DE102013224386A1 - Hydraulic lifting unit for a simulator and simulator with such a lifting unit - Google Patents

Abstract

Disclosed is a hydraulic lifting unit for a simulator with at least one designed as a hydraulic cylinder hydraulic axis whose piston assembly has a drawer surface and an oppositely effective retraction surface and also acting in the same direction with the extension surface support surface. The pull-out and the withdrawal surface have approximately the same size. Also disclosed is a simulator, in particular a simulator device, with such a lifting unit.

Description

The invention relates to a hydraulic lifting unit for a simulator, in particular a ground or water or air or space-bound vehicle, according to the preamble of claim 1 and a simulator according to claim 15.

A generic hydraulic lifting unit has a plurality of, in particular hydraulic, axles for moving and supporting a load, for example a passenger cabin of a simulator. Under a hydraulic axis is understood in the context of this application, a hydraulic cylinder. These axles are compact, powerful and powerful drives used in a variety of industrial automation applications. For example, for driving simulators for said vehicles. In particular, such drives are designed to realize at least two motion sequences, namely a fast simulation movement - hereinafter referred to as work movement - as well as a high-load braking movement from high speeds - hereinafter referred to as end position damping.

In a known hydraulic axis of the applicant, a main hydraulic cylinder and a reversible hydraulic machine are interconnected in a prestressed hydraulic system. By reversing the hydraulic machine, the hydraulic cylinder can be extended and retracted. The velocities occurring in case of overload or failure of the system can be brought to a standstill by additionally installed power within man-made deceleration values, whereby the forces occurring in this case can be considerably higher than the hydraulic forces necessary for the movement.

The disadvantage of this solution is that this hydraulic axis, and thus the hydraulic lifting unit, is designed comparatively expensive device-related and the power to be installed is considerably higher than the power required for the actual movement of the load.

A hydraulic lifting unit to compensate for ship movements shows the European patent EP 1 993 902 B1 , The lifting unit has at least six hydraulic axes, each of which has a piston arrangement with three piston surfaces. Of these two are effective in opposite directions and acted upon by essentially incompressible pressure medium. A third piston surface is effective in the same direction with one of the first two and with a compressible pressure medium, for example gas, acted upon. The first two piston surfaces are used for acceleration in two opposite directions, the third serves to support a load of the lifting unit, a loading platform, as well as an attenuation of acceleration peaks.

A disadvantage of this solution is that to provide pressure medium supply of the hydraulic axes pneumatic and hydraulic units, such as hydraulic pumps and accumulator, build comparatively large and therefore take up much space. This is associated with a large spatial distance of these units to the hydraulic axes, resulting in long pressure medium lines or pressure fluid pipes. Their elasticity when pressurizing affects a directness and precision of the actuation of the hydraulic axes, and a control behavior negative.

In contrast, the present invention seeks to provide a hydraulic lifting unit, which takes up less space compared to the prior art. In addition, a simulator is to be provided, which takes up less space.

The first object is achieved by a hydraulic lifting unit with the features of claim 1, the second by a simulator having the features of claim 15

Advantageous developments of the hydraulic lifting unit are described in the claims 2 to 14.

A hydraulic lifting unit for a simulator, in particular for a simulator of a ground or water or airborne or space-bound vehicle, has at least one axis for moving and supporting a load, in particular a passenger cabin, in a force field, in particular under the influence of gravity. which is formed via a hydraulic or hydraulic cylinder with a piston arrangement having a plurality of piston surfaces. About each of the piston surfaces while a hydrostatic working space of the hydraulic cylinder is limited, wherein for acceleration of the load in two opposing directions, a first and an oppositely effective, second of the piston surfaces are acted upon with pressure medium. Preferably, the first piston surface against the force of gravity is effective. For supporting, in particular for weight compensation of the load, a third of the piston surfaces, which acts in the same direction with the first piston surface, can be subjected to pressure medium. Accordingly, the first piston surface may be pressure-loaded by the weight of the load when the third piston surface is depressurized. According to the invention, the first and second piston surfaces are approximately the same size.

As a result, associated with a movement of the piston assembly stroke volumes are limited by the first two piston surfaces Work rooms about the same size, which can be compared to the prior art to a comparatively large pressure medium expansion tank, in particular a tank, can be dispensed with. Therefore, the lifting unit according to the invention requires less space compared to the prior art.

