured to apply the urging force of the coil panel member 29 to the protruding end portion 23C constituting the outer portion of the rod 23 extending from the cylinder portion 49.
- the coil panel member 29 used in this example is disposed in a compressed state with an inner end on the device body 39 side and an outer end on the outer end side of the rod 23.
- the panel member mounting structure 41 includes a tubular member 59 and a panel member intermediate portion holding structure 61.
- the main part of the cylindrical member 59 is arranged inside the housing 30, and one end of the cylindrical member 59 is fitted to the cylinder part 49.
- One end (inner end) of the cylindrical member 59 is provided with a flange portion 59A forming an engaging portion, and the inner end force S of the coil spring member 29 is engaged with the flange portion 59A.
- Tubular At the other end (outer end) of the member 59 a fitting hole 59B is formed in which the portion where the fitting groove 23D formed in the rod 23 is tightly fitted.
- the portion where the fitting hole 59B is formed 59C By engaging with the surface 23E adjacent to the inner end of the fitting groove 23D of the force rod 23, the positioning of the rod 23 and the cylindrical member 59 is achieved.
- the rod 23 and the cylindrical member 59 are displaced together.
- the panel member intermediate portion holding structure 61 is located outside the portion 59 C of the cylindrical member 59, is fixed to the end of the housing 30 so as not to be displaced with respect to the device main body 39, It is configured to hold part 29a.
- the spring member intermediate portion holding structure 61 of this example the holding position of the intermediate portion 29a of the coil panel member 29 can be changed.
- the spring member intermediate portion holding structure 61 includes a wedge member 64 inserted between two adjacent turn portions 29b and 29c of the coil spring member 29, as shown in FIG. And a holding piece 65 attached to the holding piece 64.
- the wedge member 64 is fixed to the housing 30 with an adhesive. As a method of fixing the wedge member 64 to the housing 30, it is needless to say that appropriate attachment means such as welding may be used.
- the holding piece 65 is attached to the wedge member 64 by a screw so as to hold a part of the turn portion of the coil panel member 29. As a result, the coil spring member 29 does not rotate. With the holding piece 65 removed from the wedge member 64, the wedge member 64 is arranged so that the coil spring member 29 can be rotated about the tubular member 59. When the coil panel member 29 is rotated, the position of the wedge member 64 relative to the coil panel member 29 changes. As a result, it is possible to arbitrarily adjust the control characteristics of the actuator by changing the number of turns of the coil spring member 29 located between the wedge member 64 and the flange portion 59A constituting the engagement portion. Further, the coil spring member 29 is displaced with the surface opposite to the surface on which the wedge member 64 of the holding piece 65 is fixed as a fulcrum.
- FIGS. 14A to 14C show enlarged portions of the throttle member 27 when the opening degree of the bidirectional valve mechanism 19 of the first choke valve device 303 used in the above embodiment is fully open, half open, and closed, respectively. It is sectional drawing.
- the valve mechanisms 17 and 19 in the first choke-valve device 303 will be described with reference to FIGS. 14A to 14C.
- it is movable.
- the stroke of the needle 21 is set so as to be movable up to 10 mm.
- Chamber 9, 11 In the state of the pressure ⁇ of the fluid inside, the movable dollar 1 is located at the leftmost position, and the opening of the bidirectional valve mechanism 19 is fully opened (FIG. 14A). At the same time, the one-way pulp mechanism 17 is fully opened.
- the movable needle 21 moves to the right (FIG. 14B), and at the same time, the opening of the two-way valve mechanism decreases in the direction to close.
- the movable needle 21 is located at the rightmost position as shown in FIG. 14C and the bidirectional valve mechanism 1'9 is fully closed.
