EP0266702A1 - Cylindre d'entrainement rotatif - Google Patents

Cylindre d'entrainement rotatif Download PDF

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Publication number
EP0266702A1
EP0266702A1 EP87116015A EP87116015A EP0266702A1 EP 0266702 A1 EP0266702 A1 EP 0266702A1 EP 87116015 A EP87116015 A EP 87116015A EP 87116015 A EP87116015 A EP 87116015A EP 0266702 A1 EP0266702 A1 EP 0266702A1
Authority
EP
European Patent Office
Prior art keywords
piston
cylinder
working cylinder
portions
piston portions
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP87116015A
Other languages
German (de)
English (en)
Inventor
Sandor Dipl.-Ing. Vekony
Sandorné Dipl.-Ing. Vekony
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Innofinance Altalanos Innovacios Penzintezet
Original Assignee
Innofinance Altalanos Innovacios Penzintezet
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Innofinance Altalanos Innovacios Penzintezet filed Critical Innofinance Altalanos Innovacios Penzintezet
Publication of EP0266702A1 publication Critical patent/EP0266702A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • F15B15/068—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement the motor being of the helical type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/1987—Rotary bodies
    • Y10T74/19893—Sectional
    • Y10T74/19898—Backlash take-up
    • Y10T74/19902—Screw and nut

