WO1993010359A1

WO1993010359A1 - Air pressure operated apparatus and control apparatus for the same

Info

Publication number: WO1993010359A1
Application number: PCT/JP1992/001505
Authority: WO
Inventors: Shigeo Kanaya
Original assignee: Myotoku Ltd.
Priority date: 1991-11-20
Filing date: 1992-11-18
Publication date: 1993-05-27
Also published as: JPH05196008A

Abstract

An air pressure operated apparatus, such as an oscillating air pressure operated apparatus having a cylinder piston type air cylinder and vanes, which apparatus can be moved to an arbitrary position and stopped, moved in the reverse direction, and has the moving speed thereof regulated arbitrarily, and a control apparatus therefor. The control apparatus (10) for the air pressure operated apparatus according to the present invention is constructed as follows: when a drive valve (unit 40) is rotated by a suitable means, an operating member of the air pressure operated apparatus is moved, and a driven valve (unit 26) adapted to be rotated in pro portion to an amount of movement of this operating member is rotated the same number of revolutions as the drive valve unit, whereby a desired position of operation can be controlled by only regulating the operation of the drive valve (unit 40).

Description

Description Pneumatic actuator and its controller Technical field

The present invention relates to a pneumatic operating device such as a cylinder-type air cylinder or a swing type having a vane and a control device therefor. Background art

In general, pneumatic actuators such as air cylinders are different from hydraulic cylinders in that air has compressibility. Therefore, operating members such as pistons do not need to be stopped at any position to be used. It was common to use it in a position or end position. Disclosure of the invention

The present invention relates to a pneumatic operating device capable of operating and stopping an operating member of a pneumatic operating device to an arbitrary operating position, operating the operating member in a reverse direction from that state, and arbitrarily adjusting an operating speed, and a control device thereof. To provide.

The present invention relates to a main body having an air supply port for supplying air, an exhaust port for discharging exhaust gas, and two connection ports respectively connected to two connection ports of a pneumatic operation device, And a driven valve device mounted on the main body and rotated in proportion to the operation amount of an operation member of a pneumatic operation device. When the driven valve device is rotated in any one of the directions at a rotational speed that can be followed by the driven valve device, the driven valve device also rotates at substantially the same rotational speed in the same direction as the driven valve device, and the air is supplied from the air supply port. Supply air The air of the pneumatic operating device flows into one connecting port and flows into the other connecting port, flows out through the exhaust port, and when the driven valve device is rotated in the opposite direction, the driven valve device also becomes the driven valve device. The gas supplied from the air supply port is rotated at substantially the same rotational speed in the same direction to flow out to the other connection port, and the exhaust of the pneumatic operating device flows into the one connection port to form the exhaust port. It is intended to provide a control device for a pneumatic device characterized by flowing out through the air, and a pneumatic device provided with such a control device. Brief description of the drawings.

1 to 10 show an embodiment of a control device for a pneumatic operating device according to the present invention, and FIG. 1 is a longitudinal sectional view schematically showing the control device.

FIG. 2 is a longitudinal sectional view of the driven valve device.

Figure 3 is a side view.

FIG. 4 is a sectional view taken along line AA in FIG.

FIG. 5 is a sectional view taken along line BB in FIG.

FIG. 6 is a front view of the driving valve device.

FIG. 7 is a cross-sectional view taken along the line C-C in FIG.

FIG. 8 is a sectional view taken along the line DD in FIG.

FIG. 9 is an explanatory diagram showing a state where the control device is connected to the air cylinder.

FIG. 10 is an operation explanatory diagram of the control device of the pneumatic operating device.

FIG. 11 is a partially omitted longitudinal sectional view showing an embodiment of an air cylinder according to the present invention.

HI2-1-5 shows an example of a control device for a pneumatic operating device of the present invention in FIGS. 1 to; L2 shows an example of an H2S in which the driven pulp device and the driven pulp device of the above embodiment are changed, and FIG. 12 shows a driven valve. It is a longitudinal section of a device. FIG. 13 is a sectional view taken along line EE in FIG.

FIG. 14 is a sectional view taken along line FF in FIG.

FIG. 15 is a longitudinal sectional view of the driven valve device.

FIGS. 16 to 22 show other different embodiments of the control device of the pneumatic operating device according to the present invention, and FIG. 16 is a longitudinal sectional view thereof.

