EP0336991A1 - Dispositif d'entraînement - Google Patents

Dispositif d'entraînement Download PDF

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Publication number
EP0336991A1
EP0336991A1 EP88105849A EP88105849A EP0336991A1 EP 0336991 A1 EP0336991 A1 EP 0336991A1 EP 88105849 A EP88105849 A EP 88105849A EP 88105849 A EP88105849 A EP 88105849A EP 0336991 A1 EP0336991 A1 EP 0336991A1
Authority
EP
European Patent Office
Prior art keywords
housing
drive device
piston rod
power take
piston
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.)
Granted
Application number
EP88105849A
Other languages
German (de)
English (en)
Other versions
EP0336991B1 (fr
Inventor
Kurt Dipl. Ing. Stoll
Hermann Dr. Klinger
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.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
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 Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to DE8888105849T priority Critical patent/DE3862295D1/de
Priority to EP88105849A priority patent/EP0336991B1/fr
Priority to ES88105849T priority patent/ES2021112B3/es
Publication of EP0336991A1 publication Critical patent/EP0336991A1/fr
Application granted granted Critical
Publication of EP0336991B1 publication Critical patent/EP0336991B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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

Definitions

  • the invention relates to a drive device for generating, in particular, rectilinear movements of a force decrease, e.g. of a slide, with a housing in which there is a displacement space of a sealed piston which can be pressurized at least on the one hand, and with a piston rod formed by, or in particular arranged on, the piston rod penetrating the housing towards the outside, the housing and the piston rod taking the force from one another are displaceable relative to pressure medium.
  • Drive devices of this type are used in particular in mechanical engineering and in particular in machine tools, handling devices, etc. They are used to measure power take-off of any kind, e.g. Machine sledge. To move and / or position gripper arms of robots, transport lots of conveyor systems, etc.
  • the drive device is expediently designed as a piston-cylinder unit, which can be operated once or twice, and the piston and piston rod, e.g. represent two interconnected components or can be designed in the form of a plunger.
  • Previous designs provide that the housing is fixed in place and the piston rod represents a driven part which can be displaced linearly by pressure medium actuation and which is connected in a suitable manner to the respective decrease in force.
  • support devices for the housing are required in order to ensure an exact displacement movement, and guide devices on the drive device itself, which mediate between the two movable components, are also required.
  • the housing is designed to be relatively thick-walled in order to obtain sufficient guidance for the piston, in addition, the piston rod in the penetration area of the housing requires a further exact sliding bearing in order to prevent malfunctions during operation, e.g. Canting to be excluded.
  • the entire device is given a disadvantageously high weight as a result of the high inertia of the movement sequences.
  • the manufacturing effort is relatively high, which causes considerable costs.
  • the invention is therefore based on the object of providing a drive device according to the type mentioned at the outset which, while ensuring precise movement and / or positioning of the power take-off, enables the structural and financial outlay for storing and guiding the two parts which are movable relative to one another to be reduced .
  • the piston rod with its part arranged outside the housing, can be fixed in place on a holder relative to it, that the housing forms the output part of the device, which is actuated by pressure medium relative to the piston rod, which is fixed relative to it, and on which the power take-off can be moved is arranged, and that the power take-off is arranged on a guide device which specifies the displacement path and at the same time forms a guide and support part for the movable housing.
  • the piston and piston rod face the holder during operation of the drive device, which e.g. is formed by a machine frame, silent and the housing alone executes a reciprocating displacement movement in accordance with the control of the existing pressure medium working spaces.
  • the decrease in force that is connected to the housing undergoes a corresponding movement, the direction of which, however, is predefined solely by the guide device assigned to it.
  • the power take-off simultaneously forms a guide and support part for the housing, which can expediently be designed without a guide and without a support.
  • the directions of movement of the housing and the power take-off expediently run parallel to one another, the power take-off being able to be arranged next to the drive device.
  • the pressure medium is fed into existing working spaces of the housing delimited by the piston, preferably via pressure medium openings. These are, for example, in the housing wall and the supply and discharge of pressure medium or the like can be via pressure medium hoses. respectively.
  • the pressure medium openings are located on the piston and / or on the piston rod and are in communication with channels that pass through the piston rod and open out of the housing, so that the pressure medium supply and / or discharge can take place through the piston rod. This saves complex tubing, and any existing supply lines are not moved, which reduces wear.
