EP0279837B1 - Soupape de regulation hydraulique de marche a vide - Google Patents

Soupape de regulation hydraulique de marche a vide Download PDF

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Publication number
EP0279837B1
EP0279837B1 EP87905716A EP87905716A EP0279837B1 EP 0279837 B1 EP0279837 B1 EP 0279837B1 EP 87905716 A EP87905716 A EP 87905716A EP 87905716 A EP87905716 A EP 87905716A EP 0279837 B1 EP0279837 B1 EP 0279837B1
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EP
European Patent Office
Prior art keywords
housing
valve
follow
core
casing
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EP87905716A
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German (de)
English (en)
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EP0279837A1 (fr
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Eckehart Schulze
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Individual
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    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/12—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor in which both the controlling element and the servomotor control the same member influencing a fluid passage and are connected to that member by means of a differential gearing

Definitions

  • the invention relates to a hydraulic follow-up control valve for controlling the sequence of movements of a machine element which can be driven by means of a hydraulic cylinder, with at least two mechanically operable flow valves arranged in a housing, which alternatively, viewed in the directions of movement by reciprocating movements of an actuator, are controllable in a flow and a blocking position and have a neutral middle position, in which both valves are blocked and with the other generic features mentioned in the preamble of claim 1.
  • Such follow-up control valves are known from DE-C-2062 134 and from DE-A-2910 530. They are equipped with an electromechanical setpoint specification device and a mechanical actual value feedback device for specifying or monitoring the setpoint and actual values of the instantaneous position of the pistons of the drive hydraulic cylinder, the setpoint specification device being rotatable in the housing of the valve and in the longitudinal direction back and forth displaceably arranged hollow shaft, which can be set by means of an electric motor provided for the purpose of setting the setpoint in a number of revolutions correlated with the respective setpoint; the actual-value feedback device comprises a feedback spindle meshing via an external thread with an internal thread of the hollow shaft, which is positively coupled to the piston of the drive hydraulic cylinder, either - in the case of a rigid connection to the piston - in such a way that it carries out its displacements, or in the case of rotary motion coupling with the piston, in such a way that it carries out a number of rotations correlated with the piston movements, the valve
  • the housing into which the P and T supply connection channels leading to the individual flow valves and the consumer connection channels leading from the valves to the controlled hydraulic cylinder have been integrated, has so far been realized as an aluminum die-cast part into which the valve inserts and the setpoint - Specification hollow shaft and the actual value feedback spindle-receiving bores are introduced, as well as the receiving space for the valve actuator, which is arranged as it were between the valve inserts and actuates them with a radially protruding actuator.
  • a disadvantage of such a follow-up control valve is, in particular, the complicated construction of the housing, which requires considerable space, the implementation of which requires a complex cast core, which is complex and expensive.
  • the housing made of aluminum must also be made very solid in order to achieve the required tightness against the high-pressure working medium - pressure oil - which is under working pressures of up to 200 bar. High demands must therefore be placed on the quality of the cast housing, and it is not uncommon for the final production control on the finished follow-up control valve to show that the housing is porous and must therefore be discarded, which of course involves additional costs.
  • the object of the invention is therefore to provide a follow-up control valve of the type mentioned, which can be realized with significantly smaller external dimensions without sacrificing control accuracy and functional reliability and is also accessible for simple and rational manufacture in steel construction.
  • the arrangement of the stop elements of the valve actuating element outside the valve bores reduces the space requirement in the radial direction, as a result of which the overall space requirement for the overrun control valve is significantly reduced.
  • the circular-cylindrical design of the core of the valve housing and its outer casing enables these parts to be manufactured as turned parts made of steel, which can be manufactured on common machine tools with high precision in simple operations.
  • It can be used in a bore in a machine part, the diameter of which corresponds to the outer diameter of the housing shell, supply and consumer connections being provided on the machine housing part.
  • the overrun control valve according to the invention is suitable both for the control of linear drives as well as for the control of rotary drives, which can perform a large number of revolutions seen in a certain direction of rotation, as well as for the control of swivel drives with a limited swivel stroke, whereby for the control of rotary drives, a design of the control valve is particularly advantageous in which the feedback device has a feedback spindle that is connected to the part that is rotatably or pivotably driven.
  • the overrun control valve according to the invention is particularly suitable for controlling hydraulic swivel drives of multi-articulated industrial robots, in whose drive cardan shafts the overrun control valve can easily be accommodated.
  • FIGS. 1 and 2 The special exemplary embodiment of a follow-up control valve according to the invention, indicated overall by 10, shown in FIGS. 1 and 2, to the details of which is expressly referred to, is, as additionally illustrated in the symbolic representation in FIG. 3, as a 4/3-way valve designed by means of which the advancing and retracting movements of the piston 13 of a double-acting hydraulic cylinder 14 or of a machine element driven by it, not shown, which take place in alternative directions represented by the arrows 11 and 12, both with regard to the size of the respective (advancing and retraction) strokes as well as the speeds at which these strokes take place are controllable.