FIG. 17 is a front view of the driving valve device.

FIG. 18 is a plan view thereof.

FIG. 19 is a sectional view taken along line GG of FIG.

FIG. 20 is a front view of the driven valve device.

FIG. 21 is a plan view thereof.

FIG. 22 is a longitudinal sectional view thereof.

FIG. 23 is a front view showing, in partial cross section, an embodiment in which a control device is connected to a vane swing type pneumatic operating device.

FIG. 24 is an explanatory view showing another embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Referring particularly to FIG. 1 in an embodiment of the present invention shown in FIGS. 1 to 10, reference numeral 10 denotes a control device of a pneumatic operating device according to the present invention, which has a main body 12 constituting an outer shell. This body has a hole 13 through the center that is formed through the center. The air supply port 14 supplies the pressurized air reaching the specified position of the bracket, the exhaust port 15, and the air pressure. A first connection port 16 and a second connection port 17 for communicating with both ends of the operating device are formed.

Reference numeral 18 denotes a driving member which is rotatably mounted in an airtight manner by using a packing 19 at one end of a hole 13 of the main body 12, for example, a stepping motor or another forward / reverse rotatable motor. It is designed to be rotated by the drive device 20 in the evening or by hand or the like. 21 indicates a bearing. Reference numeral 22 denotes a driven member consisting of a shaft that rotates in proportion to the amount of operation of the pneumatic actuator so that when the operating member such as the piston of the air cylinder operates, the direction is reversed when the member is reversed. , 25 rotatably supported.

Referring particularly to FIGS. 2 to 5, reference numeral 26 denotes a substantially cylindrical driven valve device, which is formed from the end of the main driving member 18 and closed from the other end, and formed from the supply passage 27 and the driven member 22. An exhaust passage 28 closed on the driving member 18 side is provided. Reference numeral 30 denotes a first arc-shaped opening, and 31 denotes a second arc-shaped opening. In these arc-shaped openings, arc-shaped openings 32a and 32b communicating with the air supply passage 27 and arc-shaped openings 33a and 33b communicating with the exhaust passage 28 are formed as shown. The arc-shaped openings 32a, 33a in the first arc-shaped opening 30 and the arc-shaped openings 32b, 33b in the second arc-shaped opening 31 are respectively provided between the both ends through a closed portion 34 having a slight angle range. The arcs CI32a and 32b and the arcs 33a and 33b are formed at positions 180 degrees out of phase with each other. Referring to FIG. 1 as well, the driven valve device 26 is provided at the end thereof on the driven member 22 side with a lock 7 for engaging a pin 36 penetrating the driven member 22 so that the driven member 22 rotates simultaneously with rotation. It is supposed to. Further, the air supply passage 27 communicates with the air supply port 14, and the exhaust passage 28 communicates with the exhaust port 15.

With particular reference to FIGS. 6 to 8, reference numeral 40 denotes a cylindrical main valve device rotatably and closely fitted to the outside of the driven knob device 26, and the first and second arc-shaped openings are respectively provided. A first hole portion 41 and a second hole portion 42 surrounding the outside of the portions 30 and 31 are provided. The holes 43a and 43b are formed at the same angular position around the axis as shown in the figures, and the annular spaces 45a and 45b are formed outside the holes 43a and 43b. As shown in FIG. 1, these annular spaces 45a, 45b allow the holes 43a, 43b to communicate with the first and second connection ports 16, 17, respectively. It is also possible to form the main body 12 without providing these annular spaces. Each of the holes 43 a and 43 b is formed to be shorter than the length of the closing portion 34 of the driven valve device 26. 46 is a small diameter portion formed at the end of the driving member 18 side, and 47 is four holes formed in the small diameter portion. Reference numeral 4 8 denotes a pin which penetrates and couples a pair of these holes facing each other and a hole 50 formed in the driving member 18, and includes a driving member 18 and a driving valve member.

40 rotate simultaneously. The small-diameter portion 46 has an inlet 14 open so that it can be supplied to the supply passage 27 of the driven valve device 26 through two holes 50 that do not penetrate the pin 48. I have. The driven valve device 26 and the driven valve device 40 constitute means for switching the flow path as described later.

Referring to FIG. 1, reference numeral 51 denotes a pinion that penetrates the driven member 22 and is fixed thereto. Numeral 52 denotes a rack that meshes with the pinion, and has mounting members 53 at both ends for connecting to a piston of the air cylinder.