  • An important advantage of the invention is that the sliding contact area between the piston and the housing and / or between the piston rod and the housing can be designed without a guide.
  • a damping device which expediently has a damping part made of resilient, in particular rubber-elastic properties material, which is switched into the connection between the housing and the power take-off, is a simple means of accomplishing such a compensation. It is advantageous here if the decrease in force in the area of the damping device can be pivoted relative to the housing and in particular can be inclined to a certain extent. The elastic properties of the damping part allow swiveling movements of any degree of freedom.
  • the decrease in force preferably acts on the housing in the penetration area of the piston rod.
  • the area of attack is preferably located on an optionally present cylinder cover of the housing, which is designed in particular as a cylinder.
  • the damping part is a damping ring which coaxially surrounds the piston rod and is fixed on the one hand via a first holder device on the housing and on the other hand at the same time via a second holding device on the power take-off, so that a uniform power transmission takes place between the housing and the power take-off.
  • One holding device can have an annular radial projection on which the damping ring is detachably attached, for which purpose it can have a circumferential groove-like depression in the inner circumferential region.
  • the holding devices can also have an annular clamp portion which surrounds the damping ring on the outside, which is in particular flange-shaped and holds the damping ring arranged between it and the associated housing or the power take-off.
  • a particularly simple and reliable construction is present when the clamping section is designed as an opening, into which the damping ring is, in particular, interchangeably attached.
  • a simpler embodiment provides for the power take-off to be fixed firmly and rigidly in relation to the movable housing, in particular directly on the latter.
  • a coupling device can be provided between the piston rod and the holder for this, which facilitates the assembly and disassembly of the drive device.
  • FIG. 1 An embodiment of the drive device which serves to generate a linear movement of a schematically indicated power take-off 2.
  • This is formed here, for example, by a transport carriage 3, which is used to position a workpiece 4 arranged on it and indicated by dashed lines.
  • the power take-off 2 can also be formed by another component to be moved.
  • the drive device 1 contains a housing 5, in the interior of which there is a displacement space 6 of cylindrical extension, in which a piston 7 is arranged.
  • the piston is sealed off from the inner surface of the displacement space 6 to 8 and separates two working spaces 9, 9 'from one another in a pressure-tight manner.
  • a piston rod 10 is fastened with its one end, which coaxially runs through the one working space 9 'and penetrates the associated axial housing wall 14 through a wall opening 15 to the outside.
  • a sealing arrangement 16 is provided in the penetration area 15.
  • the piston rod section 17 located outside the housing 5 is fixed to a holder 18 which, in the exemplary embodiment, is formed by a machine bed or foundation.
  • a holder 18 which, in the exemplary embodiment, is formed by a machine bed or foundation.
  • the attachment between the piston rod 10 and the bracket 18 can be non-detachable, e.g. in the context of a welded connection, at the fastening point 19, there may also be a coupling device (not indicated in any more detail) which permits releasable fastening with the possibility of replacement.
  • connection opening 20, 20' opens, each of which is connected to an indicated supply hose 21 for the optional supply or discharge of a pneumatic pressure medium, in particular.
  • the housing 5 of the drive device 1 constructed in the manner of the cylinder of a piston-cylinder arrangement, can optionally be moved in the axial direction 22 with reference to the piston rod 10 or the piston 7 which is fixed relative thereto - or move around.
  • the inner wall of the displacement space 6 slides along the outer circumference of the piston, while the opening area of the housing wall 14 slides along the piston rod 10.
  • the seals 8, 16 provided prevent pressure medium from passing or escaping.
  • the housing 5 forms the driven part of the drive device 1, which, when actuated by pressure medium, is displaceable relative to the piston rod 10 fixed in position on the holder 18 and on which the power take-off 2 is also arranged to be movable for its corresponding movement.
  • the advantage here is that the piston rod 10 and the piston 7 have no guiding tasks for the moving housing 5, since the power take-off 2 itself is arranged on a schematically indicated guiding device 23 which predetermines its displacement path and thus at the same time a guiding and supporting part for the Housing 5 forms.
  • the drive device 1 constructed in the manner of a piston-cylinder unit a simplified, more cost-effective construction, since in the areas of sliding contact between the piston 7 or piston rod 10 and the housing 5, practically only seals have to be made while the actual support and guidance of the housing 5 is carried out by the power take-off 2.
  • Guidance and sealing of the piston 7 or piston rod 10 and housing 5 are therefore spatially separated from one another and can both be designed according to the respective requirements without compromise.