In a particularly preferred embodiment, the lifting unit has a first hydraulic machine, via which the first piston surface and the second piston surface can be acted upon with pressure medium in a closed hydraulic circuit.

Preferably, the first hydraulic machine is reversible, so that the piston assembly can be extended and retracted by their different directions of rotation, wherein pressure medium between the first and the second piston surface is promoted, or vice versa.

To compensate for a thermal expansion of the pressure medium and / or existing, small surface differences between the first and second piston surface, and / or for compensating a compressibility of the pressure medium, the lifting unit in a preferred development has a fluidically connectable to the first piston surface and the second piston surface, first loaded pressure fluid storage. This may for example be gas loaded or spring loaded or mass loaded and preferably has a comparatively low bias of, for example, between 0.5 and 10 bar. Of course, the bias can of course be provided higher.

Preferably, the first loaded pressure fluid reservoir via each at least one Nachsaugventil fluidly connected to a respective working port of the first hydraulic machine, in particular connected.

Particularly space-saving and compact, the lifting unit is formed when the first hydraulic machine is attached to the hydraulic cylinder in a preferred embodiment. As a result, the first hydraulic machine and the corresponding hydraulic cylinder form a structurally compact unit. Advantageously, pressure medium connections from working connections of the first hydraulic machine to the hydraulic cylinder then turn out to be much shorter, as a result of which the elasticity of the hydraulic system "first hydraulic machine - hydraulic cylinder" is reduced and an actuation of the hydraulic cylinder is more direct and consequently a control behavior more stable.

Especially advantageous is a further development in which housing-fixed working connections of the first hydraulic machine are in contact, in particular in a mechanical, pressure-medium-tight connection, with housing-fixed working connections of the hydraulic cylinder. Alternatively, the housing-fixed working ports of the hydraulic machine and the hydraulic cylinder can be in contact with an arranged between the two, penetrated by working channels adapter plate. In both cases, it is thus dispensed with a pressure medium connection of the working connections through pipes or hydraulic hoses, whereby the directness of the operation and the stability of the control behavior are further improved.

The first hydraulic machine preferably has a constant displacement volume. It is preferably operable in different directions of rotation, or reversible.

In a preferred embodiment, the hydraulic lifting unit has a speed variable operable, in particular electric drive machine, via which the first hydraulic machine can be driven, in particular driven. Particularly preferably, the drive machine is attached to the first hydraulic machine, so that an even more compact drive unit of hydraulic cylinder, first hydraulic machine and drive machine is given.

As a first hydraulic machine is basically any in at least two, in particular four quadrants operable hydraulic machine. These include, for example, a piston, in particular axial piston, or a gear machine or a combination of several, such hydraulic machines.

In a preferred embodiment, the hydraulic lifting unit has a second loaded pressure medium reservoir, via which the third piston surface can be acted upon with pressure medium. The pressure applied to the third piston surface pressure thus provides support for the load or, in other words, for a compensation of a weight force of the load of the hydraulic lifting unit. Preferably, this pressure is adjustable to values corresponding to compensation of the load from 0% to 100%, thereby enabling undercompensation to full compensation. It is also possible to set the pressure to a value that leads to overcompensation of the load.

As an alternative or in addition to the second loaded pressure medium reservoir, a preferred development has a second hydraulic machine via which either the third piston surface can be acted upon with pressure medium and / or the second loaded pressure medium reservoir can be filled with pressure medium. By way of the second hydraulic machine, a second, separate hydraulic circuit can preferably be formed, in particular formed, via which the third piston surface can be acted upon, in particular charged, with pressure medium.

A particularly preferred development of the lifting unit is configured such that the piston arrangement can be moved into a starting position via a feed of the third working space bounded by the third piston area by the second hydraulic machine and / or the second loaded pressure medium store, starting from the piston arrangement in simulation mode both directions can be accelerated / deflected. As a result, the hydraulic cylinder, and thus the lifting unit, can be designed more efficiently for a required speed of movement and acceleration.

