JPH06297265A - Device for automatically inserting piston rod into cylinder tube - Google Patents

Abstract

(57) [Abstract] [Object] The present invention provides an apparatus for automatically inserting a piston rod into a cylinder tube in a hydraulic cylinder. [Structure] The weight of the heavy piston rod is balanced and supported by an air bearing, and a small capacity force sensor accurately detects the reaction force and moment generated between the tube and piston when the piston rod is inserted. By correcting the inclination, the work of inserting the piston rod can be automated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically inserting a piston rod into a cylinder tube.

[0002]

2. Description of the Related Art For example, in Japanese Unexamined Patent Publication No. 62-130140, a mechanism for clamping an independent cylinder tube and piston rod on the same axis regardless of the diameter of the cylinder is mainly used. There is disclosed a cylinder disassembling and assembling apparatus which facilitates a series of disassembling and assembling operations which are freely movable by means of the Japanese Patent Laid-Open No. 51-3706.
No. 0 gazette discloses that when a bearing incorporated in a chock (a box type bearing that houses the bearing and is usually called a chock) is attached to and detached from a rolling mill roll, it is equipped with an air diaphragm and can be floated and can be moved up and down on the upper surface. The roll is placed on a roll support stand, and the chock is placed on the chock support stand, which is independent of the roll support stand and equipped with air diaphragms in both roll axis directions, which can float and can be moved in the roll axis direction by power, By using the air film of the air diaphragm of each support to float the heavy roll and bearing separately from the shaft center of the roll and the bearing in the chock, the fitting relationship between the roll shaft and the bearing can be flexibly and smoothly performed. There is disclosed a method for attaching and detaching a bearing for a rolling mill roll and an apparatus for attaching and detaching the bearing, which keeps the state and moves the chock by power to attach and detach.

[0003]

Problems to be Solved by the Invention JP-A-62-1301
In the cylinder disassembling and assembling apparatus disclosed in Japanese Patent Publication No. 40, since the work of inserting the piston tip and the work of pushing the piston in the tube have scratches in a minute gap, human visual confirmation and sensation are required. Since the rod portion of a long cylinder bends under its own weight, frequent adjustments are required by humans.

On the other hand, in the rolling bearing mounting / demounting method for rolling mill and its apparatus disclosed in Japanese Patent Laid-Open No. 51-37060, there is no problem such as bending due to the weight of the roll at the time of insertion, but the air film by the air diaphragm. Even if it is attached and detached by using, the initial insertion work of the roll tip into the bearing still requires visual confirmation by a person.

The present invention has been made in order to advantageously solve the above-mentioned problems of the prior art, and even if there is bending / runout due to its own weight, it occurs when the piston portion is inserted and the piston rod is pushed into the tube. The purpose is to automatically correct the axial misalignment and inclination of the piston rod while accurately detecting the contact reaction force and moment between the tube and the piston rod regardless of the weight of the piston rod.

[0006]

The gist of the present invention is as follows. The piston rod is mounted on the bottom surface while clamping the piston rod on the same axis regardless of the size of the rod diameter, and the vertical and horizontal position adjustment base installed on the trolley for piston movement that can move forward and backward and ascending and descending. And a rod clamp base that is floatable with respect to the position adjustment base while supporting the weight of the rod, and the rod clamp base is arranged in a symmetrical position in the horizontal plane including the rod axial center about the rod axial center and the input side is the rod. A pair of force sensors fixed on the clamp base, a pair of contact reaction force transmission plates fixed on the output side of the force sensor and moving integrally with the rod clamp base, and stacked on the vertical and horizontal position adjustment bases. The contact reaction force transmission plate is constituted by a pair of left and right clamp mechanisms that grip the rod clamp base in the insertion direction irrespective of vertical and horizontal position changes of the rod clamp base. That the piston rod automatic insertion device into the cylinder tube.