  • the driven machine element can be, for example, a drilling head with which a hole with a certain depth is to be drilled into a workpiece, or a punching or pressing tool, generally a machine element, which in the course of a working cycle has a working stroke in the forward direction and then a retracting stroke experienced in its starting position.
  • the follow-up control valve 10 is also suitable for use on CNC-controlled machine tools in which detailed machining paths are traversed from a superimposition of workpiece and tool movements in one work cycle, the workpiece making several forward and backward movements with different ones in the course of such a work cycle It experiences deflections before it is brought back into a starting position suitable for carrying out a subsequent work cycle.
  • the overflow control valve 10 comprises, as valve elements, each having only one consumer connection 16 (A connection) or 17 (B connection) with one of the two supply connections, that is to say the high-pressure connection (P connection) 18 or the tank -Connect connection (T-connection) 19 or block against it.
  • these valve elements are designed as slide valves 21, 22, 23 and 24, the pistons 26 to 29 of which are in two parallel longitudinal bores 31 and 32 of the valve housing, denoted overall by 33, in the direction of the central bore axis. sen 34 and 36, seen, arranged to slide back and forth and are sealed against these bores 31 and 32.
  • the piston 28 of the slide valve 23, which either shuts off the consumer connection 16 against the tank connection 19 in its various possible functional positions or connects it in communication with the supply connection 16, and the piston 29 of the slide valve 24, which either in its two different functional positions shutting off the consumer connection 17 against the tank connection 19 or also communicatingly connecting it to the consumer connection 17 are arranged in the second longitudinal bore 32 of the housing 33 of the follow-up control valve 10, which is lower in the illustration in FIG. 1.
  • the valve pistons 26 to 29 are held clamped between stop rings 37 and 38, wherein a prestressed compression spring 39 and 41 is arranged between the pistons 26 and 27 and the pistons 28 and 29, respectively, which the pistons 26 and 27 or 28 and 29 in System with stop balls 42 of the stop rings 37 and 38 are pushed.
  • stop balls are seated in spherical-shell-shaped recesses of adjusting screws 43 and 44 or 46 and 47, by means of which the positions of the pistons 26 and 27 or 28 and 29 can be set in a defined manner, specifically for each of the valves 21 to 24.
  • the bore 31 receiving the two valve pistons 26 and 27 and the bore 32 of the valve housing 33 receiving the two valve pistons 28 and 29 are introduced into a cylindrical core 48 of the valve housing which, as a further housing part, comprises a tubular jacket 49 which is used for the firm and pressure-tight connection with the core 48 is thermally shrunk onto it.
  • the cylindrical core 48 and the tubular jacket 49 which are preferably made of the same steel, are manufactured in such a way that the inside diameter of the tubular jacket 49 is approximately 2/100 mm smaller than the outside diameter of the cylindrical core 48, this when the both parts at the same temperature, e.g. Room temperature, that is a temperature of about 300 ° C.
  • the tubular jacket 49 is heated to a temperature of approximately 200 ° C., that is to say to a temperature of 500 ° C., and the cylindrical core 48 to the temperature of the liquid air of approximately -175 ° C. , that is, cooled to a temperature of approximately 100 ° K, as a result of which the diameter of the tubular jacket increases by approximately 1/100 mm compared to the value of, for example, 30 mm at room temperature, and a corresponding reduction in the diameter of the cylindrical core 48 can be achieved by about 2/100 mm.
  • the core 48 can easily move into its desired position within the Brought jacket 49 and eg be held by means of suitable slings. As soon as the two parts have returned to the same - room temperature - an intimate and load-resistant connection between these two housing parts 48 and 49 is achieved, which can no longer be released without destroying the housing shell 49 and / or the housing core 48.
  • valve housing 33 makes it possible in a simple manner to pass through channels 51 and 52 in the housing, with which the P-supply connection 18 and the tank connection 19 are in communication, by means of external grooves 51 'and 52' (FIGS. 4a and 4b) of the housing core 48 and the regions of the tubular jacket 49 covering them, which in turn is provided with the connection bores 18 and 19.
  • a first housing channel 53 which connects the outlet 54 of the lower left valve 23 according to FIG. 1 to the A consumer connection 16 and through a Z-shaped groove 53 'in the illustration in FIG. 4b and the areas of the latter which cover it Housing shell 49 is formed, as well as for the housing channel 56, which connects the outlet 57 of the lower right valve 24 according to FIG.
  • the openings forming the supply inlets 58 and 59 as well as 61 and 62 of the valves 21 and 22 or the valves 23 and 24 are designed as radial bores of the core 48 which are arranged in a symmetrical arrangement with respect to the transverse center plane 63 of the core 48 within the Channel 51 and the T-channel 52 delimiting grooves 51 'and 52' are arranged and open into the longitudinal bores 31 and 32, respectively.
  • the consumer-side outputs 64 and 66 or 54 and 57 of the valves 21 and 22 or 23 and 24 can, as shown in FIG. 1, also be designed as radial bores of the housing core 48, the outputs 64 and 54 of the valve according to FIG the upper right valve 21 and the lower left valve 23 open into the Z-shaped housing channel 53 and the outputs 66 and 57 of the other two valves 22 and 24 open into the other Z-shaped channel 56 of the housing 48, 49.
  • Such a configuration of the valve outlets 64, 66, 54 and 57 is initially assumed, for the purpose of explanation, before a further type of design of these valve outlets is discussed with reference to FIGS. 2, 4a and 4b.