Definitions

  • the invention relates to a rotational working cylinder comprising a shaft arranged concentrically within the working cylinder and driven out of the working cylinder with at least one end of it, a piston being divided into two piston portions perpendicularly to the shaft and the piston portions being held in tensed position in respect to each other, forced trajectories between the working cylinder and the piston portions as well as between the piston portions and the shaft, respectively, wherein at least one of the forced trajectories is formed as a longitudinal spiral path.
  • rotary motion including non-continuous rotation as well as displacement within a predetermined angular range.
  • the rotary motion should be an alternating one with selectively opposite rotational directions. In these cases, large torques as well as small angular velocities can occure.
  • a rotational ram cylinder as described in e.g. DE-PS 23 38 745.
  • a piston which is driven to move in alternating longitudinal motion by a hydraulic or pneumatic medium and a shaft being attached to the piston.
  • At least one end of the shaft extends out of the operating chamber, and in this solution, at least one of the mechanical connections between the ram cylinder and the piston or between the piston and the shaft is formed as a spiral path rising in the longitudinal direction of the shaft.
  • the tensioned position can be maintained only in a relatively narrow load range because of the force of the springs and magnet coils which can be exerted between the nut portions. If this force is chosen to be big for carrying big loads by the worm gear, the threaded surfaces of the nut portions and the worm spindel are pressed on each other with a quite big normal force. This results in an enlargened frictional resistance when the surfaces have to be moved on each other and in an increased wear or abrasion of the threaded surfaces.
  • the first defficiency necessitates a relatively high driving force, especially at the beginning of the relative movement between the threaded surfaces, and the second one causes a shorter endurance of the traditional rotary converters.
  • the rotary converter can be used only for small loads since the smaller tensioning force can not withstand the forces urging one of the nut portions away from the threaded surface of the worm spindle. If this occures, the worm gear is no more free of backlash.
  • the force exerted between the nut portions is dependent on the ac tual distance between the nut portions when using springs or magnet coils for making the worm gear free of the backlash. Therefore, the range of loads with which the traditional rotary converter can be operated changes in time since, depending on the wear of the constructional parts, the distance between the nut portions is varying. Followingly, if the rotary converter is faultless in one day, in the next it can have a backlash which can not be permitted, especially in robots. This makes the operational security of the known rotary converters unsufficient.
  • the main object of this invention is to eliminate the defficiencies of the above mentioned known solutions and to provide rotational working cylinder which is free of the backlash of the traditional rotational ram cylinders and which can be used for loads in a much wider range.
  • Object of the invention is to provide an arrangement with which the load bearing capacity is not limited by the means provided for the elimination of the backlash but by other constructional features of the rotational working cylinder. Further object is to provide a construction which is easy and simple to manufacture and which has a sufficient operational security.
  • the piston portions of the piston being divided into two portions are locked in relation to each other for maintaining the tensed position of the portions in all operational positions and loads of the working cylinder.
  • the main importance of this solution is in that the backlash resulting from the necessary clearence between the piston and the cylinder as well as between the piston and the shaft remains eliminated during the whole operation cycle of the rotational working cylinder irrespective of the load to be carried by the working cylinder and of the direction and speed of rotation of the shaft of the working cylinder.
  • a locking means is provided between the piston portions for their locked relation and the locking means is operated by a hydraulic working agent of the rotational working cylinder.
  • At least one cylinder hole formed as a blind hole and therein a piston are provided in each piston portion, and middle axes of the cylinder holes are on the same diameter around the shaft of the working cylinder, and the cylinder holes of the one piston portion are turned towards and are coaxial with the cylinder holes of the other piston portion, and the cylinder holes are connected through a bore to a working chamber of the rotational working cylinder with which the piston portion containing the cylinder hole is in contact, and the bore is closeable by a non-return valve, and the piston arranged slideably within the cylinder hole in a sealed manner has an inclined end surface in relation to the middle axis of the cylinder hole, and the inclined end surfaces of the pistons of the opposite cylinder holes are lain on each other.
  • the non-return valve can be formed according to the invention as a ball arranged at an inner opening of the bore connecting the cylinder hole to the working chamber and the ball is loaded by a spring, an other end of which being lain on the piston of the
  • At least one through-bore is provided in each piston portion which is closeable by a non-return valve permitting an inward flow of the working agent into a room provided between the piston portions.
  • the through-bores arranged in face-to-face relation in the piston portions are coaxial and the non-ret urn valves are formed as balls being pressed on an opening of the through-bores by a spring being a common one for the coaxial through-bores.