- the coil spring member When the relative position of the wedge member 64 with respect to the coil panel member 29 is changed, the coil spring member is moved in a state where the movable needle 21 is located at the leftmost position because the bidirectional valve mechanism 19 is fully opened. Since the urging force of 29 becomes zero and the contact between the inner end of the coil spring member 29 and the flange portion 59A is maintained, the relative fitting position between the rod 23 and the cylindrical member 59 is also changed at the same time.
- the fitting position can be changed by loosening the connecting screw 43 connecting the rod 23 and the cylindrical member 59, and sliding the cylindrical member 59 along the fitting groove 23D.
- the appropriate fixing position can be easily determined by looking at the length L2 between the outer end of the tubular member 59 and the outer end of the rod 23 shown in FIG.
- the rigidity of the piston shall be determined by restricting the flow rate of the fluid in the direction in which the bidirectional valve mechanism 19 exits.
- the fluid is positively supplied to the first check valve device 303 from the fluid pressure source, and the piston portion 51 provided on the mouthpiece 23 is displaced so that the first movable portion can be positively moved.
- the piston of the fluid cylinder 1 can be stopped by closing the through hole of the throttle member 27 (orifice). In this way, the rigidity and the stop position of the fluid cylinder 1 can be easily and arbitrarily determined by adjusting the openings of the two-way valve mechanisms 19, 19 of the choke pulp devices 303, 305.
- the opening degree of the valve of the discharge valve mechanism of the choke valve device is adjusted.
- rigidity can be given to the fluid cylinder. Therefore, according to the present invention, the fluid cylinder can be practically used as a driving actuator of a control device such as a robot.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Lift Valve (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/595,712 US7392734B2 (en) | 2003-11-07 | 2004-11-08 | Actuator using fluid cylinder, method of controlling the actuator, and choke valve devices |
JP2005515339A JP4741950B2 (ja) | 2003-11-07 | 2004-11-08 | 流体シリンダを用いたアクチュエータ及びその制御方法並びにチョークバルブ装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-379205 | 2003-11-07 | ||
JP2003379205 | 2003-11-07 |
Publications (1)
Publication Number | Publication Date |
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WO2005045257A1 true WO2005045257A1 (ja) | 2005-05-19 |
Family
ID=34567205
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/016553 WO2005045257A1 (ja) | 2003-11-07 | 2004-11-08 | 流体シリンダを用いたアクチュエータ及びその制御方法並びにチョークバルブ装置 |
Country Status (3)
Country | Link |
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US (1) | US7392734B2 (ja) |
JP (1) | JP4741950B2 (ja) |
WO (1) | WO2005045257A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8146481B2 (en) | 2008-05-02 | 2012-04-03 | University Of Tsukuba, National University Corporation | Actuator, actuator control method, and actuator control program |
WO2016017377A1 (ja) * | 2014-08-01 | 2016-02-04 | 有限会社浜インターナショナル | スピードコントローラ |
JP2016161055A (ja) * | 2015-03-03 | 2016-09-05 | 有限会社浜インターナショナル | スピードコントローラ |
KR20210115858A (ko) * | 2020-03-16 | 2021-09-27 | 국방과학연구소 | 공압 구동기 및 이를 이용한 외골격 로봇 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9725246B2 (en) | 2008-05-20 | 2017-08-08 | Flexibility Engineering, Llc | Flow restricted positioner control apparatus and methods |