  • the pistons 26 to 29 of the slide valves 21 to 24 are identical to one another. 1, they each have a first, outer piston flange 67 protruding from the respective bore 31 or 32 and a second, inner piston flange 68, which are connected to one another by a piston rod 69 of smaller diameter.
  • Annular spaces 73 and 74, as well as 76 and 77 of the valves 21 and 22 or 23 and 24 are delimited in the axial direction by the inner annular end faces 71 and 72 of the piston flanges 67 and 68.
  • These annular spaces 73 and 74 or 76 and 77 are in the possible positions of the pistons 26 to 29 in constant communication with the P supply connection 18 and the tank connection 19.
  • valve In the position of the pistons 26 to 29 which is symmetrical with respect to the transverse center plane 63 of the housing 33 of the valve 10, the valve is in its basic position O, in which these annular spaces 73 and 74 or 76 and 77 against the consumer connections 16 and 17 are shut off, that is, control edges 78 and 79 or 81 and 82 formed by outer peripheral regions of the outer edges of the inner ring end faces 72 of the outer piston flanges 67 are in positive overlap with housing-side control edges 83 and 84 or 86 and 87, which, respectively seen from the transverse center plane 63 of the housing, mark the innermost edges of the valve outlets 64 and 66 or 54 and 57 of the valves 21 and 22 or 23 and 24.
  • “Positive overlap” should be understood to mean the - short - distance that one of the valve pistons has to be moved out of its - shown - basic position until its annulus comes into communicating connection with the respective valve outlet. Accordingly, “negative overlap” of two control edges should be understood to mean the clear axial spacing of these control edges when the respective valve annulus is in communicating connection with the respective valve outlet.
  • the core 48 of the housing 33 of the valve 10 has a central longitudinal bore 88 that extends along the central longitudinal axis 89 of the valve housing 33 extends.
  • a hollow shaft 91 is rotatably supported and can be moved back and forth in the axial direction, which completely passes through the core 48 of the housing 33 and has a radial end protruding from the core on its one end, as shown on the left in FIG. 1
  • Flange 92 is provided, on which the one, according to FIG. 1, annular stop flange 37 is supported in the axial direction via an axial ball bearing 93 so that the hollow shaft 91 can rotate with little friction relative to the stop ring 37.
  • a flange ring 94 is fitted onto the hollow shaft 91 and secured by means of a snap ring 96 against axial displacement to the outside, that is, to the right according to FIG. 1.
  • the hollow shaft 91 is supported and rotatably supported in the axial direction on the stop ring 38 by means of a ball bearing 97 arranged between this flange ring 94 and the right stop ring 38 and corresponding to the axial ball bearing 93.
  • the axial distance of the radial flange 92 of the hollow shaft 91 from the flange ring 94 is selected such that in a central position of the set screws 43, 44 and 46 and 47 of the stop rings 37 and 38 the pistons 21 and 22 or 23 and 23 clamped between them 24 are in positions in which the axial spacing of their control edges 78 and 79 or 81 and 82 have the same axial spacing from one another as the corresponding control edges 83 and 84 or 86 and 87 of the core 48 of the housing 33, the pistons 21 and 22 or 23 and 24 further - by means of the adjusting screws 43 and 44 or 46 and 47 - should be set such that they are symmetrical with respect to the longitudinal center plane 98 of the piston arrangement 21, 22, 23, 24 extending between the longitudinal bores 31 and 32 are arranged.
  • the hollow shaft 91 is displaced into the position in which the transverse central plane 63 'of the piston arrangement 21, 22, 23, 24 coincides with the transverse central plane 63 of the core 48 of the housing 33, then all the valves 21 are located to 24 in their blocking position, which corresponds to the basic position of the follow-up control valve 10, designated 0 in FIG. If the hollow shaft 91 and with it the pistons 26 to 29 of the valves 21 to 24 are displaced in the direction of arrow 99, to the right in the illustration in FIG.
  • the follow-up control valve reaches the one designated by I in FIG , First flow position, in which the overlap of the control edges 78 and 82 of the pistons 26 and 29 of the "right" valves 21 and 24 with the corresponding control edges 83 and 87 of the core 48 of the valve housing 33 is negative and the overlap of the control edges 79 and 81 of the pistons 27 and 28 of the "left" valves -22 and 23 of the follow-up control valve 10 with the corresponding control edges 84 and 86 are positive.
  • Control valve 10 communicatively connected that is, it is the larger cross-sectional area F, having working space 101 with the high output pressure of the supply pressure source and the smaller, annular disc-shaped cross-sectional area F 2 having working space 102 of hydraulic cylinder 14 is relieved of pressure, so that the piston 13 of the hydraulic cylinder 14 in the direction of arrow 11, according to FIG. 1, moves downward, the hydraulic cylinder 14 executing its advancing movement with respect to a workpiece to be machined. If the hollow shaft 91 is moved out of the basic position O of the follow-up control valve 10 in the direction of arrow 103, to the left in accordance with FIG. 1, the follow-up control valve arrives in the second flow position, designated II in FIG.
  • valve pistons 21 to 24 required for the appropriate control of the drive hydraulic cylinder 14 are driven by the interaction of the hollow shaft 91, - which can be driven by means of a pulse-controlled, electrical stepping motor 104 in alternative directions of rotation, which are represented by the arrows 129 and 134 , with a threaded spindle 108 entering the hollow shaft from the one on the left, according to FIG. 1, which has an external thread 109, the threads of which are in positive engagement via balls 111 with a corresponding internal thread 112 of the hollow shaft 91.
  • the threaded spindle 108 is mounted on the housing side in an essentially pot-shaped housing end part 113, but is not displaceable in the axial direction.
  • a pinion 114 projecting from the housing end part is connected in a rotationally fixed manner to the threaded spindle 108 via a coupling piece 116 and meshes with a toothed rack 117 which is connected to the piston rod 118 of the piston 13 of the drive cylinder 14 is firmly connected and therefore performs the same movements as this.
