JP2643723B2 - Fluid drive actuator system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator system, and more particularly, to a fluid-driven actuator system including a plurality of actuators and transmitting fluid and information to each other.

[0002]

2. Description of the Related Art Conventionally, actuators utilizing fluid pressure as a driving source of mechanical force have been widely used. When a plurality of such actuators are used, a flow path for a fluid and wiring for transmitting an electric signal are required, and a large space is required. In order to solve such a problem, Japanese Patent Application Laid-Open No. Sho 60-121302 proposes a device in which a plurality of actuators each including a driving device, an arithmetic device, and a control circuit are arranged. This device is configured by connecting a power supply line and a fluid pipe to each actuator. Each actuator is controlled by receiving a control signal from the control circuit based on its own address.

[0003]

However, as described above, since the actuators are individually provided with control devices such as a driving device, an arithmetic device, and a control circuit, the shape of the actuator itself becomes large. In addition, since each actuator is independently connected to the power supply and the fluid supply source, each of the actuators requires an occupied space for the fluid coupling, the terminal block, and the like. Therefore, there is a problem that not only the required space is increased, but also the number of wiring steps is increased.

Accordingly, an object of the present invention is to provide an actuator system capable of efficiently utilizing a limited space, simplifying wiring and piping, reducing the size of the entire system, and accurately grasping an operation state. It is in.

[0005]

To achieve the above object, according to the solution to ## in the first inventions a plurality of actuators, the provided to each actuator, an electromagnetic switching mechanism for switching the fluid supply state from the fluid source Preparation, system system
The controls the operation of the electromagnetic switching mechanism based on a signal from the control device, the corresponding fluid driven actuator system for driving the actuator, from a fluid source
Distributing the fluid corresponding to each of the actuators
Mechanism and each power supply based on signals from the system controller.
A control device for controlling the operation of the magnetic switching mechanism is provided.
Unitization of the distribution mechanism and control device of
A plurality of terminals and said system
Connect the control device with a communication line, and
The electromagnetic switching between the distribution mechanism and the
Provide a pipe for supplying fluid to the mechanism and switch each electromagnetic
Wire between the control mechanism and the control device is installed on the pipe wall of the piping
It has as its subject matter that you have.

The gist of the second invention is that a display device for displaying the operation state of each actuator is provided on the terminal .

[0007]

[Action] With this configuration, the fluid corresponds to a result each actuator to the dispensing mechanism from the fluid supply source in the first aspect of the present invention
Distributed. In addition, the electromagnetic
The switching mechanism operates based on signals from the system controller.
It is controlled by a control device. This distribution mechanism and control
The control device is unitized as a terminal
Therefore, the size of the actuator can be reduced,
The whole system can be made compact. Furthermore, electromagnetic
Signal exchange between the switching mechanism and the control unit
An arrangement for supplying fluid to the electromagnetic switching mechanism of the actuator
This is done via electric wires arranged on the tube wall of the tube. For this reason,
Wiring between the electromagnetic switching mechanism and the controller is simplified.
Saves space and reduces man-hours for wiring.
You.

In the second invention, the operation state of each actuator is displayed on the display device of the terminal .

[0009]

【Example】

(First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS.

As shown in FIG. 1, a plurality of terminals 1 are interconnected via a communication line 2, and these terminals 1 have a system control device for controlling the entire system.
The controller 3 is connected. Each terminal 1 has a plurality of joints 4 and a plurality of actuators 5 are connected to the joints 4 via pipes 6 which are pipes. The terminal 1 is connected to a power supply 7 and a fluid supply source 8.

As shown in FIGS. 2 and 3, the terminal 1 comprises a control section 9 as a control device and a manifold section 10 as a distribution mechanism for distributing fluid to the joints 4. The control unit 9 mainly includes the information processing unit 11,
It comprises a communication unit 12, an output unit 13, an input unit 14, and a display unit 15, which are connected by a bus 16. The communication unit 12 is connected to the other terminals 1 via the reception line 2a and the transmission line 2b, and converts a serial signal into a parallel signal or a parallel signal into a serial signal to exchange information.
On the other hand, the input unit 14 and the output unit 13 are respectively connected to the joint 4 provided in the terminal 1, and control the actuator 5 via the pipe 6. Information processing unit 11
Is composed of a CPU, a ROM, a RAM, and the like.
It controls the input unit 14, the output unit 13, and the display unit 15.