With particular reference to FIG. 9, a commercially available rodless air cylinder 54 controlled by the controller 10 is shown. 55 is a cylinder and 56 is a piston. Reference numeral 57 denotes a connecting member connected to the biston 56 outside the cylinder 55, and is connected to the mounting member 53 at one end of the rack 52. Reference numeral 58 denotes a starting end connected to the first connection port 16 of the cylinder 55 via the hose 59, and reference numeral 60 denotes an end connected to the second connection 17 via the hose 61. . Therefore, when the piston 56 moves from the start end 58 side to the end end 60 side, the movement of the rack 52 causes the pinion 51 to rotate counterclockwise when viewed from the main drive member 18 side of the control device 10. When the piston 56 moves in the opposite direction, the pinion 51 rotates in the opposite direction clockwise, and the pinion 51 always rotates in proportion to the movement length of the piston 56. . If the piston 56 is fixed and the cylinder 55 moves as an operating member, the rack

52 is fixed to the cylinder 55 without being fixed to the piston 56. That is, the driven member 22 rotates in proportion to the operation amount of the air cylinder 54. What should be done is.

The operation of the control device of the pneumatic operating device according to the present invention will be described with reference to FIGS. FIG. 10 is a schematic cross-sectional view of the driven valve device 26 and the driven valve device 40 in the same positions as FIGS. 4, 5, 7, and 8 when viewed from the driving member 18 in various states. is there. In (a) of this figure, the main valve unit 40 is moved counterclockwise in the same direction as the rotation direction of the driven member 22 when the piston 56 is moved from the starting end 58 to the end 60 by the driving member 18. O The hole 43 of the drive valve device 40 is open toward the exhaust arc opening 33a, and the hole 43b is facing the supply arc opening 32b. Open. In this state, the pressurized air supplied from the air supply port 14 passes through the air supply flow path 27, the air supply arc opening 32 b, the hole 43 b, the second connection □ 17, and the hose 61. It will be supplied from the terminal 60 into the cylinder 55. Also, the exhaust pushed by the piston 56 in the cylinder 55 is the hose 59, the first connecting cylinder 16,? L43a, exhaust arc-shaped opening 33a, g Air flow path 28, exhausted through exhaust port 15. If the piston 56 is at the starting end 58, this piston does not move, but if it is at any other position, it moves toward the starting end 58, and the driven valve device 26 moves clockwise as shown. Will rotate. In both cases of stop and rotation of the driven valve device 26, the driven valve device 40 is rotated, and the holes 43a and 43b are closed by the closing portion 34 in a short period of time, and the piston 56 is closed. If moving, stop momentarily.

Subsequently, when the main valve unit 40 is rotated, the state shown in (b) is obtained, and the pressurized air supplied from the air supply port 14 is supplied to the air supply passage 27, the arc opening 32 2 a, It is supplied from the starting end 58 to the cylinder 55 through the hole 43a, the first connection □ 16, and the hose 59, and the piston 56 moves from the starting end 58 to the end 60. That is, this state continues until the terminal 60 is reached or the rotational force of the driving valve device 40 is stopped. When the rotation of the driving pulp device 40 stops, the hole is formed as shown in (c). The 43a and the hole 43b are closed by the closing portion 34, the supply of pressurized air is stopped, and the biston 56 also stops at that position. In this state, if the biston 56 moves slightly due to a change in load or the like, the pressurized air: is supplied or discharged until it stops first, and is kept at a fixed position. In such a case, the load fluctuation must be at a speed within a range in which the supply and discharge of air by the control device 10 can follow. When the driving valve device 40 is rotated clockwise, as described above, at least after a short time, as shown in (d), the piston 56 moves from the end 60 to the start 58. As a result, the driven valve device 26 rotating simultaneously with the main valve device 40 also rotates in the same direction.

It is necessary that the rotational speed of the drive valve device 40 be substantially within the rotational speed at which the driven member 22 can rotate based on the movement of the piston 56. In such a case, the driven member 22 always rotates by substantially the same angle as the rotation angle of the main 11 valve device 40. Therefore, it is extremely easy to stop the piston 56 at an arbitrary position. In addition, the operating speed of the biston 56 can be adjusted to a desired speed by appropriately setting the rotation speed of the driving valve device 40. Therefore, it is possible to arbitrarily control the arrangement state and speed of the piston 56 by simply rotating the driving member 18 appropriately.