  • the housing 5, which is practically a cylinder can be equipped with a relatively small wall thickness, which leads to a weight reduction which has a positive influence on the acceleration and braking behavior of the device.
  • the stripping part formed by the housing, apart from the power take-off 2 is thus designed practically without a guide and support.
  • the drive device has particular advantages in a configuration as shown in FIG. 1, in which the direction of movement 24 of the power take-off 2 indicated by the double arrow 24 and that with the longitudinal direction 22 of the piston rod 10 coinciding, indicated by double arrow 25 movement direction of the housing parallel to each other.
  • the sled-like power take-off 2 viewed in the longitudinal direction 22, is arranged laterally next to the drive device 1 and a cantilever-like bridging part 29 that is firmly attached to it protrudes into the movement path of the housing 5 and is connected to it e.g. detachably screwed.
  • the screw connection is indicated by dashed lines at 30.
  • the guide device 23 is e.g. formed in the form of a guide rail or guide column, which in the exemplary embodiment is fastened on the one hand to the same holder 18 as the piston rod 10 and on the other hand receives additional support at 31 in the adjacent region of the housing 5.
  • the housing 5 is approximately in an intermediate position in which the two working spaces 9, 9 'have essentially the same volume.
  • the piston rod-side working space 9 ' is practically completely ventilated, while the other working space 9 is filled with pressure medium; this position represents the one displacement end position of the device.
  • the piston 7 is located in the region of the opposite housing wall 14.
  • the drive device is particularly suitable for generating straight-line, linear movements, since there is no need for intermediate members which would be necessary in the case of a curved displacement path of the power take-off 2.
  • FIG. 2 A particularly simple embodiment of the coupling device 19 is then additionally indicated in FIG. 2, which has an internal thread part 33 fixedly attached to the mounting wall 18, into which the piston rod 10 is detachably screwed with an external thread section 34 at the end.
  • connection openings 20, 20 ' show a preferred arrangement of the connection openings 20, 20 '.
  • One connection opening 20 is located on the axial piston surface facing the working space 9, the other connection opening 20 assigned to the space 9 'in the region of the piston rod 10 near the piston.
  • Both openings 20, 20' are each connected to a channel 35 which connects the piston rod 10 runs in the longitudinal direction and opens out axially in the area of the holder 18.
  • Supply hoses or lines 21 are provided there, via which the pressure medium is supplied.
  • the housing 5 can be designed without an opening, which excludes sealing problems.
  • This configuration is also possible in each of the exemplary embodiments.
  • the power take-off 2 is arranged flexibly with respect to the housing 5. This enables an automatic tolerance compensation during the movement of the arrangement, so that in the event that the two directions of movement 24, 25 e.g. do not run exactly parallel to one another, an automatic tension-free position compensation takes place between the power take-off 2 and the housing 5.
  • the flexibility in the axial direction 22 is preferably very low, so that inaccuracies are excluded when transmitting the movement impulses.
  • a damping device 36 is preferably arranged between the power take-off 2 and the housing 5 functioning as an output part.
  • a damping part 37 which consists of flexible material, which preferably has rubber-elastic properties.
  • FIGS. 3 and 4 To illustrate the mobility, reference is made to FIGS. 3 and 4. While in Figure 3 the two directions of movement 24, 25 completely pa run parallel to one another, with the result that the plane of the housing wall 14 runs essentially parallel to the plane of the upstream bridging parts 29 of the power take-off 2, the two directions 24, 25 in the snapshot of FIG. 4 diverge, as is strongly exaggerated there is.
  • the two directions are inclined at an angle a to one another, with the result that the wall 14 and the bridging part 29 are now also inclined towards one another, but without losing drive contact with one another. Rather, elastic compensation of the positional shift is advantageously carried out here by the elastic damping part 37 .
  • the bridging part 29 of the power take-off 2 can in principle be of any design and, depending on the need, can act at any point on the housing 5. In the preferred case shown, however, the bridging part 29 extends transversely in front of the housing wall 14, a certain axial distance being maintained, and the bridging part 29 is provided with a through opening 38 which is penetrated by the piston rod 10 with play.
  • impact damping is furthermore preferably obtained, such that when braking either the power take-off 2 or the housing 5 in the region of the damping device 36 there is a certain axial flexibility which counteracts a vibration of the system.
  • the damping part 37 thus serves on the one hand for damping, but on the other hand also for the power transmission between the power take-off 2 and the housing 5. For this reason, it is advantageous in favor of a uniform power transmission if, as in FIGS. 3 to 6, it is used as a damping ring 39 is formed, which coaxially surrounds the piston rod 10. Fastening takes place both with respect to the power take-off 2 and with respect to the housing 5, in each case via a holding device 40, 41.