The case 17 of the terminal 1 has a rectangular box shape, and each of the joints 4 is disposed in the manifold section 10. Communication connectors 18 and 19 for connecting the above-mentioned transmission / reception lines 2a and 2b, a power supply connector 20 and a fluid joint 21 are disposed on the side surface of the control unit 9.
Further, an address setting switch 22 such as a rotary switch and a monitor 23 including a plurality of LEDs and indicating the operation state of the actuator 5 are provided on the upper surface of the terminal 1. This monitor 23 has an operation LED 2
4, power supply LED 25, input and output LED 26,
27, which are arranged as shown in FIG.

Next, the actuator 5 shown in FIGS. 5 to 7 has an electromagnetic switching mechanism 28 comprising an electromagnetic valve 29 and fluid passages 30 and 31, and an operating mechanism 32 comprising a piston 33 and the like. . The operating mechanism 32 includes a cylinder tube 34 and rod covers 35 fixed to both ends thereof.
And a head cover 36. The fluid passages 30 and 31 are formed in the head cover 36 and the rod cover 35, respectively, and communicate with the cylinder chambers R2 and R1 of the cylinder tube 34 and with the joint 4 via the solenoid valve 29.

A mounting groove 44 is formed on the upper surface of the actuator 5, and a magnetic sensing type sensor 45 is fixed inside the mounting groove 44 by a mounting screw 46. The sensor 45 detects the position of the piston 33 by sensing a magnet (not shown) attached to the piston 33 of the actuator 5. Also, electrodes 47 on the mounting side are provided on inner walls on both sides of the mounting groove 44.
Are formed, and the electrodes 4 on the sensor side are provided on both sides of the sensor 45.
8 are formed, and the two electrodes 47 and 48 are in contact with each other to be in a conductive state. And these electrodes 47, 4
8 is electrically connected to an electric wire 74 of the tube 6 described later.

Next, as shown in FIGS. 8 and 9, the joint body 49 of the joint 4 attached to the actuator 5 and the terminal 1 has a cylindrical portion 50 and a screw portion integrally formed at the distal end thereof. 51, and an adjusting member 52 screwed to the screw portion 51. An insertion port 53 for inserting and connecting the tube 6 and a flange portion 54 are formed in the joint main body 49.
And it is screwed and fixed to the terminal 1 together with the screw 55. A step 57 is formed at the inner end of the insertion port 53.
A holder 58 that can be moved along the axial direction of the insertion port 53 is externally supported on the cylindrical portion 50. Irregularities are formed on the outer periphery of the holder 58.

A plurality of claw pieces 59 having a spring force in the outer peripheral direction are attached to one end of the holder 58 together with a snap ring 60 which is an insulator, and the tip is sharply formed. A plurality of nail insertion holes 61 are formed through the cylindrical portion 50. A cam surface 62 is arranged on one surface of the claw insertion slot 61 so as to face the claw 59, and the claw 59 is displaced inward by engaging with the claw 59.

A spring 63 is provided between the holder 58 and the adjustment member 52 as a biasing means, and biases the claws 59 so as to move the holder 58 in a direction toward the cam surface 62. .

A channel 64 is formed at the center of the cylindrical portion 50, and a channel 65 of the actuator 5 and the terminal 1 is formed.
Has been communicated with. In addition, a socket 67 is connected to an end of a power supply path 66 provided in the actuator 5 and the terminal 1. A pin 69 attached to the tip of a plug 68 on the joint body 49 side is inserted and connected to the socket 67. The plug 68 is embedded in the tubular portion 50, and a power supply line 70 connected to one end of the plug 68 is connected to a claw 59. Therefore, the feed path 66 of the actuator 5 and the terminal 1 and the claw piece 59 are electrically connected.

On the other hand, as shown in FIG. 9, a tube 71 constituting the tube 6 is made of an insulator, and a tube flow channel 72 is formed inside the tube 71. A strip-shaped groove 73 is formed on the outer periphery of the tube 71, and an electric wire 74 as a conductor is embedded therein. The outer periphery of the tube 71 is covered with an outer cover 75 also made of an insulator.