  • the housing 33 is also closed by an essentially pot-shaped housing end part 119, through the central bottom opening 121 of which the hollow shaft 91 emerges, the hollow shaft 91 against this bottom opening 121 by means of a lip seal 122 in which the hollow shaft 91 rotates smoothly is sealed.
  • the pulse-controlled stepper motor 104, the belt drive 127 which couples this with the hollow shaft 91 and the elements of the follow-up control valve which can be displaced together with the hollow shaft 91 are the functionally essential elements of a setpoint specification device, by means of which the movements of the piston 13 of the piston according to stroke and speed Drive hydraulic cylinders 14 are controllable.
  • the rack-and-pinion drive comprising the pinion 114 of the threaded spindle 108 and the rack 117 connected to the piston 13, by means of which the piston movements following in the direction of the arrows 11 and 12 are converted into a correlated number of revolutions of the threaded spindle 108, are the functionally essential elements of one - Form-fitting mechanical - feedback device, the interaction of which with the setpoint input device is now explained in more detail, whereby, without restricting generality, that is to say only for the purpose of explanation, it is assumed that the follow-up control valve is initially in its basic position O.
  • the hollow shaft 91 is rotated by a defined angular amount of, for example, 4 ° in each case in the direction of the arrow 129 - seen from the right in the counterclockwise direction.
  • the piston 13 thus moves in the direction of the arrow 11 in FIG. 1.
  • the threaded spindle 108 is driven in rotation in the direction represented by the arrow 132 in FIG. 1, that is to say in the direction opposite to the direction of rotation 129 of the hollow shaft 91, so that because of the thread engagement - the spindle 108 with the hollow shaft 91 is subjected to a pull in the direction of arrow 133 of FIG. 1, which tries to push the hollow shaft 91 and the valve pistons 26 to 29 which can be displaced with it back into the basic position O.
  • This basic position 0 - the blocking position of the follow-up control valve 10 - is reached and thus the movement of the piston 13 of the hydraulic cylinder 14 is ended when and as soon as the piston 13 has carried out a stroke which - taking into account the gear ratios of the rack and pinion drive 117, 114 and Toothed belt drive 127 - is uniquely linked to the number of revolutions of the hollow shaft 91 controllable by means of the stepping motor 104, so that when the follow-up control valve 10 has returned to its basic position O, it is ensured that the hydraulic cylinder 14 is exactly one controlled Setpoint has executed the corresponding stroke.
  • the hollow shaft 91 is driven by the setpoint input stepping motor 104 in the direction of arrow 134, that is to say clockwise, the hollow shaft 91 and the elements which can be displaced therewith are displaced in the direction of arrow 136, the follow-up control valve 10, starting from its basic position O, reaches its flow position II, which is linked to the “upward” movement of the piston 13 in the direction of the arrow 12 in FIG. 1, as a result of which the threaded spindle now experiences and rotates in the direction of the arrow 137 the hollow shaft 91 a thrust acting in the direction of arrow 138 of FIG. 1 is exerted, which attempts to push the pistons 26 to 29 of the follow-up control valve 10 back into their basic position.
  • Stationary states of motion of the piston 13 in the direction of the arrows 11 and 12 correspond to constant deflections e1 and s2 in the direction of the arrows 139 and 141, with constant deflection s1 and s2 each having the same angular speeds of the hollow shaft 91 and the threaded spindle 108 - in the same direction of rotation 134 and 132 or 129 and 137 -.
  • the principle of the electrical setpoint specification and mechanical actual value feedback explained immediately above also applies to conventional run-on control valves and has been explained again here for the sake of completeness for the sake of completeness .
  • an inventive Follow-up control valve 10 can also be implemented in such a way that the threaded spindle 108 is rigidly connected to the piston rod 118 of the piston 13 of the hydraulic cylinder 14.
  • the hollow shaft 91 must then be designed so that its internal thread 112 is sufficiently "long” that relative movements between the hollow shaft 91 and the threaded spindle 108 corresponding to the stroke of the piston 13 are possible.
  • This principle of actual value feedback is also known from conventional follow-up control valves and can be transferred to the follow-up control valve 10 according to the invention.
  • a plunger 142 - which can be moved in the axial direction - is arranged within the hollow shaft and has a ball bearing cage 144 on its side facing the inner end 143 of the threaded spindle 108, in which bearing balls 146 are rotatably arranged, on each of which points are located supports a spherical counter bearing piece 147 of the threaded spindle 108.
  • a prestressed compression spring 148 which extends between the movable plunger 142 and an abutment piece 149 sealing the hollow shaft 91 to the outside, the plunger 142 and with it its bearing balls 146 are constantly urged against the counter bearing piece 147 of the threaded spindle 108, thereby always on them a minimum torque is exerted, as a result of which a play-free intervention of the functional elements of the follow-up control valve 10, which impart the setpoint specification and actual value feedback, and, as a result, an optimal sensitivity of the control is achieved.
  • the housing space 156 which is delimited on the outside by the housing end part 113 and with which the interior of the hollow shaft 91 communicates, and the housing space 157, which is delimited on the outside by the right housing end part 119, are in communication with one another via transverse bores 158 and longitudinal bores 159 of the valve pistons 26 to 29 , so that only one outlet channel 161 on the housing 33 is required for the discharge of leakage oil.