  • the one housing-side holding device 41 preferably contains an annular radial projection 44 which the housing wall 14 enters in the axial direction Is far upstream and is arranged on a socket-shaped extension 45 surrounding the piston rod.
  • the damping ring 39 is provided on its inner circumference with a circumferential groove-shaped recess 46, which is in particular complementary to the contour of the radial projection 44, by means of which the damping ring 39 is elastically attached to the radial projection 44. Seen in cross section, the ring 39 therefore has a substantially U-shape and sits like a rider on the projection 44, which is flanked radially on the outside and on the two axial sides of ring parts.
  • the holding device 40 on the power take-off side is preferably provided with an annular clamping section 47 for holding.
  • the clamping portion 47 is flange-shaped and has the shape of a centrally perforated cap portion 48 with an annular radial rim 49 formed on the edge region.
  • the difference in diameter between the opening of the cap portion 48 and its central opening corresponds approximately to twice the radial thickness of the damping ring 39 and axial depth of the cap portion 48 substantially the axial length of the ring.
  • the clamping part 47 is then attached with its radial edge to the bridging part 29 and in particular screwed on, the damping ring 39 being seated in the space now delimited by the cap part 48 and the bridging part 29, while at the same time encompassing the radial projection 44.
  • the damping ring 39 is held directly on the bridging part 29 of the power take-off 2, in that the clamping part is formed here by an opening 50 penetrating the bridging part 29, into which the damping ring 39 is tied.
  • the opening 50 is hollowed out all around in the radial direction, so that a gradual increase in diameter takes place from both axial sides.
  • the outer circumferential contour of the opening is expediently designed to be arcuate, with the damping ring 39 having a corresponding arcuate shape in cross-section in the region of its outer circumference being snugly seated in the cavity.
  • the radial projection 44 is arranged in the longitudinal center of the opening 50 and in particular runs in a transverse plane coinciding with the bridging part 29.
  • the two holding devices can also each be of identical design and that the assignment to the power take-off 2 or to the housing 5 can also take place vice versa.
  • the drive device is also particularly suitable for sensor-controlled use, for which reference is again made to FIG. 1 in an exemplary manner.
  • an encoder 51 designed as a permanent magnet, which can work together with sensors 52 arranged on the outside of the housing and responding to the magnetic field in order to generate control signals at certain positions.
  • sensors 52 arranged on the outside of the housing and responding to the magnetic field in order to generate control signals at certain positions.
  • a magnetically excitable sensor is located on the piston, the electrical leads being connected by, for example partially hollow piston rod can be supplied.
  • a single sensor is used to detect a wide variety of positions in a cost-reducing manner if magnetic parts, in particular permanent magnetic rings, are arranged on the outside of the housing in a suitable manner surrounding the housing.
  • plastic materials can preferably be used, which further promotes the lightweight construction.
  • this makes it possible to manufacture the housing at least partially from transparent plastic material, in which case an optical display, which can be easily recognized from the outside, can be arranged on the piston or on the piston rod, e.g. can be formed by the piston itself. This makes it easier to monitor the respective housing position, especially if a scale is additionally arranged in the transparent area.
  • Another advantage is the high flexibility of the drive device, which can be easily exchanged for other technologies and is also bus-compatible. The device is extremely wear-free with the result that less maintenance is required.
  • control device that is directly associated with the piston rod 10 is used to control the movement of the housing 5.
  • the control device 54 is shown in broken lines and is in a fixed connection with the holder 18.
  • the control device 54 can also be integrated into the threaded part 33, as indicated, so that it comes to lie directly next to the piston rod 10.
  • actuatable closure members are indicated by the control device 54, which can be used, for example, as movable closure members. To increase the functional scope of the control device, it can be supplemented with electronics, which simplifies the actuation of the control device.
  • the control device can e.g. a servo valve or a proportional valve. It is also possible that the lines or channels leading to the work spaces 9, 9 run through the control device itself or are connected to it. Moreover, such a control device 54 can also be used when the compressed air supply reaches the housing from the outside, as shown in FIG. 1, so that the piston rod itself can be designed without a channel.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
EP88105849A 1988-04-13 1988-04-13 Dispositif d'entraînement Expired - Lifetime EP0336991B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE8888105849T DE3862295D1 (de) 1988-04-13 1988-04-13 Antriebsvorrichtung.
EP88105849A EP0336991B1 (fr) 1988-04-13 1988-04-13 Dispositif d'entraînement
ES88105849T ES2021112B3 (es) 1988-04-13 1988-04-13 Dispositivo propulsor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP88105849A EP0336991B1 (fr) 1988-04-13 1988-04-13 Dispositif d'entraînement