When connecting the tube 6 to the joint constructed as described above, first, the holder 58 is manually slid in the direction of the adjusting member 52 and held. At this time, since the unevenness is formed on the outer peripheral portion of the holder 58, the holder 58 can be easily slid without requiring a special tool. Holder 58
The claw piece 59 attached to the end is also moved along with the movement of. The tip of the claw piece 59 moves to the outside of the claw piece insertion port 61 along the cam surface 62 by a spring force, and expands beyond the diameter of the insertion port 53. In this state, the tube 6 is inserted into the insertion port 53, and the holding of the holder 58 is released. Holder 58 is spring 6
By the urging force of 3, the slider 59 is slid in the direction of the actuator 5 and the terminal 1, and the claw piece 59 moves along the cam surface 62 as the holder 58 moves, and bites into the outer peripheral surface of the tube 6 inserted into the insertion port 53. The electric wire 74 of the tube 6
Is pressed against. By this pressure contact, an electrical connection between the claw piece 59 and the electric wire 74 is formed, and the electric supply path 66 of the actuator 5 and the terminal 1 and the electric wire 74 of the tube 6 are conducted.

When the tube 6 is withdrawn, the holder 58 is moved in the direction of the adjusting member 52 as in the case of insertion. With this movement, the claw piece 59 is released from the tube 6, and in this state, the tube 6 can be detached by pulling out the tube 6 in the direction opposite to the insertion direction.

The operation of the fluid-driven actuator system configured as described above will be described. Terminal 1
The address of each terminal 1 is set by the address setting switch 22 installed in the terminal. The serial signal sent from the controller 3 is composed of an address signal and a data signal. When the address of the serial signal matches the address set in the terminal, the data is taken into the terminal 1. The selected serial signal is converted into a parallel signal by the communication unit 12 and sent to the information processing unit 11. Then, the parallel signal is converted into a control signal by the information processing section 11, and the predetermined electromagnetic valve 29 is driven via the output section 13. At this time, the fluid sent from the fluid supply source 8 passes through the manifold 10 of the terminal 1, passes through the pipe 6, and is sent to each actuator 5. The direction of the fluid is switched by driving the solenoid valve 29 as described above, and the piston 33 moves. The output unit 13 sends a signal to the display unit 15 at the same time as driving the actuator 5, a predetermined LED is turned on or off, and a command state for the actuator 5 is displayed on the monitor 23.

On the other hand, a sensor signal indicating the piston position of the actuator 5 is constantly sent from the sensor 45 attached to the actuator 5 to the terminal 1 via the electric wire 74 of the tube 6, and is processed through the input unit 14 for information processing. It is sent to the unit 11. This sensor signal is converted into a parallel signal by the information processing section 11 and sent to the communication section 12 as a communication signal. Then, the sensor signal is converted again into a serial signal by the communication unit 12 and sent to the controller 3. At this time, the sensor signal is simultaneously sent to the display unit 15 by the input unit 14, and the operation 1 state of the actuator 5 is displayed by the LED 26.

As described above, since the control section 9 and the manifold section 10 are integrally housed in the terminal 1, the size of the actuator 5 itself can be suppressed, and the whole system can be made compact. Further, since the tube 6 in which the electric wire 74 is incorporated is used, complicated wiring outside the tube is omitted, the connection space between the terminal 1 and the actuator 5 can be reduced, and the number of steps required for connection can be greatly reduced. . In addition, since the LED display is provided at the terminal, the operating state such as the piston position of each actuator can be easily known, and the solenoid valve 29 and the sensor 45
Centralized management is possible, which is very effective for maintenance.

[0025]

Next, another embodiment of the present invention will be described with reference to FIGS. In the following description, the same components as those of the above-described embodiment will be denoted by the same reference numerals in the drawings, and description thereof will be omitted.

FIGS. 10 and 11 show a second embodiment. The present embodiment is a terminal 76 applicable to a controller having no communication function. The configuration is almost the same as that of the above embodiment, but does not include the communication unit 12 and the information processing unit 11. That is, the control signal is sent directly to the output section 13 of the terminal 76 via the input and output bus lines 77 and 78 to drive the actuator 5. Therefore, the terminals 76 are connected using the bus lines 77 and 78,
The input / output connectors 79 and 80 have as many terminals as the bus lines 77 and 78.

In the third embodiment, as shown in FIG. 12 and FIG.
1 to allow electrical and fluid connection to each terminal block 82. Each terminal block 82 has an input / output display unit 83, and has a plug 84 and a fluid introduction tube 85 for electrical connection on one side. The other side has a fluid outlet hole 88 into which a socket 86 and a seal ring 87 are inserted. Then, the plug 84 of the adjacent one terminal block 82 is connected to the other socket 86, the fluid introduction tube 85, and the fluid outlet hole 88, respectively. In this manner, as many terminal blocks 82 as necessary for the group of actuators 5 can be increased or decreased, and unnecessary joints such as purchasing unnecessary joints such as terminals having fixed joints can be eliminated.