JP5917425B2 (ja) * | 2013-02-13 | 2016-05-11 | 住友重機械工業株式会社 | 射出成形機 |
CN103978650B (zh) * | 2013-02-13 | 2017-07-18 | 住友重机械工业株式会社 | 注射成型机 |
DE102014103674A1 (de) * | 2014-03-18 | 2015-09-24 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Montagevorrichtung zum Befestigen eines Reifenmoduls |
US9677576B2 (en) * | 2015-09-14 | 2017-06-13 | Flexbility Engineering, LLC | Flow restricted positioner control apparatus and methods |
US20190136876A1 (en) * | 2017-06-10 | 2019-05-09 | Shahin Fallahi | Electro-hydraulic or electro-pneumatic servo-actuator using khayyam triangle |
DE102020123331A1 (de) * | 2020-09-07 | 2022-03-10 | Rheinisch-Westfälische Technische Hochschule (RWTH) Aachen, Körperschaft des öffentlichen Rechts | Gasbetriebenes Antriebssystem und Verfahren zum Betrieb |
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US2974637A (en) * | 1957-12-30 | 1961-03-14 | Western Electric Co | Pneumatic two-hand control for power machinery |
US4175473A (en) * | 1976-06-08 | 1979-11-27 | Shoketsu Kinzoku Kogyo Kabushiki Kaisha | Fluid circuit |
US4192346A (en) * | 1976-08-25 | 1980-03-11 | Shoketsu Kinzoku Kogyo Kabushiki Kaisha | Control valve |
DE2738476C2 (de) * | 1976-09-02 | 1985-08-01 | Shoketsu Kinzoku Kogyo K.K., Tokio/Tokyo | Steuerventil |
US4132153A (en) * | 1976-11-09 | 1979-01-02 | Phd, Inc. | Metering control valve and fluid power system |
FR2555703B1 (fr) * | 1983-11-29 | 1986-08-14 | Legris | Perfectionnement aux limiteurs de debit d'air comprime |
JPS6367042A (ja) * | 1986-09-08 | 1988-03-25 | Fuji Xerox Co Ltd | コンピユ−タシステムのデ−タ転送方法 |
TW468005B (en) * | 1998-11-06 | 2001-12-11 | Smc Corp | Pneumatic cylinder with cushion mechanism |
CN1138697C (zh) * | 2000-04-28 | 2004-02-18 | 博隆工程有限会社 | 空气平衡装置 |
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2004
- 2004-11-08 US US10/595,712 patent/US7392734B2/en not_active Expired - Fee Related
- 2004-11-08 JP JP2005515339A patent/JP4741950B2/ja not_active Expired - Fee Related
- 2004-11-08 WO PCT/JP2004/016553 patent/WO2005045257A1/ja active Application Filing
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JPS63254203A (ja) * | 1987-03-19 | 1988-10-20 | フェスト コマンディト ゲゼルシャフト | 二重作動シリンダにおけるピストンの制御装置 |
JPH03204402A (ja) * | 1989-12-28 | 1991-09-06 | Shimomura Seisakusho:Kk | エアーシリンダの速度制御方法 |
JPH0893951A (ja) * | 1994-09-28 | 1996-04-12 | Mitsubishi Heavy Ind Ltd | 電気油圧弁 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8146481B2 (en) | 2008-05-02 | 2012-04-03 | University Of Tsukuba, National University Corporation | Actuator, actuator control method, and actuator control program |
WO2016017377A1 (ja) * | 2014-08-01 | 2016-02-04 | 有限会社浜インターナショナル | スピードコントローラ |
EP3176482A4 (en) * | 2014-08-01 | 2018-04-18 | Yugen Kaisha Hama International | Speed controller |
US10247208B2 (en) | 2014-08-01 | 2019-04-02 | Yugen Kaisha Hama International | Speed controller |
JP2016161055A (ja) * | 2015-03-03 | 2016-09-05 | 有限会社浜インターナショナル | スピードコントローラ |
KR20210115858A (ko) * | 2020-03-16 | 2021-09-27 | 국방과학연구소 | 공압 구동기 및 이를 이용한 외골격 로봇 |
KR102307734B1 (ko) * | 2020-03-16 | 2021-10-06 | 국방과학연구소 | 공압 구동기 및 이를 이용한 외골격 로봇 |
Also Published As
Publication number | Publication date |
---|---|
US20070039458A1 (en) | 2007-02-22 |
JP4741950B2 (ja) | 2011-08-10 |
US7392734B2 (en) | 2008-07-01 |
JPWO2005045257A1 (ja) | 2007-05-17 |
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