Publications (2)

Publication Number Publication Date
EP0336991A1 true EP0336991A1 (fr) 1989-10-18
EP0336991B1 EP0336991B1 (fr) 1991-04-03

Family

ID=8198882

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88105849A Expired - Lifetime EP0336991B1 (fr) 1988-04-13 1988-04-13 Dispositif d'entraînement

Country Status (3)

Country Link
EP (1) EP0336991B1 (fr)
DE (1) DE3862295D1 (fr)
ES (1) ES2021112B3 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1216954A (fr) * 1958-09-04 1960-04-29 Presse de grande puissance
US3877348A (en) * 1971-08-09 1975-04-15 William C Sandlin Linear thruster
US4056043A (en) * 1975-10-28 1977-11-01 Johnson Controls, Inc. Fluid power piston actuators
US4095427A (en) * 1976-08-02 1978-06-20 Design & Manufacturing Corporation Linear actuator linkage
DE3513616A1 (de) * 1985-04-16 1986-10-16 Montech Ag, Derendingen Vorrichtung zur ausfuehrung von hubbewegungen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1216954A (fr) * 1958-09-04 1960-04-29 Presse de grande puissance
US3877348A (en) * 1971-08-09 1975-04-15 William C Sandlin Linear thruster
US4056043A (en) * 1975-10-28 1977-11-01 Johnson Controls, Inc. Fluid power piston actuators
US4095427A (en) * 1976-08-02 1978-06-20 Design & Manufacturing Corporation Linear actuator linkage
DE3513616A1 (de) * 1985-04-16 1986-10-16 Montech Ag, Derendingen Vorrichtung zur ausfuehrung von hubbewegungen

Also Published As

Publication number Publication date
DE3862295D1 (de) 1991-05-08
ES2021112B3 (es) 1991-10-16
EP0336991B1 (fr) 1991-04-03

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