  • the follow-up control valve 10 is, as indicated only schematically in FIG. 1, for accommodation in a bore 162 of a machine housing part 163 which is arranged in one of the arrangement of the P and T supply connection channels 18 and 19 or the arrangement of the Consumer connection channels 16 and 17 and the leakage oil outlet channel 161 of the housing 33 of the follow-up control valve 10 corresponding arrangement is provided with supply and consumer connection pieces, which in the intended installation position of the follow-up control valve with the corresponding supply and consumer connection channels 18 and 19 or 16 and 17 of the valve communicate.
  • the tubular jacket 49 of the valve housing 33 is provided with outer annular grooves 164 to 169, in which the housing 33 against the Bore 162 sealing O-rings 171 are used, which each seal in pairs one of the annular jacket areas within which corresponding supply and consumer connecting channels and the corresponding connecting pieces of the machine housing part 163 open into the bore 162.
  • the housing channels 64 'and 66' or 54 'and 57' which are otherwise opened, are blocked in the basic position O of the follow-up control valve 10, which are in the open state of the respective valve 21 and 22 or 23 and 24 alternatively connect the annular spaces 73 and 74 or 76 and 77 to one of the two consumer connections 16 and 17 or to the tank connection 19, in contrast to the representation of the figure 1, not as radial bores, but as '-'horizontal' slots 64 'and 66' or 54 'and 57', which seen in the direction of displacement of the pistons 26 and 27 or 28 and 29 of the valves 21 to 24, a have constant clear width, so that there are changes in the flow cross sections of the valves 21 and 22 or 23 and 24 which are proportional to the deflections of the pistons 26 and 27 or 28 and 29.
  • FIG. 5 shows a hydraulic swivel drive designated as a whole with 172, overrun-controlled or regulated, its overrun control valve 10 ', its function - based on the Control of the swivel drive 172 - for the function of the follow-up control valve 10 according to FIG. 1, which is designed for the control of a hydraulic linear motor 14, is completely analog.
  • the structure of the overrun control valve 10 'according to FIG. 5 largely corresponds to that of the overrun control valve 10 described with reference to FIGS. 1 to 4b.
  • the follow-up control valve 10 has a cylindrical core 48 and a tubular jacket 49, the design and functional purpose of which are the same as in the follow-up control valve 10 according to FIG. 1.
  • the mutual engagement of the internal thread 112 of the hollow shaft 91 with the external thread 109 of the threaded spindle 108 provided for feedback of the actual position value via balls 111 is also realized in the same way as in the follow-up control valve 10 according to FIG. 1.
  • the only difference from this in the overrun control valve 10 'according to FIG. 5 is the special type of position actual value feedback, which takes place in the overrun control valve 10' in that the feedback spindle 108 has the same rotary movements about the central longitudinal axis 89 of the follow-up control valve 10 ', which also marks the pivot axis of the swivel arm 173, executes how it is connected and for this purpose rotationally fixed to the shaft 174 of the swivel drive 173 designed as a rotary piston hydraulic cylinder.
  • two working spaces 179 and 181 are delimited from one another by a rotating wing 177 which is approximately sector-shaped in cross section and a radial dividing wall 178 which is also sector-shaped in cross section, by their alternative connection to the high-pressure
  • the supply connection 18 '(P connection) or the tank connection 19' (T connection) of the supply pressure source of the rotary wing 177 can be driven in the directions represented by the two arrows 182 and 183, the swivel arm 173 being connected in a rotationally fixed manner to the rotary wing 177 the movements with.
  • the rotary wing 177 is rotatably supported with its shaft 174 in solid end face plates 186 and 187 about the longitudinal axis 89.
  • the shaft 174 of the rotary wing 177 is rotatably mounted in a pressure-tight manner in the bearing bores 189 and 191 of the housing end walls 186 and 187 which are aligned with one another.
  • the swivel arm 173 is non-rotatably mounted on free end portions 174 'and 174 "of the shaft 174 of the rotary wing 177 which protrude from the housing 176 on both sides.
  • the shaft 174 of the swivel drive 172 is designed as a hollow shaft, in whose central bore 162 the follow-up control valve 10' is inserted
  • the control valve 10 ' is inserted with its tubular housing part 33 firmly into the hollow shaft 174, such that the housing part 33 and with it the follow-up control valve 10' rotates overall with the hollow shaft 174 or the swivel arm 173 of the swivel drive 172.
  • That section 174 'of the shaft 174 with which it is mounted in the bore 189 of the left end wall 186 according to FIG. 5 is provided with two outer annular grooves 192 and 193, which are closed off radially outwardly by the wall of the bore 191 and 194 196 limit in which housing-side supply connection channels 197 and 198 open, which come from the P high-pressure outlet of the supply pressure source or its tank T.
  • the annular spaces 194 and 196 are connected to the supply connections 18 and 19 of the follow-up control valve 10 'via connecting channels 197' and 198 ', which are guided through the shaft 174 of the swivel drive 172 in the manner shown in FIG. 5, the consumer outputs 16 and 17 open on both sides of the rotary wing 177 into the working spaces 179 and 181 of the swivel drive 172.
  • connecting channels communicate with end-side annular grooves 99 and 201 of the left end section 174 'of the shaft 174, with which in turn further supply channels 197 "and 198" of the swivel arm 173 communicate, which can be used to supply a further swivel drive which is connected to the one shown in FIG
  • the distal end of the swivel arm 173, not shown, is arranged, and forms the further joint of a swivel arm of a robot, which can be implemented in a simple manner by means of a plurality of swivel drives 172 of the type shown in FIG.
  • follow-up control valve 10 with the type of actual value feedback described with reference to FIG. 5 is also suitable for controlling hydraulic rotary drives which, viewed in a certain direction of rotation, can execute several 360 ° rotations in succession.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Multiple-Way Valves (AREA)
  • Hydraulic Motors (AREA)