A vertical and horizontal position adjusting table provided on a rod pushing carriage that can move forward and backward so as to be able to move up and down and traverse, and an air bearing mounted on the lower surface while clamping the piston rod on the same axis regardless of the size of the rod diameter. The rod clamp base is provided so as to be able to float above the position adjustment base while supporting the weight of the piston rod, and is arranged in a vertical plane including the axis of the rod, and the output side is fixed on the vertical, horizontal, and position adjustment bases. A force sensor, a contact reaction force transmission plate provided on the rod clamp base on the input side of the force sensor, and a clamp mechanism for gripping the contact reaction force transmission plate irrespective of vertical and horizontal position changes of the rod clamp base. A device for automatically inserting a piston rod into a cylinder tube, characterized by being configured by and.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in more detail based on the embodiments shown in the drawings. FIG. 1 is a perspective view illustrating the present invention,
2 is a plan view of the piston insertion carriage, FIG. 3 is a front view of the piston insertion carriage, FIG. 4 is a side view of the pushing carriage, and FIG. 5 is a piston rod pushing state view.

In the figure, 1 and 4 are a piston insertion carriage and a rod pushing carriage provided on the same rail so as to be able to move forward and backward, and 11 is a traveling carriage of the piston insertion carriage 1.
Reference numeral 12 is an up-down position adjustment base provided on the upper portion of the traveling carriage 11 so as to be able to move up and down, 13 is a horizontal position adjustment base provided on the upper portion of the vertical position adjustment base 12 so as to be traversable, 14 and 15 are air bearings, 16 is an air bearing , 15 is a levitation frame provided so as to be able to levitate, 17 is a piston rod clamp portion provided on the levitation frame, 18 and 19 are a pair of left and right force sensor mounting frames provided in a transverse direction on the levitation frame, 20 and Reference numeral 21 denotes a pair of left and right force sensors provided at a position where the central axis exists in a horizontal plane including the piston rod axis center in this mounting frame, and 22 and 23 are joint surfaces with the mounting frames 18 and 19 of the force sensor. The reaction force / moment transmission plates 24 and 25 are provided on the opposite side of the A pair of right and left clamping portions provided on graspable position in forward and backward directions 2,23, 26 lift drive device in the vertical position adjustment table 12, the lateral position adjustment stage 27 13
It is a transverse drive device. The traveling vehicle 11 has a drive device (not shown).

Further, 41 is a traveling carriage of the rod pushing carriage 4, 42 is a vertical position adjusting stand provided on the upper part of the traveling carriage 41 so as to be able to move up and down, and 43 is a left and right side provided on the upper part of the vertical position adjusting stand 42 so as to be traversable. Position adjusting bases, 44 and 45 are air bearings, 46 is a levitation frame provided on the left and right position adjusting bases 43 via the air bearings 44 and 45, 47 is a floating frame, 47 is a piston rod clamp part provided on the levitation frame 46, Reference numeral 48 denotes a force sensor mounting frame provided below the left and right position adjusting base 43 in a vertical plane including the central axis of the piston rod so as not to interfere with the piston rod axis, and 49 includes the central axis of the piston rod on the mounting frame 48. A force sensor provided with a piston rod axis and a center axis parallel to each other in a vertical plane, and 50 is a mounting frame 4 for the force sensor. Reaction forces - which is provided on the opposite side of the engagement surface with the
A moment transmitting plate, 51 is a clamp portion provided on the levitation frame 46 so that the reaction force / moment transmitting plate 50 can be grasped in the forward and backward direction, 52 is an elevating and lowering drive device for the vertical position adjusting table 42, and 53 is a horizontal position adjusting table. 43 is a transverse drive device.

The traveling carriage 41 has a drive device (not shown). In addition, the force sensors 20, 21
Based on a reaction force / moment detection signal from the controller, a controller having a function of issuing a command for raising / lowering amount and a traversing amount to the elevation drive device 26 of the vertical position adjustment base 12 and the transverse drive device 27 of the horizontal position adjustment base 13 respectively (not shown). No.), and based on the reaction force / moment detection signals from the force sensor 49, the elevation drive device 52 of the vertical position adjustment base 42 and the traverse drive device 53 of the horizontal position adjustment base 43 are respectively instructed of the elevation amount and the traverse amount. A controller (not shown) having a function of issuing
Is provided.