Next, an air cylinder incorporating the control device 10 integrally will be described with reference to FIG. In this figure, 70 is an air cylinder, 71 is an outer cylinder, 72 is an end face member on the starting end side fixed to the main body 12 of the control device, and 73 is an end closing the end of the outer cylinder 71. The end member 75 on the side is a cylinder disposed inside the outer cylinder 71 via a cylindrical flow path 76. The first connection port 16 coming from the control device 10 penetrates the end face member 72 and opens to the start end side, and the second connection port 17 is connected to the cylindrical flow path 76 at the start end side. It is open. 7 7 is an appropriate number that opens from the cylindrical flow path 76 to the cylinder 75 at the end side Hole. Reference numeral 80 denotes a rod-shaped screw that extends through the center of the cylinder 75, and the inclination angle of the spiral of the screw is, for example, about 45 degrees, and is inclined very steeply. The driven member 22 for rotating the driven valve device 26 is integrally connected to the driven member 22 by means not shown. Reference numeral 81 denotes a bearing, and reference numeral 82 denotes a nut for retaining the screw 80 and the driven member 22.

Reference numeral 83 denotes a cylindrical screw made reciprocable in the cylinder 75. A female screw member 85 screwed to the screw 80 is fixed to the starting end side by an appropriate number of screws 86.

Reference numeral 88 denotes a cylindrical piston rod, which is screwed to one end of a screw part 89 of the biston, and surrounds the outside of the screw 80 and extends outward through the end face member 73. Reference numeral 90 denotes a piston for sealing the gap with the piston rod 88 provided at the outer end of the screw 80. 9 1 is a piston port, y is a hole that discharges leaked air from a sealing piston opened in the part that extends out of 8 8 8 9 is screwed into the tip of a biston rod 8 8 A connecting screw member for connecting another member to be operated, which is fixed by the screw 93.

Reference numeral 95 denotes a detent rod serving as a detent means, which is guided by a guide part 96 fixed to the outer cylinder 71, and is fixed to the coupling screw member 92 by a force coupling member 97. It is. Therefore, when air is supplied from the first connection port 16 to the starting end of the cylinder 75 by rotating the driving member 18 in a counterclockwise direction, for example, and the piston 83 moves to the end, the piston moves. The screw 80 rotates without moving, and the driven member 22 rotates. When the driving member 18 is stopped in any state, the piston 83 stops at that position. When the driving member 18 is rotated clockwise, the piston 88 returns to the start end side. In this embodiment, the detent rod 95 may be provided in the cylinder 75 such that the piston 83 is airtightly aired.

In another different embodiment of the present invention shown in FIGS. 12 to 15, a part of the control device of the pneumatic operating device shown in FIGS. 6 is formed in a cylindrical shape and rotated by the driving member 18 A drive valve device 40 is provided, which is formed with a supply arc-shaped opening 32a, 32b and an exhaust arc-shaped opening 33a, 33b on the inner side as shown. The driven valve device 40 in the above embodiment has a driven valve device 26 similar to that formed in a shaft shape, and the holes 43 a and 43 are formed so as to have an angle difference of 180 degrees. b to open and reach the annular spaces 45a, 45b via the flow paths 98a, 98b, respectively, so as to be connected to the driven member 22 to rotate. Has become. Other parts corresponding to those of the embodiment shown in FIGS. 1 to 10 are denoted by the same reference numerals.

In this embodiment, each of the supply arc opening and the exhaust arc opening is on the same side only, for example, only the supply arc opening 32a and the exhaust arc opening 33a are formed, and the hole 43b is also symmetric with the hole 43a. It may be configured to be formed at an appropriate position.

In another embodiment of the present invention shown in FIGS. 16 to 22, a space 101 communicating with the air supply port 14 is formed above the hole 13 in the main body 12. The driving valve device 40 is closely rotatably mounted in the hole 13 of the main body 12 and has a cylindrical peripheral surface and a bottom surface composed of a horizontal circular flat surface. It has a shaft portion 1 and 2 extending through the upper end surface. Main driving valve system 4 0 This vertically supply arcuate opening 3 2 force ⁵ is formed on the lower end surface by the flow channel 1 0 3 arcuate cross section which penetrates and璟状space portion formed on a part of circumferential surface There is a flow path 105 having an arc-shaped cross section extending downwardly in communication with the exhaust port 15 by 104, and an exhaust arc opening 33 is formed at the lower end surface. The supply arc opening 32 and the exhaust arc opening 33 are located at the same radius around the central axis, and are arranged so as to extend only in the same angle range through a closed portion 34 at a slight interval therebetween. is there.