  • a throttle can be provided in the through-bore for regulating the speed of flow of the working agent.
  • At least one through-channel with a cylinder portion and an end chamber and a bore interconnecting the cylinder portion and the end chamber is provided in each piston portion, and a piston body having a piston sealingly movable in the cylinder portion of the through-channel, a head portion being in the end chamber and a piston rod interconnecting the piston and the head portion and being movable in the bore is arranged in each through-channel.
  • a spring is arranged between the head portion and the piston portion facing the head portion out of the end chamber of the piston portion.
  • a sealing plate is arranged between the two piston portions and the tensed position of the piston portions is established by the interconnection of the sealing plate, and the sealing plate has a middle opening and an outer periphery both being movable on the forced trajectories of the rotational working cylinder in a sealed manner, respectively.
  • the load bearing capacity and the operational range of the rotational working cylinder are enlargened with this improvement but also the manufacture is simpler and cheaper as well as the operational security is greater.
  • At least one through-bore being parallel to the shaft is arranged in each piston portion and the opposite through-bores are coaxial and a spring is fixed in every through-bore, an other end of which being fixed to the sealing plate.
  • a throttle can be provided in the through-bore for regulating the flow of the working agent into a room provided between the two piston portions.
  • At least one guiding rod fixed at its middle portion to the sealing plate is arranged in coaxially opposite bores of the piston portions, and an inner supporting flange is formed in each bore and a spring is arranged between the sealing plate and the flange as well as between the flange and the guiding rod, respectively, on both sides of the sealing plate.
  • the guiding rod has threaded ends onto which nuts are attached for supporting the springs attached to the guiding rod.
  • the sealing plate has a middle plate made of sealing material and two stiffener plates supporting the middle plate from both sides.
  • the tensioning means providing the tensioned position of the piston portions are connected on both sides to the stiffener plates.
  • Figures 1 to 6 show various embodiments of the rotational working cylinder as in this invention in vertical cross section or part of it.
  • a piston 2 is arranged which is divided into two piston portions 3 and 4.
  • the piston portions 3 and 4 a central shaft 5 runs through whose at least one end projects from the inner room of working cylinder 1.
  • the division of piston 2 is made perpendicularly to the shaft 5, thus, piston portions 3 and 4 have parallel limiting surfaces perpendicularly to the longitudinal axis of working cylinder 1.
  • piston portions 3 and 4 are able to move in axial direction in working cylinder 1 but cannot perform angular twisting either relative to working cylinder 1 or relative to shaft 5. Further to this, the axial movement of piston portions 3 and 4 compels shaft 5 to make an angular twist relative to working cylinder 1.
  • a pressurized agent preferably of a liquid medium such as hydraulic oil introduced into the operating chamber of working cylinder 1 under high pressure on both sides of the piston portions 3 and 4 as usual with traditional ram cylinders having a piston. This is not shown in the drawings.
  • the most preferable form for providing the mentioned forced trajectories is to shape the internal surface of working cylinder 1 for having a perpendicular cross section of a regular polygon.
  • the external casing surface of piston portions 3 and 4 is adapted to this profile.
  • Shaft 5 can also be shaped for having a regular polygon cross section which can differ from the profile of working cylinder 1.
  • the internal casing surface of piston portions 3 and 4 is adapted to this shaft profile.
  • the forced trajectory between cylinder portions 3 and 4 and shaft 5 is formed as a longitudinal path around the middle axis of shaft 5.
  • the spiral path can have a much greater pitch than the usual worm gears.
  • piston portions 3 and 4 are sealed against cylinder 1 as well as against shaft 5 with the aid of usual sealing rings 6 and 7.
  • piston portions 3 and 4 are held in tensed position in respect to each other. This can be realized by either pulling piston portions 3, 4 towards each other or pushing them away from each other.
  • a spring 8 is arranged between piston portions 3 and 4 in Fig. 1.
  • This spring 8 can be a compression one or a tension one.
  • piston portions 3 and 4 lay on cylinder 1 and shaft 5 without any backlash.
  • a room 9 between piston portions 3 and 4 is filled with the hydraulic working agent of cylinder 1. This is made possible by the leakage which occurs inavitably at sealing rings 6 and 7 in both piston portions 3 and 4.
  • a piston 12 is slidably arranged in a sealed manner.
  • the cylinder hole 11 in piston portion 3 is turned towards cylinder hole 11 in piston portion 4 and vice versa . They are also coaxial as if they were parts of the same bore.
  • the piston 12 arranged in cylinder hole 11 has an inclined end surface 13 the angle of which to the longitudinal axis of cylinder hole 11 is other than 90 degrees.
  • each piston portion 3, 4 is connected through a bore 14 to working chamber 15, 16, respectively, with which piston portion 3, 4 is in contact.
  • Bore 14 is closable by a non-return valve which is formed in this embodiment as a ball 17 pressed on the inner opening of bore 14 by a spring 18, the other end of which is lain on piston 12.
  • cylinder holes 11 are arranged on the same diameter around the shaft 5 but always pair-like as mentioned above. It is advantageous to arrange them in equidistantial manner on this diameter.