Preferably, in the starting position, the load of the lifting unit is completely or almost completely or more than compensated. With complete compensation, the pressure required for acceleration in the first working space is very small compared to the pressure at under or uncompensated load. As a result, the first hydraulic machine can be placed comparatively weakly or with low power, whereby it builds smaller and has a lower weight. As a result, the hydraulic lifting unit builds even smaller and lighter, resulting in greater agility of the hydraulic cylinder.

In a particularly preferred embodiment of the lifting unit, the hydraulic cylinder in the region of a particular lower end position has an end position damping over which falls below a predetermined stroke, a pressure medium supply of the third working space such restricted, in particular restrained, that the end position of the piston assembly is damped approachable.

As a cushioning, a particularly preferred embodiment of a throttle device, on the between an intermediate position of the piston assembly and a particular lower end position of the piston assembly a discharge of the pressure medium from a limited by the third piston surface, third of the pressure working spaces limited, in particular limited.

Preferably, the piston assembly is formed on a housing-fixed mandrel or bolt of the hydraulic cylinder axially movable hollow piston.

Then, the first piston surface is formed over an end-side inner lateral surface portion of the hollow piston and the hollow piston has a radially outer circumference extending radial collar, via one axial end side of the second piston surface and on the other axial end side of the third piston surface is formed.

In the case of the hollow piston, the throttle device is formed via a radial gap arranged between an outer lateral surface section of the radial collar and an inner lateral surface section of the hydraulic cylinder, wherein an opening of a working port pointing in the third working chamber is arranged in a region between the end position and the intermediate position of the piston arrangement. The throttling effect of cushioning occurs when the radial collar begins to overrun the mouth due to movement of the ram.

A simulator for an earth- or water- or air- or space-bound vehicle according to the invention has a hydraulic lifting unit, which is designed according to at least one of the aspects of the foregoing description, and a carrying device and / or a person's cab, which for supporting and accelerating of the is articulated in particular hydraulic axes. The already described advantages also become effective for the simulator.

In the following, an embodiment of a simulator according to the invention with a hydraulic lifting unit according to the invention is explained in more detail in two drawings. Show it:

1 a flight simulator in a side view, and

2 a hydraulic axis of the lifting unit according to 1 ,

According to 1 has a simulator designed as a flight simulator 1 a hydraulic lifting unit 2 with six hydraulic axles designed via hydraulic cylinders 8th , on the one hand in all three spatial directions pivotally mounted on a base plate 10 are firmly stored and the other hand, a simulator platform 4 are articulated. On the simulator platform 4 is a passenger cabin 6 of the simulator 1 attached.

The hydraulic cylinders 8th are to the hydraulic lifting unit 2 summarized in the form of a hexapod. Deviating from this, the hydraulic lifting unit 2 less than six or more than hydraulic cylinders 8th exhibit. For example, versions with only one to five hydraulic cylinders 8th possible, provided that a corresponding restriction of degrees of freedom is otherwise provided, for example via fixed or floating bearings.

Every hydraulic cylinder 8th is self-sufficient with two hydraulic circuits 42 . 44 for supplying pressure medium to its hydrostatic working spaces 34 . 38 . 41 (see 2 ) connected.

2 shows one of the hydraulic cylinders 8th according to 1 in a schematic longitudinal section together with its periphery hydraulic units for Printing supplies. The hydraulic cylinder 8th has a cylinder housing 12 in which a piston arrangement formed via a hollow piston 14 along a longitudinal axis 16 is received axially movable. The hollow piston 14 passes through the cylinder housing 12 on a front side 18 whereas the cylinder housing 12 on a front opposite a cylinder bottom 20 having. In the cylinder housing 12 is approximately coaxial with the longitudinal axis 16 a housing-fixed, cylindrical mandrel 22 arranged, that of the hollow piston 14 surrounded externally. Here is the hollow piston 14 on the spine 22 mounted axially displaceable and an inner circumferential surface 24 of the hollow piston 14 is with an outer surface 26 of the thorn 22 in Appendix.

At a cylinder bottom near end portion of the Holkolbens 14 this has a radially enlarged collar, or radial collar 28 on, with its outer circumferential surface on an inner circumferential surface of the cylinder housing 12 in attachment.