The driven valve device 26 is formed in a columnar shape, and is disposed below the main driving valve device 40 so as to be rotatable by being in planar contact with each other. The arc-shaped opening 33 should have an angle difference of 180 degrees with the same radius as 3 Holes 43a, 43b, and reach the annular spaces 45a, 45b via the flow paths 98a, 98b, respectively. It is connected to 22 and rotated. The holes 43a and 43b overlap with the closing part 34 at the same time and are closed in this case. Reference numeral 106 denotes a helical spring that exerts elastic force so as to bring the main valve device 40 into close contact with the driven valve device 26, and 108 denotes a thrust bearing. The annular spaces 45a and 45b communicate with the first and second connection ports 16 and 17, respectively. Other parts are configured in the same manner as in the embodiment shown in FIGS. 1 to 10, and corresponding parts are denoted by the same reference numerals. This embodiment can also operate in the same manner as the above embodiments. That is, when the air cylinder is operated in a predetermined direction, the shaft portion 102 is operated by a stepping motor or other means in the direction in which the vinyl 51 rotates, and the main valve device 40 is driven by the driven pulp device 26. It is sufficient to rotate at a rotational speed that can follow.

Like the driven pulp device 26 in the embodiment shown in FIGS. 16 to 22, the driven valve device is configured to have two holes in the contact surface, and two arc-shaped openings similar to the driven valve device 40. The driven pulp apparatus may be configured to have the following.

As shown in FIG. 23, the control device 10 according to the present invention can be applied as a pneumatic operating device, for example, to a vane swing type pneumatic operating device 110 that swings a vane by air pressure. In this case, the vane (not shown) and the output shaft 112 rotate reciprocally within 360 degrees, but the driven member 2 is configured to rotate this movement via a speed increasing device (not shown). 2, the driven valve device 26 is rotated. The first and second connection ports 16 and 17 are connected to connection ports 113 and 115 of the pneumatic actuator 110 by hoses (not shown), respectively. As the control device 10, those of the various embodiments described above can be used.

In the present invention, as shown in FIG. 24, in order to determine the amount of movement of the operating member such as the piston 56 of the air cylinder 54, for example, a magnetic member arranged in parallel with the piston rod 57 A graduation member 1 16 and a detection member 1 17 fixed to a piston rod for reading the same are provided, and the detection signal is sent to a control circuit 118, and the signal is used as a control signal, or the motor 1 20 May be driven to rotate the driven valve device 26 (not shown). Reference numeral 20 denotes a driving device such as a steering motor for driving the driving valve device 40 (not shown). In the present invention, in addition to the magnetic graduation, a known method such as disposing a magnetostrictive wire or a magnetostrictive tube in a hollow piston rod and fixing it to a cylinder, and determining the movement amount of the piston by a detection device provided in the piston is used. Technology can be used to rotate the driven valve device as well. Further, for example, a signal obtained by reading a scale of an optical scale formed directly or indirectly on a piston rod can be used. In some cases, the amount of movement of the operating member of the pneumatic operating device is transmitted to rotate the driven valve device 26 of the control device 10 using a flexible wire or the like. Further, such a change can be applied to a vane swing type pneumatic operating device via an appropriate device for converting a rotary motion into a linear motion as required.

The control device of the pneumatic operating device according to the present invention can make various changes. For example, any transmission may be used as long as the driven member 22 of the control device 10 rotates in proportion to the operation length of the operation member of the pneumatic operation device. In the embodiment shown in FIG. 1, a chain and a sprocket can be used instead of the rack 52 and the pinion 51, or a stepped belt or the like can be used. In addition, the supply air 14, the exhaust air 15, and the connection ports 16, 17 may be cut with a female thread if necessary.

Industrial applicability

As described above, the present invention can stop the operating member such as the piston or vane at an arbitrary position or operate the operating member in the opposite direction and adjust the operating speed arbitrarily. 2 It provides a pneumatic operation device having a function that has not been provided at all, and a control device thereof, and can be widely used in fields requiring such a function.