  • the embodiment as shown in Fig. 3 differs from the previous one by the construction of the locking means for maintaining the tensed position of the piston portions 3 and 4.
  • at least one through-bore 19 is arranged in every piston portion 3, 4 which is closable by a non-return valve permitting only the inward flow of the working agent into room 9 between piston portions 3, 4.
  • Opposite through-bores 19 are also arranged in pairs as cylinder holes 11 in Fig. 2.
  • the non-return valves are formed as balls 20 pressed on the inner openings of through-bores 19.
  • a common spring 21 is arranged between balls 20 of opposite through-bores 19.
  • a throttle 22 is provided in through-bore 19 for determining the speed of flow of the working agent into room 9.
  • the value of differential pressure p ⁇ can be varied.
  • piston portion 3 which is the second one seen in direction of pressure p of the working agent as shown by arrow 10 will move only when differential pressure p ⁇ is provided which, at the same time, holds piston portion 3 pressed on the forced trajectories and, thus, the backlash is eliminated for the whole operation.
  • At least one through-channel 23 is provided in every piston portion 3, 4 in the above mentioned pair-like arrangement.
  • a cylinder portion 24 and at the other end of through-channel 23 an end chamber 25 are formed. Cylinder portion 24 and end chamber 25 are interconnected by a bore 26.
  • a piston body 27 having a piston 28 and head portion 29 as well as a piston rod 30 interconnecting piston 28 and head portion 29 is arranged. Piston 28 of piston body 27 is sealingly slidable in cylinder portion 24 and head portion 29 is freely movable in end chamber 25. Piston rod 30 extends through bore 26.
  • a spring 31 is arranged between head portion 29 and piston portion 3, 4 which tends to push out head portion 29 from end chamber 25 and, at the same time, to pull in piston 28 into cylinder portion 24.
  • spring 8 move away piston portions 3 and 4 until they impact on the forced trajectories.
  • Room 9 between piston portions 3 and 4 is filled with working agent.
  • Oper ational pressure p (arrow 10) impacts on head portion 29 and, from this side, on piston 28, too, which enlarges the differential pressure p ⁇ in room 9.
  • piston portion 4 will be moved and piston portion 3 follows this movement without backlash.
  • piston portion 3 moves as described above and piston portion 4 follows this movement without backlash. In this way, the tensed position of piston portions 3 and 4 is maintained during the whole operation of the rotational working cylinder.
  • the load bearing capacity of the previously described embodiments in this invention is not limited by the means holding the piston portions 3 and 4 in tensed position in respect to each other.
  • a kind of limit is to be taken into consideration because of the loadability of the sealing arrangements, e.g. sealing rings 6, 7 in piston portions 3, 4.
  • piston 2 in cylinder 1 is also divided into two portions 3, 4, between which a sealing plate 32 is arranged.
  • the tensed position of piston portions 3, 4 in relation to each other is provided by the interconnection of sealing plate 32.
  • at least one guiding rod 33 is fixed at its middle to sealing plate 32 for holding it perpendicularly to the longitudinal axis of cylinder 1.
  • two rings 34 are fixed on both sides of sealing plate 32 between which sealing plate 32 is held stiffly on guiding rod 33.
  • a bore 35 is formed in each piston portions 3, 4 in pair-like arrangement wherein the opposite bores 35 are coaxial.
  • an inner flange 36 is provided which lets through guiding rod 33 but supports a spring 37 and 38, on both sides, respectively.
  • One of the springs 37 is connected with its other end to guiding rod 33.
  • guiding rod 33 has treaded ends 39 onto which a nut 40 is attached, for supporting spring 37 by the intervention of a washer 41 on both ends of guiding rod 33, respectively.
  • Other spring 38 being also supported by flange 36 lies on sealing plate 32, on both sides, respectively.
  • springs 38 are pre-stressed and springs 37 are in neutral position without any pre-stress when the rotational working cylinder is not in operation. Then, sealing plate 32 is in middle position as shown in Fig. 5.
  • a spring 42 is fixed to both sides of sealing plate 32, respectively. Other ends of springs 42 are attached to piston portions 3, 4, respectively. Springs 42 are arranged in bores 43, at least one of which is formed in each piston portion 3, 4. Opposite bores 43 are in pair-like arrangement. Further to this, at the outer en ds of bores 43, a throttle 44 is arranged in each piston portion 3 and 4.
  • pressure p shown by arrow 10 is applied onto sealing plate 32 and the outer surface of piston portion 4.
  • the ratio of the pressure impacting on piston portion 4 to the pressure impacting on sealing plate 32 is determined by the measurement of throttle 44.
  • the outer form of the periphery of sealing plate 32 follows the form of the forced trajectory on the inner limiting surface of cylinder 1. Accordingly, the form of the middle bore of sealing plate 32 accomodating shaft 5 is the same as that of the forced trajectory on the outer limiting surface of shaft 5.
  • sealing plate 32 wherein a middle plate 45 made of a material having good sealing characteristics and wearing stability is surrounded from both sides by stiffener plates 46 supporting middle plate 45.
  • stiffener plates 46 supporting middle plate 45.
  • springs 38 or 42 can be attached to stiffener plates 46.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
EP87116015A 1986-11-04 1987-10-30 Cylindre d'entrainement rotatif Withdrawn EP0266702A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/927,057 US4803914A (en) 1986-11-04 1986-11-04 Rotational working cylinder
US927057 1997-09-10