Over a first piston surface 30 , a portion of the inner circumferential surface 24 and a front side 32 of the thorn 22 is a first workspace 34 of the hydraulic cylinder 8th limited. Over an outer circumferential surface of the hollow piston 14 an inner circumferential surface portion of the cylinder housing 12 and a second piston surface 36 is a second workspace 38 of the hydraulic cylinder 8th limited. Over the cylinder bottom 20 an inner circumferential surface portion of the cylinder housing 12 and a third piston surface 40 is a third workspace 41 of the hydraulic cylinder 8th limited.

With a loading of the first workspace 34 with pressure medium moves the hollow piston 14 from the cylinder housing 12 from and with a feed of the second working space 38 he enters. Thus, the first piston surface 30 and the second piston surface 36 in opposite directions. The third piston surface 40 is with the first piston surface 30 in the same direction effective, so that when loading the third working space with pressure medium of the hollow piston 14 can also extend. It should be noted that retraction and extension can of course be done only with appropriate pressure and load conditions. In the illustrated embodiment, however, the third working space is used to compensate for the weight of the platform 4 and the passenger cabin 6 ,

The designed in this way as a multi-surface cylinder hydraulic cylinder 8th is with a first, closed hydraulic circuit 42 and with a second, open hydraulic circuit 44 connected. The first hydraulic circuit 42 has a first, reversible hydraulic machine that can be operated in all four quadrants 46 that of a variable speed electric drive machine 48 is driven. The latter is to the first hydraulic machine 46 Flanged, which in turn on the cylinder housing 12 is attached.

The first hydraulic machine 46 has a constant displacement. A first working port A of the first hydraulic machine 46 is via a first fluid channel 50 from which the thorn 22 is interspersed with the first workspace 34 fluidically connectable. In the pressure medium flow path of the first pressure medium channel 50 is designed as a 2/2-way switching valve control valve 52 arranged. This is designed as a seat valve and with a spring in a closed position in which the pressure medium connection of the first working space 34 is prevented with the first working port A, biased. For pressure medium feed of the first working space 34 and for pressure medium discharge from the second working space 38 , or vice versa, it is electromagnetically actuated in a flow position. A second working port B of the first hydraulic machine 46 is via a second pressure medium channel 54 with the second work connection 38 fluidly connected.

Furthermore, the first hydraulic circuit 42 a first, gas-loaded pressure fluid reservoir 56 that with the first and second pressure medium channel 50 . 54 can be brought in pressure medium connection. It serves in the second hydraulic circuit 42 a compensation of differential volumes due to thermal expansion and low compressibility of the pressure medium and due to a possible, small, for example, tolerance-related, surface difference of the first and second piston surface 30 . 36 , This is in pressure fluid flow paths of the pressure medium channels 50 . 54 each designed as a spring-loaded check valve suction valve 58 intended. Fluidic parallel to each suction valve 58 is a pressure relief valve 60 arranged over which the respective pressure medium channel 50 . 54 can be protected against exceeding an adjustable maximum pressure.

The first hydraulic machine 46 is to the cylinder housing 12 flanged such that their working ports A, B directly with corresponding working ports of the hydraulic cylinder 8th more precisely with work connections from his work rooms 34 . 38 , what is shown in the schematic diagram according to 2 not directly apparent. As a result, the pressure medium connection of the first hydraulic machine 46 with the workrooms 34 . 38 No piping or hydraulic hose on, resulting in any self-sufficient hydraulic cylinder 8th the lifting unit 2 a direct response to pressure medium applied by the first hydraulic machine 46 results.

Furthermore, the first hydraulic circuit 42 an emergency lowering valve 62 in a fluid flow path from the first working space 34 to the second workspace 38 is arranged, and which is designed as a 2/2-way switching valve with spring-biased closed position. This is from every position of the hollow piston 14 out a lowering of the load possible.

In a pressure medium flow path from the first working space 34 towards the first accumulator 56 is an additional pressure relief valve 64 arranged, the pressure protection of the second Druckmittekanals 50 is provided if the control valve 52 has its blocking position

The second hydraulic circuit 44 has a second hydraulic machine operable in this embodiment in only one quadrant 66 that of a prime mover 68 is driven. About a work management 70 is a working port A of the second hydraulic machine 66 with the third workspace 41 connected, being in the work line 70 one in the direction of the third workspace 41 opening check valve 72 is arranged. The third working line 70 passes through the cylinder housing by means of a pressure medium channel 12 and has on the inner circumferential surface of the cylinder housing 12 one in the third workspace 41 pointing estuary 74 on.