[0012]

Function: The rod 6, the piston 5 and the clevis 7 are integrally mounted on this device, and the rod 6 near the piston 5 is clamped by the clamp portion 17 on the floating frame 16 of the piston insertion carriage 1, and the clevis 7 side is Clamping is performed by the clamp portion 47 on the floating frame 46 of the pushing carriage 4. The piston insertion carriage 1 is moved forward and the pushing carriage 4 is pulled through the piston rod 6 and stopped immediately before the piston insertion start position, the air bearings 14 and 15 are operated, and the levitation frame 16 is raised to an arbitrary height and pushed in. Dolly 4
The levitation frame 46 of the above is simultaneously levitated. In order to set the horizontal position at an arbitrary position where the levitation frames 16 and 46 are stable, the feed amount of the screw screw 29 of the transverse drive device 27 of the horizontal position adjustment base 13 is arbitrarily set on the personal computer side for initial insertion. Set as the start position.

The initial insertion start position is measured in the left-right direction by the feed amount of the screw screw 29 by an encoder built in the drive unit 27, and in the up-down direction by an encoder built in the lift unit 26. To be transmitted and stored. In order to detect the reaction force and moment acting on the piston side at the time of insertion, the reaction force / moment transmission plates 22 and 23 attached to the force sensors 20 and 21 on the left and right position adjusting base 13 are respectively clamped by the clamp portions 24,
Clamp it with 25 and turn on the power of the force sensors 20 and 21.
Initial calibration is performed by setting it to FF. Levitation frame 16 that clamps rod 6 in this state
The left and right position adjustment bases 13 are joined only by the force sensors 20 and 21, and the reaction force and moment generated by the contact between the tube 8 and the piston 5 when the piston insertion carriage is advanced at a slight speed from the piston insertion start position. Force sensor 2
It is detected at 0 and 21. If the detected reaction force / moment is more than the threshold value set on the personal computer, the piston insertion carriage 1 is temporarily retracted, and the next insertion start is performed based on the direction and magnitude of the reaction force / moment. The moving direction and the moving amount of the horizontal position adjusting table 13 and the vertical position adjusting table 12 up to
7. The command value is transmitted to the elevating / lowering drive device 26 to move the left / right position adjustment base 13 and the vertical position adjustment base 12.

From this state, the piston insertion carriage 1 is advanced again at a slight speed to perform the insertion operation.
The above operation is continued until the respective components of the reaction force and the moment detected by are below the threshold value, and when the components are below the threshold value, the inserting operation of the piston 5 is completed.

After the insertion of the piston 5 is completed, the clamp 17 is opened and the operation of pushing the rod 6 into the tube 8 is continued. With the levitation frame 46 of the push-in trolley 4 being levitated by the air bearings 44 and 45,
The reaction force / moment transmission plate 50 is clamped by the clamp portion 51 of the left / right position adjustment base 43, and the levitation frame 46 and the left / right position adjustment base 43 are joined only by the force sensor 49 so that the reaction force and the moment can be detected. , Force sensor 49
The initial calibration of the force sensor 49 is performed by turning off the power of the device, and the vertical and horizontal positions of the rod clamp portion 47 when the piston rod 6 is pushed into the tube 8 are searched and determined by the procedure described below.

The height of the vertical position adjusting table 52 and the left and right position of the horizontal position adjusting table 43 are moved up and down and left and right within a range preset by the elevating and lowering driving device 52 and the traverse driving device 53, respectively. Regarding the direction, the force sensor 49 detects the reaction force and moment generated by the contact between the piston 5 and the inner surface of the tube 8 in the state where the piston 5 is shown in FIG. Is compared with the threshold value of the personal computer, and when the threshold value is reached, the vertical position adjustment base 52 is stopped from moving up and down, and the vertical height is measured by an encoder or the like built in the vertical drive device 52, and the measurement is performed. The value is transmitted to the personal computer and stored. This operation is performed in the vertical direction above and below the initial push-in position, and similarly in the horizontal direction for the right and left sides.The vertical upper limit position, the vertical lower limit position, the horizontal right limit position, The left limit position in the left-right direction is obtained and stored in the personal computer.