FIG. 14 shows another example of the actuator. An external connector 90 is attached to the joint 4 attached to the actuator 89, and a lead wire 91 from a sensor 92 is connected. Therefore, unlike the first embodiment, there is no need to use the dedicated sensor 45, and a general-purpose sensor can be used.

Next, another example of the tube is shown in FIGS. Hollow tube 9 made of resin material such as nylon
A groove 94 is formed in the outer peripheral portion of 3, and a straight telescopic electric wire 95 is accommodated therein. Outer skin 9 made of insulator
6 is formed in a cylindrical shape so as to surround the tube 93 and the telescopic wire 95.

The extendable electric wire 95 is made of a base 97 made of rubber.
And a conductor 98 having a copper foil thread spirally wound around the outer periphery thereof. The conductor 98 is covered with a rubber sheath 99 and is stretchable in the direction of the axis.

When the tube 100 is bent, the telescopic wire 95 accommodated in the groove 94 of the tube 93 also bends.
Since the electric wire 95 is freely expandable and contractible in the axial direction, the electric wire 95a housed on the outer periphery is elongated as shown in FIG. 17, and the electric wire 95b on the inner periphery is contracted and does not break.

[0032]

According to the first invention, the actuator itself
The body size can be reduced, and the entire system can be
Can be impact. Also, with electromagnetic switching mechanism
This has the effect of simplifying wiring to the control device, saving space, and reducing the number of wiring steps.

According to the second invention, the terminal is provided with L
Since the display such as the ED is provided, the operation state of the actuator can be easily grasped, and an effect that centralized management can be performed is achieved.

[Brief description of the drawings]

FIG. 1 is a piping diagram showing a first embodiment of a fluid-driven actuator system embodying the present invention.

FIG. 2 is a block diagram of a terminal.

FIG. 3 is a perspective view of a terminal.

FIG. 4 is a plan view showing a display unit of a display device provided in the terminal.

FIG. 5 is a sectional view of an actuator.

FIG. 6 is a perspective view of an actuator.

FIG. 7 is a cross-sectional view of a main part showing a mounting state of a sensor.

FIG. 8 is a sectional view of a main part of the joint.

FIG. 9 is a sectional view of a tube.

FIG. 10 is a block diagram showing a terminal of a second embodiment of the fluid-driven actuator system.

FIG. 11 is a perspective view of the terminal of FIG. 10;

FIG. 12 is a perspective view illustrating a terminal according to a third embodiment.

FIG. 13 is a plan view showing a connection state of the terminals of FIG. 12;

FIG. 14 is a perspective view showing another example of the actuator.

FIG. 15 is a cross-sectional view showing another example of the tube.

FIG. 16 is a perspective view showing an electric wire.

FIG. 17 is a cross-sectional view showing a bent state of the tube.

[Explanation of symbols]

1 terminal, 2 communication lines, 3 system controllers
A controller, 5 actuators, 6 tubes, 8
Fluid supply source, 9 Control unit as control device, 10
Manifold part as distribution mechanism, 28 electromagnetic switching mechanism, 29 electromagnetic valve, 74 electric wire.

Claims (2)

(57) [Claims] 1. A plurality of actuators, the provided to each actuator, and an electromagnetic switching mechanism for switching the fluid supply state from a fluid supply source, the operation of each electromagnetic switching mechanism based on a signal from the system controller Control and drive the corresponding actuator.
In a moving fluid-driven actuator system, fluid from a fluid supply source is associated with each of the actuators.
And a signal from the system controller.
Control device that controls the operation of each electromagnetic switching mechanism based on the
And the distribution mechanism and control unit are unitized.
And configure multiple terminals,
And the system controller are connected by a communication line.
Between the null and each actuator
Install pipes to supply fluid to each electromagnetic switching mechanism.
Connection between each electromagnetic switching mechanism and the control unit.
A fluid-driven actuator system, which is disposed on a pipe wall of a pipe . 2. The fluid-driven actuator system according to claim 1, wherein a display device for displaying an operation state of each actuator is provided on the terminal .