Publications (1)

Publication Number Publication Date
EP0266702A1 true EP0266702A1 (fr) 1988-05-11

Family

ID=25454101

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87116015A Withdrawn EP0266702A1 (fr) 1986-11-04 1987-10-30 Cylindre d'entrainement rotatif

Country Status (4)

Country Link
US (1) US4803914A (fr)
EP (1) EP0266702A1 (fr)
JP (1) JPS63266202A (fr)
CA (1) CA1274148A (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19801327A1 (de) * 1998-01-16 1999-07-22 Rolf Hermanns Schwenkantrieb
EP1887229A1 (fr) * 2006-08-03 2008-02-13 Kinshofer GmbH vérin rotatif et méthode pour la fabrication dudit vérin

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10342243B4 (de) * 2003-09-11 2006-08-31 Siemens Ag Kolbenpumpe und Verwendung einer Kolbenpumpe
US7270092B2 (en) * 2005-08-12 2007-09-18 Hefley Carl D Variable displacement/compression engine
CN107906070A (zh) * 2017-11-13 2018-04-13 上海交通大学 一种数字液压缸

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1217163B (de) * 1960-01-25 1966-05-18 Licentia Gmbh Einrichtung zur Einstellung eines hinreichend kleinen Spieles in Schraubentrieben
DE2701717A1 (de) * 1976-01-16 1977-07-21 Perenco Ltd Umformer

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2195799A (en) * 1939-03-10 1940-04-02 Kearney & Trecker Corp Backlash eliminator
US2328732A (en) * 1942-12-02 1943-09-07 Mckinney Tool And Mfg Company Universal backlash prevention device
US3072105A (en) * 1961-07-05 1963-01-08 Lionel Pacific Inc Lock for fluid pressure actuator
DE2338745A1 (de) * 1973-07-31 1975-02-13 Hausherr & Soehne Maschf Drehantrieb
SU1035307A1 (ru) * 1978-10-05 1983-08-15 Московское Ордена Ленина, Ордена Октябрьской Революции И Ордена Трудового Красного Знамени Высшее Техническое Училище Им. Н.Э.Баумана Гидродвигатель
US4509409A (en) * 1983-02-07 1985-04-09 Towmotor Corporation Pump arrangement for a linear fluid operated device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1217163B (de) * 1960-01-25 1966-05-18 Licentia Gmbh Einrichtung zur Einstellung eines hinreichend kleinen Spieles in Schraubentrieben
DE2701717A1 (de) * 1976-01-16 1977-07-21 Perenco Ltd Umformer

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
SOVIET INVENTIONS ILLUSTRATED, Section Mechanical, week 84/20, abstract no. 125456 Q57, 27th June 1984, Derwent Publications Ltd., London, GB; & SU - A - 10 35307 (MOSCOW BAUMAN) 15-08-1983 *
SOVIET INVENTONS ILLUSTRATED, section Mechanical, week E30, abstract no. K0489 Q64, 8th September 1982, Derwent Publications Ltd., London, GB; & SU - A 868 202 (KAUFMAN I M) 30-09-1981 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19801327A1 (de) * 1998-01-16 1999-07-22 Rolf Hermanns Schwenkantrieb
EP1887229A1 (fr) * 2006-08-03 2008-02-13 Kinshofer GmbH vérin rotatif et méthode pour la fabrication dudit vérin

Also Published As

Publication number Publication date
JPS63266202A (ja) 1988-11-02
CA1274148A (fr) 1990-09-18
US4803914A (en) 1989-02-14

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