Abstract

Une soupape de régulation hydraulique (10) de marche à vide comporte au moins deux soupapes d'écoulement (21, 22) à actionnement mécanique, qui peuvent être commandées en alternance dans une position d'écoulement et une position de fermeture et sont toutes deux fermées dans une position médiane centrale, un système électromécanique de prédéfinition de la valeur de consigne pour la position du piston d'un vérin hydraulique d'entraînement (14), lequel système comprend un arbre creux dont la vitesse de rotation est réglable en corrélation avec la valeur de consigne. Il est également prévu un système de rappel de la valeur réelle, comprenant un axe de rappel engrènant avec un filet intérieur de l'arbre creux, lequel axe exécute un nombre de rotations en corrélation avec les mouvements du piston. L'organe d'actionnement de la soupape subit les mêmes translations que l'arbre de prédéfinition de la valeur de consigne. Le carter (33) possède un noyau (48) cylindrique circulaire avec un premier alésage longitudinal (31) dans lequel sont agencés les pistons d'une paire de soupapes déplaçables entre des éléments de butée (37,38) déplaçables longitudinalement, et avec un autre alésage dans lequel l'arbre creux est monté rotatif et déplaçable, les éléments de butée étant supportés axialement et radialement sur des coussinets de pivotement ménagés sur l'arbre creux. Le carter présente une enveloppe (49) circulaire cylindrique. Les espaces de raccordement côté sources de pression et côté consommateurs sont délimités par des rainures extérieures du noyau cylindrique, et les canaux d'admission et de sortie par des alésages radiaux du noyau et de l'enveloppe.