At the Radial Union 28 is between the outer circumferential surface and the inner circumferential surface of the cylinder housing 12 a throttle device via a constant radial gap 90 , with which a cushioning is realized. The cushioning is then effective as soon as the radial collar 28 during a movement of the hollow piston 14 in the direction of the cylinder bottom 20 the estuary 74 overruns. From this point on, the pressure medium discharge from the third working space 42 over the radial gap of the throttle device 90 limited and thus reduces a lowering speed of the hollow piston (the load).

From the work management 70 branches a work management 76 from that with a suction port B of the second hydraulic machine 66 is fluidically connectable. It is in the work line 76 between the branch and the suction port B as a 2/2-way switching valve with spring-biased flow position designed Notabsenkventil 78 a panel 80 downstream with constant flow cross-section. In simulation mode, the emergency lowering valve is 78 electromagnetically operated in its blocking position. In an emergency situation, for example in the event of failure or due to a deliberate shutdown of the power supply, it switches to its flow position, whereby the second accumulator 84 and the third workspace 42 be relieved, the hollow piston 14 retracts and slows the load until the beginning of the end position damping relatively quickly and slowed down from the beginning of the end position damping. This is particularly necessary because lowering the load in the event of overcompensation could not otherwise be possible.

Fluidic with the suction port B is a third, designed as a feed tank, accumulator 82 connected. This can be designed in open or closed design. With the working port A of the second hydraulic machine 66 is a second, loaded accumulator 84 over the check valve 72 fluidically connectable. This is gas-loaded and configured such that a gas space of the second pressure medium reservoir via a gas connection 84 can be acted upon by increasing the pressure with gas (not shown). In addition, the pressure in the second pressure fluid reservoir 84 over the second hydraulic machine 66 be adjusted. When the desired pressure is reached, the second hydraulic machine can 66 be switched off, taking over the check valve 72 an oil reflux from the third working space 42 is prevented to the second hydraulic machine.

In a pressure medium flow path from the working port A of the second hydraulic machine 66 towards the mouth 74 is a designed as a pressure sensor pressure detection unit 86 arranged over which the pressure in the third working space 42 is monitorable.

Disclosed is a hydraulic lifting unit for a simulator with at least one designed as a hydraulic cylinder, the hydraulic axis whose piston assembly has a drawer surface and an oppositely effective retraction surface and also a co-acting with the extension surface support surface. The pull-out and the withdrawal surface have approximately the same size.

Also disclosed is a simulator, in particular a simulator device, with such a lifting unit.

LIST OF REFERENCE NUMBERS

 1

simulator

 2

hydraulic lifting unit

 4

platform

 6

person cabin

 8th

hydraulic axis

10

baseplate

12

cylinder housing

14

piston assembly

16

longitudinal axis

18

front

20

cylinder base

22

mandrel

24

Inner surface area

26

Outer casing surface

28

radial collar

30

first piston surface

32

front

34

First workroom

36

second piston surface

38

second workspace

40

third piston area

41

third workspace

42

first hydraulic circuit

44

second hydraulic circuit

46

first hydraulic machine

48

prime mover

50

first pressure medium channel

52

control valve

54

second pressure medium channel

56

first accumulator

58

cavitation valve

60, 64

Pressure relief valve

62

lowering valve

66

second hydraulic machine

68

prime mover

70

working line

72

check valve

74

muzzle

76

working line

78

lowering valve

80

cover

82

third pressure fluid reservoir

84

second accumulator

86

Pressure detection unit

90

throttling device

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1993902 B1 [0005]

Claims (15)