Claims

3 Scope of request

1. A main body having an air supply port for supplying air, an exhaust port for discharging exhaust gas, and two connection ports respectively connected to the two connection ports of the pneumatic operating device, A driven valve device operated to rotate in both forward and reverse directions,

A driven valve device which is mounted on the main body and rotates in proportion to the amount of operation of an operating member of a pneumatic operating device, wherein the driven valve device is driven by any of the driven valve devices at a rotational speed capable of following the driven valve device. When rotated in one direction, the driven valve device also rotates at substantially the same rotational speed in the same direction as the driven valve device to allow air supplied from the air supply port to flow out to one connection port and to the other connection port. When the exhaust of the pneumatic operating device flows in and out through the exhaust port, and when the driven valve device is rotated at a rotational speed capable of following the driven valve device in the reverse direction, the driven valve device also moves in the same direction as the driven valve device. The gas supplied from the air supply port rotates at substantially the same rotational speed to flow out to the other connection port, and the exhaust force ^s of the pneumatic operating device flows into the one connection port and passes through the exhaust port. Spill Control device for the pneumatic operation device according to claim.

2. The control device for a pneumatic operating device according to claim 1, wherein the driving valve device and the driven valve device have surfaces that rotate in contact with each other, and the driving valve device and the driven valve device. Each of the surfaces has an opening portion communicating with the air supply port and an opening portion communicating with the exhaust port, and the other surface communicates with the connection ports respectively connected to the two connection ports of the pneumatic operating device. In addition, when one of them is open in the shape of a hole and the other is rotating with each other, at least two arc-shaped openings formed at both ends through blocking portions so as to open along this hole-like opening. The device is characterized in that the device is closed when a hole-shaped opening overlaps the closing portion.

3. The control device for a pneumatic operating device according to claim 2, wherein An apparatus characterized in that the surface that rotates when touched is a cylindrical surface.

4. The control device for a pneumatic operating device according to claim 2, wherein the surfaces that rotate in contact with each other are circular flat surfaces.

5. The control device for a pneumatic operating device according to claim 1, wherein the driven valve device is rotated based on a signal that has detected a movement of an operating member of the pneumatic operating device.

6-The control device for a pneumatic operating device according to claim 1, wherein the pneumatic operating device is an air cylinder.

7. The control device for a pneumatic operating device according to claim 1, wherein the pneumatic operating device is a vane swing type pneumatic operating device.

8. The control device for a pneumatic operating device according to claim 1, further comprising a stepping motor for rotating the driving valve device.

9. Pneumatic operating device provided with a control device for the pneumatic operating device according to claim 1.

10. A pneumatic operating device comprising an air cylinder integrally connected to the control device for the pneumatic operating device according to claim 1, wherein the end surface portion is connected to a main body of the control device, and the end surface member is connected to the end surface member. A cylinder extending outwardly of the cylinder, an end member disposed at the other end of the cylinder, an outer cylinder surrounding the cylinder via a cylindrical flow path, a piston sliding in the cylinder, A screw that is screwed into the center and extends long to rotate the driven valve device when the piston moves, and the outside of the screw is fixed to the piston and penetrates the end face member at the tip. The piston includes a piston rod and the device for stopping rotation of the piston. One of the connection ports provided in the main body is open in the cylinder, and the other connection port is open in the cylindrical flow path. From the tip side of Apparatus characterized by are communicated in the cylinder.

1 1. Air supply port for supplying air, exhaust port for discharging exhaust gas, and pneumatic actuator A main body having two connection ports respectively connected to the two connection ports, a driving member mounted on the main body and rotatable in both forward and reverse directions by operating from outside, and a main body mounted on the main body. A driven member that rotates in both forward and reverse directions in proportion to the amount of operation of the operating member of the pneumatic operating device; and a driven member that rotates the driven member in one of two directions at a rotational speed at which the driven member can follow. And rotates at substantially the same rotational speed in the same direction as the above, so that air supplied from the air supply port flows out to one connection port, and the exhaust of the pneumatic actuator flows into the other connection port and passes through the exhaust port. When the driven member is rotated in the opposite direction at a rotational speed at which the driven member can follow, the driven member also rotates at substantially the same rotational speed in the same direction as the driven member and is supplied from the air supply port. Gas to the other connection port Means for causing the exhaust of the pneumatically operated device to flow into the one connection port and to flow out through the exhaust port.