Claims (8)

1. Soupape de régulation hydraulique de marche à vide (10) pour commander l'exécution du mouvement d'un élément de machine entraîné au moyen d'un cylindre hydraulique (14), comportant au moins deux soupapes à passage (21-24) disposées dans un carter (33) et actionnées mécaniquement, qui, par des mouvements aller et retour d'un organe de commande, peuvent être mises, en se déplaçant alternativement dans les deux sens, en position de passage et en position de fermeture et possèdent une position intermédiaire dans laquelle les deux soupapes sont en position de fermeture, et comportant un dispositif électromécanique (104, 27, 91) de mise en référence de la valeur de consigne et un dispositif mécanique (114,108,117) de réponse de la valeur réelle pour introduire et surveiller la valeur de consigne et la valeur réelle de la position instantanée du piston (13) du cylindre hydraulique (14) d'entraînement, étant entendu que le dispositif de mise en référence de la valeur de consigne comporte un arbre creux disposé de façon à pouvoir tourner dans le carter et coulisser en avant et en arrière suivant la direction longitudinale de ce dernier, arbre creux qui peut être réglé, au moyen d'un moteur électrique prévu dans le but d'introduire la valeur de consigne, sur un nombre de tours en corrélation avec chaque valeur de consigne concernée, étant entendu de plus que le dispositif de réponse de la valeur réelle comporte un arbre de réponse, qui engrène, par l'intermédiaire d'un filetage extérieur, avec un taraudage intérieur de l'arbre creux, et dont le mouvement est couplé à engagement positif avec le piston du cylindre hydraulique d'entraînement, soit de façon que - dans le cas d'une liaison rigide avec celui-ci - il suive les déplacements de ce piston, soit de façon que - dans le cas d'un accouplement rotorique - il exécute un nombre de tours en corrélation avec les déplacements du piston, et étant entendu que l'organe de commande de soupape exécute, dans le direction axiale, les mêmes coulissements que l'arbre de mise en référence de la valeur de consigne (31) et que celui-ci est monté tournant dans l'organe de commande de soupape, qui, pour sa part, est bloqué sans rotation possible dans le carter, caractérisé en ce que le carter (33) possède un noyau (48), sous la forme d'un cylindre de révolution, comportant au moins un premier alésage longitudinal (31 et/ou 32), dans lequel les pistons (26 et 27 ou 28 et 29) de deux soupapes sont disposés de façon à pouvoir coulisser suivant la direction longitudinale du carter entre les organes de butée (37 et 38) fixes en rotation par rapport au carter, mais pouvant se déplacer longitudinalement, et comportant un autre alésage (88), dans lequel l'arbre creux (91 pouvant être entraîné par le moteur électrique (104) du dispositif de mise en référence de la valeur de consigne, est monté tournant et coulissant longitudinalement, étant entendu que les organes de butée (37 et 38) s'appuient, aussi bien dans la direction axiale que dans le direction radiale, par l'intermédiaire de paliers tournant, sur l'arbre (91) de mise en référence de la valeur de consigne, en ce que le carter (33) présente de plus une chemise de carter (49) en forme de cylindre de révolution, dans laquelle le noyau (48) est introduit et fixé, étant entendu que des volumes de raccordement, situés côté sources de pression et côté utilisateur, qui communiquent entre eux ou sont séparés les uns des autres chaque fois suivant la position des pistons (26 à 29) des soupapes, sont délimités par des rainures extérieures du noyau cylindrique (48) et des éléments de surface interne de la chemise de carter (49) qui lui est fixé et que des canaux d'arrivée et de départ communiquant avec ces volumes des soupapes sont réalisés par des alésages du noyau (48) et de la chemise (49).
2. Soupape de régulation hydraulique de marche à vide suivant la revendication 1, caractérisé en ce que la liaison fixe entre le noyau (48) et le chemise (49) du carter est réalisée par retrait thermique de la chemise et/ou dilatation thermique du noyau après refroidissement préalable de celui-ci.
3. Soupape de régulation de marche à vide suivant la revendication 2, caractérisé en ce que la chemise (49) est chauffée à une température de 400°K avant son retrait sur le noyau (48) et que le noyau est refroidi à une température de 150°K, et, de préférence, à une température d'environ 80°K dans de l'air liquide ou de l'oxygène liquide.
4. Soupape de régulation de marche à vide suivant l'une quelconque des revendications précédents, caractérisée en ce que l'alésage (88) recevant l'arbre de mise en référence de la valeur de consigne (91) et l'arbre de réponse de la valeur réelle (108) est disposé suivant l'axe longitudinal central (89) de la soupape de régulation de marche à vide, et en ce qu'au moins deux alésages (31 et 32) sont prévus pour recevoir chacun des pistons de deux soupapes, ces alésages étant disposés symétriquement par rapport à l'axe longitudinal central (89).
5. Soupape de régulation de marche à vide suivant l'une quelconque des revendications précédentes, caractérisée en ce que la chemise (49) est munie de rainures annulaires extérieures (164 à 169) qui délimitent entre elles des zones de chemise, à l'intérieur de chacune desquelles débouche l'un des canaux de raccordement à l'alimentation ou à l'utilisateur, et en ce que le carter de soupape (33) comprenant le noyau (48) et la chemise de carter (49) peut être introduit dans un alésage (162) d'un bloc carter extérieur, à l'intérieur duquel les bagues d'étanchéité (171) assurent l'étanchéité l'une par rapport à l'autre des tronçons de l'alésage dans lesquels débouchent les canaux de ce bloc carter extérieur (163) correspondant aux raccordements d'alimentation et d'utilisateur de la chemise.
6. Soupape de régulation de marche à vide suivant l'une quelconque des revendications précédentes, caractérisée en ce que les pistons du couple de soupapes à passage introduites dans chacun des alésages longitudinaux (31 et 32) du noyau (48) sont appuyés l'un contre l'autre au moyen d'un ressort précontraint et en ce que les organes de butée (37 et 38) sont munis d'organes de réglage, au moyen desquels peuvent être réglées les positions des pistons de soupape entre les organes de butée (37 et 38).
7. Soupape de régulation de marche à vide suivant l'une quelconque des revendications précédentes, destinée à un dispositif de basculement, caractérisée en ce que l'arbre de réponse de la valeur réelle (108) est relié, fixe en rotation, avec la partie entraînée en rotation du dispositif moteur du basculement (172).
8. Soupape de régulation de marche à vide suivant la revendication 7, caractérisée par sa mise en oeuvre pour la motorisation d'articulations d'un bras de robot à plusieurs articulations.
EP87905716A 1986-09-04 1987-09-04 Soupape de regulation hydraulique de marche a vide Expired - Lifetime EP0279837B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87905716T ATE58418T1 (de) 1986-09-04 1987-09-04 Hydraulisches nachlauf-regelventil.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3630176 1986-09-04
DE3630176 1986-09-04