Hydraulic lifting unit for a simulator ( 1 ), in particular for a simulator ( 1 ) of an earth- or water- or air- or space-bound vehicle, which is used to move and support a load ( 4 . 6 ) has at least one axis, which via a hydraulic cylinder ( 8th ) with a piston arrangement ( 14 ) with several piston surfaces ( 30 . 36 . 40 ) is formed, via each of which a hydrostatic working space ( 34 . 38 . 42 ) of the hydraulic cylinder ( 8th ), whereby to accelerate the load ( 4 . 6 ) a first ( 30 ) of the piston surfaces ( 30 . 36 . 40 ) and an opposing, second ( 36 ) of the piston surfaces ( 30 . 36 . 40 ) can be acted upon with pressure medium, and wherein for supporting the load ( 4 . 6 ) one with the first piston surface ( 30 ) in the same sense, third ( 40 ) of the piston surfaces ( 30 . 36 . 40 ) can be acted upon with pressure medium, characterized in that the first piston surface ( 30 ) and the second piston surface ( 36 ) are about the same size. Lifting unit according to claim 1 with a first hydraulic machine ( 46 ), over which the first piston surface ( 30 ) and the second piston surface ( 36 ) in a closed hydraulic circuit ( 42 ) can be acted upon with pressure medium. Lifting unit according to claim 1 or 2 with a fluidic with the first piston surface ( 30 ) and with the second piston surface ( 36 ) connectable, first loaded pressure fluid reservoir ( 56 ). Lifting unit according to claim 2 or 2 and 3 , wherein the first hydraulic machine ( 46 ) on the hydraulic cylinder ( 8th ) is attached. Lifting unit according to one of claims 2 to 4, wherein at least one housing-fixed working port (A, B) of the first hydraulic machine ( 46 ) in contact with a housing-fixed working port of the hydraulic cylinder ( 8th ), or wherein at least one housing-fixed working port of the first hydraulic machine and at least one housing-fixed working port of the hydraulic cylinder are in contact with an arranged between these working ports, penetrated by working channels adapter plate. Lifting unit according to one of claims 2 to 5, wherein the first hydraulic machine ( 46 ) has a constant displacement. Lifting unit according to one of claims 2 to 6 with a variable speed, on the first hydraulic machine ( 46 ) fixed drive machine ( 48 ), about which the first hydromachine ( 46 ) is drivable. Lifting unit according to one of the preceding claims with a second loaded accumulator ( 84 ) over which the third piston surface ( 40 ) can be acted upon with pressure medium. Lifting unit according to one of the preceding claims or according to claim 8 with a second hydraulic machine ( 68 ), over which the third piston surface ( 40 ) can be acted upon with pressure medium, and / or via the second loaded pressure fluid reservoir ( 84 ) can be filled with pressure medium. Lifting unit according to claim 8 or 9, which is designed in such a way that via a feed of the piston from the third piston surface ( 40 ) limited, third workspace ( 42 ) by the second hydraulic machine ( 68 ) and / or by the second loaded accumulator ( 84 ) the piston assembly ( 14 ) is movable into a starting position, starting from the piston assembly ( 14 ) is deflectable on both sides in particular in a simulation operation. Lifting unit according to one of the preceding claims with a throttle device ( 90 ), between which an intermediate layer and an end position of the piston assembly ( 14 ) at least one pressure medium discharge from one of the third piston surface ( 40 ) limited, third ( 42 ) of the workrooms ( 34 . 38 . 42 ) is limited. Lifting unit according to one of the preceding claims, wherein the piston arrangement ( 14 ) via a on a housing-fixed mandrel ( 22 ) or bolt of the hydraulic cylinder ( 8th ) axially movable hollow piston ( 14 ) is trained. Lifting unit according to claim 12, wherein the first piston surface ( 30 ) via a front-side inner circumferential surface portion of the hollow piston ( 14 ) is formed, and wherein the hollow piston ( 14 ) an externally extending radial collar ( 28 ), via whose one axial end face the second piston surface ( 36 ) is formed and on the other axial end side of the third piston surface ( 40 ) is trained. Lifting unit according to claim 12 and 13, wherein the throttle device ( 90 ) via a between an outer circumferential surface portion of the Radialbundes ( 28 ) and an inner circumferential surface portion of the hydraulic cylinder ( 8th ) arranged radial gap, and wherein one in the third working space ( 42 ) facing mouth ( 74 ) is arranged a working connection between the intermediate layer and the end position. Simulator for an earth, water or airborne vehicle, characterized by a hydraulic lifting unit ( 2 ) formed according to at least one of the preceding claims.

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