The intermediate position between the upper and lower limit positions in the vertical direction stored in the personal computer is calculated in the personal computer to determine the height of the vertical position adjusting table 52 when the next pushing is performed, and the right and left right limit positions and the left and right positions are determined. The left end position of the direction is calculated by the personal computer of the left limit position and the traverse position of the left and right position adjustment table 43 is determined when the pushing operation is performed next time. The positions of the base 42 and the left-right position adjustment base 43 are adjusted. When the adjustment of the vertical and horizontal positions is completed, the force sensor 4
Calibration is performed by turning off the power of 9 and the push-in cart 4 is moved forward at a slight speed.
Continue to move forward until the reaction force in the pushing direction detected by the load exceeds the preset load, and stop the forward movement when the load exceeds the preset load. The measurement operation and the pushing operation at the rightmost position in the direction and the leftmost position in the left-right direction are repeatedly performed until the rod 6 is completely pushed into the tube 8.

As described above, in order to accurately detect the reaction force and moment at the time of insertion by using the force sensor in order to reproduce the human sense, the air film by the air bearing is used for the detection. The reaction force and moment return to the correction of the piston posture during insertion, and the piston is automatically inserted by power. Furthermore, in order to continue the piston inserted in the cylinder tube, move the clevis side rod support part up and down and left and right by the power at the piston insertion impossible position, and from the reaction force and moment generated at that time, the cylinder tube axis It automatically searches for a position where the piston axis coincides with the piston axis and pushes it in.

[0019]

As described above, according to the present invention, the gravity compensation type in which the levitation by the air bearing is added to the force sensor can detect the minute reaction force / moment without being influenced by the weight of the object by the moment detection. Pistons and rods can be easily inserted without using human hands, and a great effect can be expected to simplify the work of inserting long objects such as cylinder pistons. By adopting this method, it is possible to perform ultra-long, large-scale, minute fittings very easily in a short time, without an operator, without seeing any flaws in the piston or in the tube, and performing a smooth insertion work. It was possible to solve the conventional problems here.

[Brief description of drawings]

FIG. 1 is a perspective view illustrating the present invention.

FIG. 2 is a plan view of a piston insertion carriage.

FIG. 3 is a front view of a piston insertion carriage.

FIG. 4 is a side view of the pushing cart.

FIG. 5 is a piston rod pushing state diagram.

[Explanation of symbols]

 1 Piston Inserting Cart 4 Rod Pushing Cart 5 Piston 6 Rod 7 Clevis 8 Tube 11,41 Traveling Cart 12,42 Vertical Position Adjuster 13,43 Left and Right Position Adjuster 14,15,44,45 Air Bearing 16,46 Levitation Frame 17 , 47 Piston rod clamp part 18, 19, 48 Force sensor mounting frame 20, 21, 49 Force sensor 22, 23, 50 Reaction force / moment transmission plate 24, 25, 51 Clamp part 26, 27, 52, 53 Drive apparatus

Claims (2)

[Claims] 1. A vertical and horizontal position adjusting table provided on a piston insertion carriage that can move forward and backward so as to be able to move up and down and traverse, and a piston rod is attached to the lower surface while clamping on the same axis regardless of the size of the rod diameter. The rod clamp base is provided so as to be able to float above the position adjustment base while supporting the weight of the piston rod by an air bearing, and the rod clamp base is placed symmetrically about the rod axis in a horizontal plane including the axis of the rod. A pair of force sensors whose input side is fixed on the rod clamp base, a pair of contact reaction force transmission plates which are fixed to the output side of the force sensor and move integrally with the rod clamp base, and the vertical and horizontal position adjustment It is constructed by a pair of left and right clamp mechanisms that are stacked on the table and hold the contact reaction force transmission plate in the insertion direction irrespective of vertical and horizontal position changes of the rod clamp table. A device for automatically inserting a piston rod into a cylinder tube. 2. An up / down / left / right position adjusting table provided on a rod-pushing carriage that can move forward and backward so as to be able to move up and down and traverse, and a piston rod is attached to the lower surface while being clamped on the same axis regardless of the size of the rod diameter. A rod clamp base that is floatable with respect to the position adjustment base while supporting the weight of the piston rod by an air bearing, and a rod clamp base that is placed in a vertical plane that includes the rod axis, and the output side is on the vertical, horizontal, and position adjustment bases. A fixed force sensor, a contact reaction force transmission plate provided on the rod clamp base on the input side of the force sensor, and the contact reaction force transmission plate is gripped regardless of vertical and horizontal position changes of the rod clamp base. A device for automatically inserting a piston rod into a cylinder tube, which is configured by a clamp mechanism.