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EP0279837A1 EP0279837A1 (fr) 1988-08-31
EP0279837B1 true EP0279837B1 (fr) 1990-11-14

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EP87905716A Expired - Lifetime EP0279837B1 (fr) 1986-09-04 1987-09-04 Soupape de regulation hydraulique de marche a vide

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US (1) US4901627A (fr)
EP (1) EP0279837B1 (fr)
JP (1) JPH01501240A (fr)
DE (2) DE3790502D2 (fr)
WO (1) WO1988001697A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5036886A (en) * 1988-12-12 1991-08-06 Olson Controls, Inc. Digital servo valve system
US5102280A (en) 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
US5125139A (en) * 1991-06-27 1992-06-30 Tadashi Ohta Hydraulic drive mechanism in machine tool
WO1995024565A1 (fr) * 1994-03-09 1995-09-14 Eckehart Schulze Unite d'entrainement hydraulique
US7043907B2 (en) * 2002-07-11 2006-05-16 Nabtesco Corporation Electro-hydraulic actuation system
ITTO20110445A1 (it) * 2011-05-19 2012-11-20 Tecnau Srl "equipaggiamento per perforazioni trasversali di lunghezze variabili, ad alta velocita, su moduli continui in movimento"

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2370137A (en) * 1942-05-12 1945-02-27 United Eng Foundry Co Servomotor
US3315569A (en) * 1965-06-24 1967-04-25 Cincinnati Milling Machine Co Control mechanism for machine tool
GB1363880A (en) * 1970-12-17 1974-08-21 Hartmann Laemmle Ohg Fluid-pressure follow-up control apparatus
DE2910530C2 (de) * 1979-03-17 1983-09-08 Hartmann & Lämmle GmbH & Co KG, 7255 Rutesheim Elektrohydraulischer Nachlaufverstärker
DE3204067A1 (de) * 1982-02-06 1983-08-18 Hartmann & Lämmle GmbH & Co KG, 7255 Rutesheim Hydraulischer schwenkantrieb
CH656825A5 (it) * 1983-10-28 1986-07-31 Albe Sa Dispositivo di comando per variare la velocita di lavoro e gli spostamenti dei vari utensili in una macchina utensile automatica e relativa utilizzazione.
DE3342239A1 (de) * 1983-11-23 1985-05-30 Mannesmann Rexroth GmbH, 8770 Lohr Steuervorrichtung fuer einen hydraulisch beaufschlagten arbeitszylinder

Also Published As

Publication number Publication date
EP0279837A1 (fr) 1988-08-31
WO1988001697A1 (fr) 1988-03-10
DE3790502D2 (en) 1988-08-25
DE3766241D1 (de) 1990-12-20
JPH0543881B2 (fr) 1993-07-02
US4901627A (en) 1990-02-20
JPH01501240A (ja) 1989-04-27

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